feat/cmake war

CMakeLists.txt

@@ -6,8 +6,24 @@ FATAL: In-source builds are not allowed.
 ")
 endif()
 
+# Check if Ninja is available
+find_program(NINJA_EXECUTABLE ninja)
 
-cmake_minimum_required(VERSION 3.13)
+# Set the default generator
+if(NINJA_EXECUTABLE)
+    set(CMAKE_GENERATOR "Ninja")
+else()
+    set(CMAKE_GENERATOR "Unix Makefiles") # Use a fallback generator
+endif()
+
+# enable build caching
+find_program(CCACHE_FOUND ccache)
+if(CCACHE_FOUND)
+  set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
+  set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
+endif()
+
+cmake_minimum_required(VERSION 3.13 FATAL_ERROR)
 
 
 set(CMAKE_CXX_COMPILER g++)
@@ -25,8 +41,8 @@ file(GLOB_RECURSE HEADERS "include/*.hpp")
 # =============================
 # Executable
 set(INCLUDE_DIRECTORY ${PROJECT_SOURCE_DIR}/include)
-include_directories(${INCLUDE_DIRECTORY})
 add_executable(${PROJECT_NAME} ${SOURCES})
+include_directories(${INCLUDE_DIRECTORY})
 # =============================
 
 # =============================
@@ -36,7 +52,9 @@ set(DEPS_DIRECTORY ${PROJECT_SOURCE_DIR}/deps)
 add_subdirectory(${DEPS_DIRECTORY}/arena-sdk)
 add_subdirectory(${DEPS_DIRECTORY}/json)
 # =============================
-
+include(${DEPS_DIRECTORY}/torch/CMakeLists.txt)
+# NOTE: temporarily leaving out opencv until we have it working in dev container
+# include(${DEPS_DIRECTORY}/opencv/CMakeLists.txt)
 # =============================
 # Unit tests
 add_subdirectory(tests)
@@ -46,6 +64,7 @@ add_subdirectory(${DEPS_DIRECTORY}/google-test)
 # =============================
 # Linting 
 get_target_property(PROJECT_LIBS_INCLUDE_DIRS ${PROJECT_NAME} INCLUDE_DIRECTORIES)
+
 foreach(dir ${PROJECT_LIBS_INCLUDE_DIRS})
     string(APPEND LIB_INCLUDE_CLANG_TIDY_STRING "-I${dir};")
 endforeach()

Dockerfile

@@ -1,9 +1,53 @@
 FROM ubuntu:22.04
+# https://gist.github.com/SSARCandy/fc960d8905330ac695e71e3f3807ce3d
+# OpenCV dependencies from above
 RUN apt-get update \
     && apt-get upgrade -y \
     && apt-get install -y build-essential \
                            gdb \
                            git \
-                           cmake \
                            clang-tidy \
-                           wget
+                           wget \
+                           ccache \
+                           vim
+# cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+# python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
+
+# the official docs say also these
+# https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html
+# sudo apt update && sudo apt install -y cmake g++ wget unzip
+# xz? bzip2?
+
+# TODO: is it possible to save the built opencv in the docker build? Need to see what cmake keeps checking and wasting time on.
+
+RUN apt-get update \
+    && rm -rf /var/lib/apt/lists/* \
+  && wget https://github.com/Kitware/CMake/releases/download/v3.27.7/cmake-3.27.7-linux-x86_64.sh \
+      -q -O /tmp/cmake-install.sh \
+      && chmod u+x /tmp/cmake-install.sh \
+      && mkdir /opt/cmake-3.24.1 \
+      && /tmp/cmake-install.sh --skip-license --prefix=/opt/cmake-3.24.1 \
+      && rm /tmp/cmake-install.sh \
+      && ln -s /opt/cmake-3.24.1/bin/* /usr/local/bin
+
+WORKDIR /obcpp
+
+COPY . /obcpp
+
+WORKDIR /obcpp/build
+
+# RUN cmake ..
+
+# RUN make obcpp # parallelize this
+
+CMD ["/bin/bash"]
+# CMD ["/obcpp/build/bin/obcpp"]
+
+# docker build - < Dockerfile
+# docker build -t "test" .
+# docker run -it --rm test
+
+# https://www.jmoisio.eu/en/blog/2020/06/01/building-cpp-containers-using-docker-and-cmake/
+# find -name "*Cache.txt" -delete
+
+# TODO: this container is way too big for some reason. Refer to above blog post for staged build (may not want to do that for development tho. I am unable to get devcontainers running)

