fzi-forschungszentrum-informatik · cjue · Jun 7, 2021 · May 31, 2021 · Sep 24, 2019 · Nov 8, 2019
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,6 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.2)
+
+project(IcWorkspace)
 
 SET(ICMAKER_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/icmaker)
 

diff --git a/README.md b/README.md
@@ -13,12 +13,12 @@ If you have questions or experience any problems with the software, please post
 at https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/issues
 
 ## Install dependencies:
-This software is tested under 64 Bit Ubuntu Linux 14.04, 16.04 and 18.04.
+This software was tested under 64 Bit Ubuntu Linux 16.04, 18.04. and 20.04
 Find detailed installation and linking instructions in our Doxygen.
 
 **Core:**
 
-- CUDA 7.5, 8.0, 9.x or 10.0
+- CUDA 9.x, 10.x or 11.x
 - PCL
 - OpenNI
 - Boost
@@ -51,17 +51,30 @@ Doxygen files can be generated by
 
         make doc
 
-## Compiling without C++11
-C++11 is enabled by default. To compile without C++11 mode comment out this at the top of packages/gpu_voxels/CMakeLists.txt: 
- SET(CMAKE_CXX_STANDARD 11)
+## Compiling with C++11 instead of C++14
+C++14 is enabled by default. To compile with C++11 instead change these lines in packages/gpu_voxels/CMakeLists.txt:
+
+  SET(CMAKE_CXX_STANDARD 14)
+  SET(ICMAKER_CUDA_CXX_STANDARD "--std=c++14")
+
 This is important if you are still using ROS Indigo and need to compile without C++11 support for compatibility reasons. There is a separate indigo branch that only differs in this line to disable C++11 during compilation.
 
 ## Known issues
-- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
-- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
+- If the ROS dependency was found but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
+- Octrees are currently bugged on modern GPU architectures of compute capability 7.2 and newer, leading to excessive/infinite runtime of octree algorithms.
+  + as a stopgap measure using octree functions on these GPUs now throws an exception until a fix has been found
+  + to run all tests except for the octree ones run `./bin/test_gpu_voxels_core --run_test=\!octree_selftest:\!octree_collisions`
+- Eigen 3 issues on Ubuntu 18.04: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
   + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
   + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
   + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
+  + follow install_eigen_for_18.04.sh to add a suitable Eigen to CMAKE_PREFIX_PATH or do the following to install a new Eigen system-wide
+  ```bash
+  git clone https://gitlab.com/libeigen/eigen.git
+  sudo cp -r signature_of_eigen3_matrix_library /usr/include/eigen3
+  sudo cp -r unsupported/ /usr/include/eigen3
+  sudo cp -r Eigen/ /usr/include/eigen3
+  ```
 - Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed"). Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
 - GLM: There is a known bug in GLM on Ubuntu 16.04 that has to be patched to allow usage of the visualizer. Apply the patch described at https://github.com/g-truc/glm/issues/530 to /usr/include/glm/detail/func_common.inl
 

diff --git a/icmaker/IcMaker.cmake b/icmaker/IcMaker.cmake
@@ -91,6 +91,10 @@ IF(POLICY CMP0015)
     CMAKE_POLICY(SET CMP0015 NEW)
 ENDIF()
 
+cmake_policy(SET CMP0017 NEW)  # prefer system CMake modules
+cmake_policy(SET CMP0072 OLD)  # use old FindOpenGL behavior
+cmake_policy(SET CMP0074 OLD)  # use env variables for find_package <PkgName>_ROOT discovery
+
 # ----------------------------------------------------------------------------
 #  Current version number:
 # ----------------------------------------------------------------------------

diff --git a/install_eigen_for_18.04.sh b/install_eigen_for_18.04.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+DEST=3rd-party/eigen-git-mirror
+VERSION="3.3.7"
+
+echo "Cloning Eigen3 tag $VERSION to $DEST ($(realpath $DEST))"
+mkdir -p $DEST
+git clone https://github.com/eigenteam/eigen-git-mirror.git -b $VERSION $DEST
+
+echo "Add the Eigen3 root folder to CMAKE_PREFIX_PATH as follows:"
+echo "export CMAKE_PREFIX_PATH=$(realpath ${DEST}):\$CMAKE_PREFIX_PATH"
diff --git a/packages/gpu_voxels/CMakeLists.txt b/packages/gpu_voxels/CMakeLists.txt
@@ -1,17 +1,43 @@
 # this is for emacs file handling -*- mode: cmake; indent-tabs-mode: nil -*-
 
