@jacob-yaacubov Not sure why you didn't get a response from the moderation team?
It does like it's coming in SDK 1.1: https://docs.modalai.com/ros2-installation-voxl2/#mpa-to-ros2
I would also appreciate a roadmap or timeline. I am about to port it to ROS2 myself, and would prefer to save the hassle if it's just around the corner.
@Alex-Kushleyev Yes, dpkg -S <file path> to figure out which debs installed which libraries (ie, dpkg -S /usr/lib/libOpenCL.so), apt-cache show to see the source (ubuntu ppa vs modalai), then dpkg-repack to repack the modalai debs.
Thanks again!
OMG IT WORKS!!
I was able to extract all these libraries from the host and directly install them inside the docker, and now the pcol-opencl-icd installation isn't needed.
This is really important for us, since it allows us to build external dependencies that rely on OpenCL in our pipeline directly without bind mounts (outside the host environment).
Really, really appreciate all your help!
FROM arm64v8/ubuntu:22.04
# Install necessary dependencies
RUN apt-get update && \
apt-get install -y \
cmake \
build-essential \
libglib2.0-0
# Copy Adreno GPU dependencies
# - libcutils0_0-r1_arm64.deb
# - libsync_1.0-r1_arm64.deb
# - qti-libion_0-r1_arm64.deb
# - liblog0_1.0-r1_arm64.deb
# - qti-adreno_1.0-r0_arm64.deb
COPY dep /root/dep
# Create required directory for qti-adreno install
RUN mkdir /usr/include/KHR && dpkg -i /root/dep/*.deb
# Copy and build test script
COPY ./hellocl /root/hellocl
RUN cd /root/hellocl && mkdir build && cd build && cmake .. && make
CMD ["bash"]
voxl2:~/opencl$ docker run -it --rm --privileged opencl:latest ./root/hellocl/build/hellocl
Platform Information:
Platform Name: QUALCOMM Snapdragon(TM)
Platform Vendor: QUALCOMM
Platform Version: OpenCL 2.0 QUALCOMM build: commit # changeid # Date: 11/10/21 Wed Local Branch: Remote Branch:
Platform Profile: FULL_PROFILE
Platform Extensions:
------------------------------------
Device Information:
Device Name: QUALCOMM Adreno(TM)
Device Vendor: QUALCOMM
Driver Version: OpenCL 2.0 QUALCOMM build: commit # changeid # Date: 11/10/21 Wed Local Branch: Remote Branch: Compiler E031.37.12.01
Device Version: OpenCL 2.0 Adreno(TM) 650
Device OpenCL C Version: OpenCL C 2.0 Adreno(TM) 650
Device Max Compute Units: 3
This should be three: 3
@Alex-Kushleyev That aligns pretty well with my own experience so far. Thanks again for looking into this!
@Eric-Katzfey Really appreciate it! Thanks so much
@Eric-Katzfey I know it's been a few years, but I see your name all over the voxl-docker-opencl commit history was wondering if you'd be able to share your thoughts regarding how I might approach this? Specifically, if there are any steps you'd recommend I take to get OpenCL integrated into docker for Voxl2.
Thanks,
Eric
For reference, I've tried downloading the adreno-opencl-sdk-2.0 from qualcomm, loaded the libraries into the docker, and run privileged while also adding devices /dev/dri and /dev/kgsl-3d0. I also added a vendor including the path to qualcomm's libOpenCL library. When I query platforms using the C++ api, the script just hangs. If I don't set the vendor, it fails with a -1001 error.
Inside the docker, I can build all the sdk examples just fine. I just can't access Adreno.
Thanks again for any help.
Hello, we have a ROS2 humble autonomy stack that we we build in a CI pipeline and deploy to various platforms, including Voxl2.
The pipeline selects an appropriate base image for respective platforms (including nvida jetson, voxl, etc), each of which is a custom docker image based on ubuntu:jammy with unique layers for platform dependencies.
We would like to be able to utilize the Adreno GPU within our voxl2 target via OpenCL. I could use some assistance understanding how I might go about this for VOXL2. I am aware of this VOXL1 example: https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-opencl. Unfortunately, this example uses a prebuilt package for OpenCL to provide Adreno support.
Is there any documentation that could be shared regarding how this Adreno OpenCL library was built so that we can build an equivalent library in Ubuntu 22 that supports Adreno/VOXL2?
Any guidance would be greatly appreciated.
Thank you,
Eric
I am seeing a very strong correlation between projected pointcloud and the front left image, but it's not perfect (bottom edge seems a bit off), so my guess is that the pointcloud coordinate frame is aligned with the left camera after slight rotation (for rectification):
If so, how to extract this rotation and correct the transform?
Very quick question. I'm working on an application where I need to project the stereo_front_pc (from voxl-dfs-server) into the hires camera frame. This of course requires that I know the coordinate frame of the generated pointcloud. Since the underlying rectification process is closed source, I can't see any transformations involved in the rectification, just the resulting maps.
Is the coordinate frame associated with left camera, rectified left camera (in which case, how do I lookup R), or something else?
Tagging @James-Strawson and @thomas, since they are the authors of this package.
Thanks!