deps/arena-sdk/CMakeLists.txt

@@ -22,8 +22,8 @@ if(UNIX AND NOT APPLE)
         "${ARENA_SDK_DIR}/extracted/GenICam/library/CPP/include"
     )
     file(GLOB_RECURSE ARENA_LIBS 
-        "${ARENA_SDK_DIR}/extracted/lib64/*.so" 
-        "${ARENA_SDK_DIR}/extracted/ffmpeg/*.so"
+        # "${ARENA_SDK_DIR}/extracted/lib64/*.so" 
+        "${ARENA_SDK_DIR}/extracted/**/*.so"
     )
     target_link_libraries(${PROJECT_NAME} PRIVATE
         ${ARENA_LIBS}

deps/opencv/CMakeLists.txt

@@ -0,0 +1,43 @@
+include(FetchContent)
+
+# Fetch the main OpenCV repository
+FetchContent_Declare(OpenCV
+  URL https://github.com/opencv/opencv/archive/refs/tags/4.8.1.tar.gz
+  OVERRIDE_FIND_PACKAGE
+)
+
+# set( OPENCV_EXTRA_MODULES_PATH ${OpenCV_SOURCE_DIR}/../opencvcontrib-src/modules)
+# Fetch the OpenCV contrib repository
+FetchContent_Declare(OpenCVContrib
+  URL https://github.com/opencv/opencv_contrib/archive/refs/tags/4.8.1.tar.gz
+  # SOURCE_DIR "${CMAKE_BINARY_DIR}/opencv_contrib-src" # Specify a separate source directory
+  # PREFIX "${CMAKE_BINARY_DIR}/opencv_contrib-prefix"  # Specify a separate prefix directory
+)
+
+# Make both OpenCV and OpenCV contrib available
+FetchContent_MakeAvailable(OpenCV OpenCVContrib)
+
+# Find OpenCV
+find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui features2d flann dnn imgcodecs videoio imgproc ml)
+set(OpenCV_INCLUDE_DIRS ${OpenCV_SOURCE_DIR}/include )
+# file(GLOB_RECURSE HEADERS "${OpenCV_SOURCE_DIR}/modules/**/*.hpp")
+# Add OpenCV's contrib modules to the target
+target_link_libraries(${PROJECT_NAME} PRIVATE ${OpenCV_LIBS} opencv_core opencv_highgui opencv_features2d opencv_flann opencv_imgcodecs opencv_dnn opencv_videoio opencv_imgproc opencv_ml )
+
+# Specify include directories, including OpenCV's contrib
+target_include_directories(${PROJECT_NAME} PRIVATE
+    ${OpenCV_INCLUDE_DIRS}
+    ${OpenCVContrib_SOURCE_DIR}/modules  # Include contrib modules
+    ${OPENCV_CONFIG_FILE_INCLUDE_DIR}
+    ${OPENCV_MODULE_opencv_core_LOCATION}/include
+    ${OPENCV_MODULE_opencv_highgui_LOCATION}/include
+    ${OPENCV_MODULE_opencv_features2d_LOCATION}/include
+
+    ${OPENCV_MODULE_opencv_flann_LOCATION}/include
+    ${OPENCV_MODULE_opencv_imgcodecs_LOCATION}/include
+    ${OPENCV_MODULE_opencv_dnn_LOCATION}/include
+    ${OPENCV_MODULE_opencv_videoio_LOCATION}/include
+    ${OPENCV_MODULE_opencv_imgproc_LOCATION}/include
+    ${OPENCV_MODULE_opencv_ml_LOCATION}/include
+    # ${HEADERS}
+)