-SET(CMAKE_CXX_STANDARD 11) # comment out to deactivate C++11 when using ROS indigo to avoid incompatibilities
+# --- Global options ---
+
+cmake_policy(SET CMP0074 OLD)  # use env variables for find_package <PkgName>_ROOT discovery
+
+## support Jetson mobile GPUs
+SET(JETSON_SUPPORT OFF)
+
+## allow compilation without PCL for gvl_ompl_planner
+SET(PCL_SUPPORT ON)
+
+## disable compilation of GPU-Voxels examples
+SET(BUILD_EXAMPLES ON)
+
+# fix for cuda 9.1 thrust cub addArgument runtime segfault
+SET(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
+
+# required in order to query CUDA_VERSION_STRING
+FIND_PACKAGE(CUDA)
+
+## set C++ standard
+# Note: C++11 is incompatible with ROS Indigo / Ubuntu 16.04
+SET(CMAKE_CXX_STANDARD 14) 
+SET(ICMAKER_CUDA_CXX_STANDARD "--std=c++14")
+
+# suppress erroneous warnings, see https://github.com/ORNL-CEES/DataTransferKit/pull/404
+# Warning: incompatible with CUDA < 9.0 !
+MESSAGE(STATUS "------------- GPU Voxels found CUDA version ${CUDA_VERSION_STRING} ------------")
+IF(CUDA_VERSION_STRING VERSION_LESS "9")
+  SET(SUPPRESS_NVCC_DEFAULTED_WARNINGS "")
+ELSE()
+  SET(SUPPRESS_NVCC_DEFAULTED_WARNINGS "-Xcudafe --diag_suppress=esa_on_defaulted_function_ignored")
+ENDIF()
 
 # --- To be used by other modules ---
 SET(GPU_VOXELS_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/src" CACHE INTERNAL "")
 SET(GPU_VOXELS_IDL_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src" CACHE INTERNAL "")
 SET(GPU_VOXELS_IDE_FOLDER "gpu_voxels")
 
-# --- Global options ---
-
-SET(CUDA_USE_STATIC_CUDA_RUNTIME OFF) # fix for cuda 9.1 thrust cub addArgument runtime segfault
-FIND_PACKAGE(CUDA)
-
 FIND_PACKAGE(Boost COMPONENTS system thread filesystem date_time unit_test_framework chrono)
 
 # LibRT is needed for Boost Interprocess on POSIX systems
@@ -37,7 +63,9 @@ FIND_PACKAGE(kdl_parser)
 FIND_PACKAGE(Octomap)
 
 # Dependencies for PCL interfaces
-FIND_PACKAGE(PCL)
+IF (PCL_SUPPORT)
+  FIND_PACKAGE(PCL)
+ENDIF (PCL_SUPPORT)
 
 FIND_PACKAGE(pcl_ros)
 
@@ -48,6 +76,14 @@ FIND_PACKAGE(OpenNi)
 # ICL Package management
 ICMAKER_REGISTER_PACKAGE(gpu_voxels)
 
+# Check if pcl/io/openni_grabber.h exists
+FIND_FILE(PCL_OPENNI_GRABBER_FILE pcl/io/openni_grabber.h ${PCL_INCLUDE_DIRS})
+IF(${PCL_OPENNI_GRABBER_FILE} STREQUAL "PCL_OPENNI_GRABBER_FILE-NOTFOUND")
+  SET(PCL_OPENNI_GRABBER_FILE_FOUND OFF)
+ELSE()
+  SET(PCL_OPENNI_GRABBER_FILE_FOUND ON)
+ENDIF()
+
 MESSAGE(STATUS "--------------------------------------------------------------------------")
 MESSAGE(STATUS "------------------------ GPU Voxels configuration ------------------------")
 MESSAGE(STATUS "  ")
@@ -106,11 +142,11 @@ ENDIF(urdfdom_FOUND AND orocos_kdl_FOUND AND kdl_parser_FOUND)
 #  MESSAGE(STATUS "[WARNING] Building GPU-Voxels without Kinect support. OpenNI2 not found.")
 #ENDIF(OPENNI2_FOUND)
 