deps/torch/CMakeLists.txt

@@ -0,0 +1,34 @@
+include(FetchContent)
+Set(FETCHCONTENT_QUIET FALSE)
+
+FetchContent_Declare(Torch
+  URL https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.1.0%2Bcpu.zip
+)
+  # URL https://download.pytorch.org/libtorch/nightly/cpu/libtorch-shared-with-deps-latest.zip
+
+FetchContent_MakeAvailable(Torch)
+
+# message(FATAL_ERROR ${torch_SOURCE_DIR})
+# set(Torch_DIR "${CMAKE_BINARY_DIR}/_deps/torch-src/share/cmake/Torch/")
+find_package(Torch REQUIRED HINTS "${torch_SOURCE_DIR}")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
+
+# message(FATAL_ERROR ${TORCH_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} PRIVATE
+    "${TORCH_LIBRARIES}"
+)
+target_include_directories(${PROJECT_NAME} PRIVATE ${TORCH_INCLUDE_DIRS})
+
+# find_package(Torch REQUIRED)
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
+
+# add_executable(example-app example-app.cpp)
+# target_link_libraries(example-app "${TORCH_LIBRARIES}")
+# set_property(TARGET example-app PROPERTY CXX_STANDARD 17)
+
+
+
+# add_executable(example-app example-app.cpp)
+# target_link_libraries(example-app "${TORCH_LIBRARIES}")
+# set_property(TARGET example-app PROPERTY CXX_STANDARD 17)

shell.nix

@@ -1,10 +1,38 @@
-{ pkgs ? import <nixpkgs> {} }:
+{pkgs ? import <nixpkgs> {}}:
+(pkgs.buildFHSUserEnv {
+  name = "OBCPP";
+  targetPkgs = pkgs: (with pkgs; [
+	python3
+  ccache
+  # ninja
+	# pipenv
 
-pkgs.mkShell {
-  buildInputs = [
-    pkgs.gcc
-    pkgs.cmake
-    pkgs.libclang
-  ];
-}
+	# LSP
+	# python39Packages.python-lsp-server
 
+	# C deps
+	glib
+	glibc
+	stdenv
+	zlib
+
+  gcc
+  cmake
+  libclang
+  xz
+  bzip2
+
+  ]);
+runScript = "bash";
+profile = ''
+    LD_LIBRARY_PATH=${pkgs.zlib}/lib:${pkgs.bzip2}/lib:$LD_LIBRARY_PATH
+    # set SOURCE_DATE_EPOCH so that we can use python wheels
+    SOURCE_DATE_EPOCH=$(date +%s)
+    PATH=$HOME/.local/bin:$PATH
+    # PYTHONPATH=$HOME/.local/lib/python3.9/site-packages:$PYTHONPATH
+    # export PIP_PREFIX=$(pwd)/_build/pip_packages
+    # export PYTHONPATH="$PIP_PREFIX/${pkgs.python3.sitePackages}:$PYTHONPATH"
+    # export PATH="$PIP_PREFIX/bin:$PATH"
+    # unset SOURCE_DATE_EPOCH
+  '';
+}).env

src/main.cpp

@@ -2,12 +2,35 @@
 
 #include "core/states.hpp"
 
-int main() {
-    std::cout << "hello" << std::endl;
+#include <opencv2/opencv.hpp>
+#include <torch/torch.h>
+#include <iostream>
+
+using namespace cv;
+
+int main()
+{
+  std::cout << "hellasdfasdfTarget torch_cpu not found.o" << std::endl;
+
+  PreparationState state;
+
+  state.tick();
+
+  torch::Tensor tensor = torch::rand({2, 3});
+  std::cout << tensor << std::endl;
+
+  Mat output = Mat::zeros(120, 350, CV_8UC3);
 
-    PreparationState state;
+  // write text on the matrix:
+  putText(output,
+          "Hello World :)",
+          Point(15, 70),
+          FONT_HERSHEY_PLAIN,
+          3,
+          Scalar(0, 255, 0),
+          4);
 
-    state.tick();
+  imwrite("Output.png", output);
 
-    return 0;
+  return 0;
 }