-IF(OPENNI_FOUND)
-  MESSAGE(STATUS "[OK]      Building GPU-Voxels with Kinect support. OpenNI was found.")
+IF(OPENNI_FOUND AND PCL_OPENNI_GRABBER_FILE_FOUND)
+  MESSAGE(STATUS "[OK]      Building GPU-Voxels with Kinect support. OpenNI and ${PCL_OPENNI_GRABBER_FILE} was found.")
 ELSE(OPENNI_FOUND)
-  MESSAGE(STATUS "[WARNING] Building GPU-Voxels without Kinect support. OpenNI not found.")
-ENDIF(OPENNI_FOUND)
+  MESSAGE(STATUS "[WARNING] Building GPU-Voxels without Kinect support. OpenNI or pcl/io/openni_grabber.h not found.")
+ENDIF(OPENNI_FOUND AND PCL_OPENNI_GRABBER_FILE_FOUND)
 
 IF(Octomap_FOUND)
   MESSAGE(STATUS "[OK]      Building GPU-Voxels with Octomap support. Octomap found.")
@@ -135,8 +171,10 @@ MESSAGE(STATUS "----------------------------------------------------------------
 
 # Change these lines to increase performance if your GPU's compute capability is higher
 # GPU-Voxels requires GPU CUDA capabilities >= 2.0
-#SET(ICMAKER_CUDA_COMPUTE_VERSION 20)
-SET(ICMAKER_CUDA_COMPUTE_VERSION 35)
+#   examples: GTX980 is 5.2, Jetson TX1 is 5.3
+#   Cuda 11 will print warnings for deprecated architectures like 3.5 and 3.7
+#SET(ICMAKER_CUDA_COMPUTE_VERSION 35)
+SET(ICMAKER_CUDA_COMPUTE_VERSION 52)
 
 SET(ICMAKER_CUDA_ARCH compute_${ICMAKER_CUDA_COMPUTE_VERSION})
 SET(ICMAKER_CUDA_CODE compute_${ICMAKER_CUDA_COMPUTE_VERSION})
@@ -153,9 +191,17 @@ SET(ICMAKER_CUDA_CODE compute_${ICMAKER_CUDA_COMPUTE_VERSION})
 
 SET(ICMAKER_CUDA_PTXAS_VERBOSE "") # "--resource-usage") #nvcc outputs register and memory usage data for each kernel
 SET(ICMAKER_CUDA_WALL "-Xcompiler=-Wall")
-SET(ICMAKER_CUDA_MAXREGS "--maxrregcount=63") # set to 31 to compile on JetsonTX1/TX2/Nano (compute capability 5.3/6.2); N*blocksize must be smaller than max registers per block
 SET(ICMAKER_CUDA_DEBUG "-lineinfo") # "-lineinfo") #"-g -G") # -G disables optimization. use -lineinfo for profiling
 
+# might be replaced by setting per-kernel launch bounds: https://docs.nvidia.com/cuda/cuda-c-programming-guide/index.html#launch-bounds
+# TODO: test again if using 32 (Jetson) or 64 (non-Jetson) instead of 31/63 causes problems
+IF(JETSON_SUPPORT)
+  # set to 31 to compile on JetsonTX1/TX2/Nano (compute capability 5.3/6.2); N*blocksize must be smaller than max registers per block
+  SET(ICMAKER_CUDA_MAXREGS "--maxrregcount=31")
+ELSE(JETSON_SUPPORT)
+  SET(ICMAKER_CUDA_MAXREGS "--maxrregcount=63") # there are 64K registers on current Geforce GPUs, fittting 1K threads with 64 registers
+ENDIF(JETSON_SUPPORT)
+
 # Enable position independent code
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 
@@ -166,7 +212,7 @@ ELSE()
  SET(ICMAKER_CUDA_THRUST_DEBUG "" )
 ENDIF()
 
-SET(ICMAKER_CUDA_CPPDEFINES "${ICMAKER_CUDA_DEBUG} ${ICMAKER_CUDA_MAXREGS} ${ICMAKER_CUDA_PTXAS_VERBOSE} -gencode=arch=${ICMAKER_CUDA_ARCH},code=[${ICMAKER_CUDA_CODE}] ${ICMAKER_CUDA_THRUST_DEBUG} ${ICMAKER_CUDA_WALL}")
+SET(ICMAKER_CUDA_CPPDEFINES "${ICMAKER_CUDA_DEBUG} ${ICMAKER_CUDA_MAXREGS} ${ICMAKER_CUDA_PTXAS_VERBOSE} -gencode=arch=${ICMAKER_CUDA_ARCH},code=[${ICMAKER_CUDA_CODE}] ${ICMAKER_CUDA_THRUST_DEBUG} ${ICMAKER_CUDA_CXX_STANDARD} ${ICMAKER_CUDA_WALL} ${SUPPRESS_NVCC_DEFAULTED_WARNINGS}")
 
 MESSAGE("ICMAKER_CUDA_CPPDEFINES: ${ICMAKER_CUDA_CPPDEFINES}")
 
@@ -199,7 +245,9 @@ ICMAKER_CONFIGURE_PACKAGE()
 
 ###############################################################################
 # Build examples
-ADD_SUBDIRECTORY(src/examples)
+IF(BUILD_EXAMPLES)
+  ADD_SUBDIRECTORY(src/examples)
+ENDIF()
 
 IF(BUILD_TESTS)
 ENDIF(BUILD_TESTS)

diff --git a/packages/gpu_voxels/README.md b/packages/gpu_voxels/README.md
@@ -13,12 +13,12 @@ If you have questions or experience any problems with the software, please post
 at https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/issues
 
 ## Install dependencies:
-This software is tested under 64 Bit Ubuntu Linux 14.04, 16.04 and 18.04.
+This software was tested under 64 Bit Ubuntu Linux 16.04, 18.04. and 20.04
 Find detailed installation and linking instructions in our Doxygen.
 
 **Core:**
 
-- CUDA 7.5, 8.0, 9.x or 10.0
+- CUDA 9.x, 10.x or 11.x
 - PCL
 - OpenNI
 - Boost
@@ -51,21 +51,30 @@ Doxygen files can be generated by
 
         make doc
 
-## Compiling without C++11
-C++11 is enabled by default. To compile without C++11 mode comment out this at the top of packages/gpu_voxels/CMakeLists.txt:
- SET(CMAKE_CXX_STANDARD 11)
-This is important if you are still using ROS Indigo and need to compile without C++11 support for compatibility reasons. There is a separate indigo branch that only differs in this line to disable C++11 during compilation.
+## Compiling with C++11 instead of C++14
+C++14 is enabled by default. To compile with C++11 instead change these lines in packages/gpu_voxels/CMakeLists.txt:
+
+  SET(CMAKE_CXX_STANDARD 14)
+  SET(ICMAKER_CUDA_CXX_STANDARD "--std=c++14")
 
-## Enabling C++11
-C++11 is enabled by default. To compile without C++11 mode comment out this at the top of packages/gpu_voxels/CMakeLists.txt: 
- SET(CMAKE_CXX_STANDARD 11)
+This is important if you are still using ROS Indigo and need to compile without C++11 support for compatibility reasons. There is a separate indigo branch that only differs in this line to disable C++11 during compilation.
 
 ## Known issues
-- If the ROS dependency was found, but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
-- Eigen 3 issues: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
+- If the ROS dependency was found but the GPU-Voxels URDF features are still unabailable, run `source /opt/ros/YOUR_ROS_DISTRO/setup.bash` before running cmake.
+- Octrees are currently bugged on modern GPU architectures of compute capability 7.2 and newer, leading to excessive/infinite runtime of octree algorithms.
+  + as a stopgap measure using octree functions on these GPUs now throws an exception until a fix has been found
+  + to run all tests except for the octree ones run `./bin/test_gpu_voxels_core --run_test=\!octree_selftest:\!octree_collisions`
+- Eigen 3 issues on Ubuntu 18.04: can be fixed by cloning a more current unstable Eigen version and placing it in CMAKE_PREFIX_PATH
   + on Ubuntu 18.04 with CUDA 10.0: "math_functions.hpp not found"
   + Eigen 3.3.4 and 3.3.5 with CUDA 9.0, 9.1, 9.2: Error: class "Eigen::half" has no member "x"
   + see http://eigen.tuxfamily.org/index.php?title=Main_Page#Download
+  + follow install_eigen_for_18.04.sh to add a suitable Eigen to CMAKE_PREFIX_PATH or do the following to install a new Eigen system-wide
+  ```bash
+  git clone https://gitlab.com/libeigen/eigen.git
+  sudo cp -r signature_of_eigen3_matrix_library /usr/include/eigen3
+  sudo cp -r unsupported/ /usr/include/eigen3
+  sudo cp -r Eigen/ /usr/include/eigen3
+  ```
 - Cuda 8.0: Code compiled with Cuda 8.0 works fine with older GPU drivers such as 375.66, but there are runtime errors with driver 384.111 and newer ("PTX JIT compilation failed"). Easy fix: use Cuda 10 with a current 410 or newer driver version. Cuda 10 is also available for Ubuntu 14.04 and 16.04.
 - GLM: There is a known bug in GLM on Ubuntu 16.04 that has to be patched to allow usage of the visualizer. Apply the patch described at https://github.com/g-truc/glm/issues/530 to /usr/include/glm/detail/func_common.inl