[OpenCOOD] Extract OpenCOOD and model assets into separate repositories

.pre-commit-config.yaml

@@ -23,14 +23,13 @@ repos:
     - id: check-json
     - id: check-merge-conflict
       args: ["--assume-in-merge"]
-      exclude: '(docs/.*|OpenCOOD/docs/.*)'
+      exclude: 'docs/.*'
     - id: check-shebang-scripts-are-executable
     - id: check-symlinks
     - id: check-toml
     - id: check-vcs-permalinks
     - id: check-xml
     - id: check-yaml
-      exclude: opencda/coperception_models/.*
     - id: destroyed-symlinks
     - id: end-of-file-fixer
     - id: name-tests-test
@@ -46,6 +45,8 @@ repos:
       description: ''
       entry: mypy
       language: python
+      additional_dependencies:
+        - mypy
       'types_or': [python, pyi]
       args: [".", "--follow-imports=silent"]
       pass_filenames: false

AIM/models/mtp/GNN_mtl_gnn/GNN_mtl_gnn.py

@@ -31,7 +31,7 @@ def __init__(self, hidden_channels: int) -> None:
         self.linear4: nn.Linear = nn.Linear(hidden_channels, hidden_channels)
         self.linear5: nn.Linear = nn.Linear(hidden_channels, 30 * 2)
 
-    def forward(
+    def forward(  # noqa: DC04 - invoked dynamically by torch.nn.Module.__call__
         self,
         x: torch.Tensor,
         edge_index: torch.Tensor,

CMakeLists.txt

@@ -2,102 +2,10 @@ cmake_minimum_required(VERSION 3.31)
 
 project(OpenCDA LANGUAGES NONE)
 
-option(OPENCDA_BUILD_CUDA "Build OpenCOOD CUDA extensions" OFF)
-option(OPENCDA_BUILD_PROTOBUF "Generate OpenCDA protobuf Python modules" OFF)
+option(OPENCDA_BUILD_PROTOBUF "Generate OpenCDA protobuf Python modules" ON)
 
-if(NOT OPENCDA_BUILD_CUDA AND NOT OPENCDA_BUILD_PROTOBUF)
-    message(FATAL_ERROR
-        "No build component selected. Enable OPENCDA_BUILD_CUDA or "
-        "OPENCDA_BUILD_PROTOBUF."
-    )
+if(NOT OPENCDA_BUILD_PROTOBUF)
+    message(FATAL_ERROR "No OpenCDA build component selected")
 endif()
 
-if(OPENCDA_BUILD_PROTOBUF)
-    add_subdirectory(opencda/core/common/communication)
-endif()
-
-if(OPENCDA_BUILD_CUDA)
-    if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES OR CMAKE_CUDA_ARCHITECTURES STREQUAL "")
-        message(FATAL_ERROR
-            "CMAKE_CUDA_ARCHITECTURES must be set explicitly when building "
-            "the OpenCOOD CUDA extensions."
-        )
-    endif()
-
-    set(OPENCDA_CUDA_ARCHITECTURES "${CMAKE_CUDA_ARCHITECTURES}")
-    set(OPENCDA_TORCH_CUDA_ARCH_LIST)
-    foreach(cuda_architecture IN LISTS OPENCDA_CUDA_ARCHITECTURES)
-        if(NOT cuda_architecture MATCHES "^[0-9]+$")
-            message(FATAL_ERROR
-                "Unsupported CUDA architecture '${cuda_architecture}'. "
-                "Use numeric values such as 86 or 75;86;89."
-            )
-        endif()
-
-        math(EXPR cuda_architecture_major "${cuda_architecture} / 10")
-        math(EXPR cuda_architecture_minor "${cuda_architecture} % 10")
-        list(APPEND OPENCDA_TORCH_CUDA_ARCH_LIST
-            "${cuda_architecture_major}.${cuda_architecture_minor}"
-        )
-    endforeach()
-
-    enable_language(CXX)
-    enable_language(CUDA)
-
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-    set(CMAKE_CXX_EXTENSIONS OFF)
-    set(CMAKE_CUDA_STANDARD 17)
-    set(CMAKE_CUDA_STANDARD_REQUIRED ON)
-    set(CMAKE_CUDA_EXTENSIONS OFF)
-    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
-    find_package(Python3 3.12 REQUIRED COMPONENTS Interpreter Development.Module)
-    find_package(CUDAToolkit REQUIRED)
-
-    execute_process(
-        COMMAND
-            "${Python3_EXECUTABLE}" -c
-            "import torch; print(torch.utils.cmake_prefix_path)"
-        OUTPUT_VARIABLE TORCH_CMAKE_PREFIX_PATH
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        COMMAND_ERROR_IS_FATAL ANY
-    )
-    list(APPEND CMAKE_PREFIX_PATH "${TORCH_CMAKE_PREFIX_PATH}")
-
-    # PyTorch's CMake package uses TORCH_CUDA_ARCH_LIST and otherwise adds a
-    # broad architecture list that includes targets removed from recent CUDA
-    # toolkits. Disable CMake's duplicate architecture flags and let PyTorch
-    # emit the requested gencode flags.
-    unset(CMAKE_CUDA_ARCHITECTURES CACHE)
-    unset(CMAKE_CUDA_ARCHITECTURES)
-    set(TORCH_CUDA_ARCH_LIST "${OPENCDA_TORCH_CUDA_ARCH_LIST}")
-    message(STATUS
-        "Building OpenCOOD CUDA extensions for ${TORCH_CUDA_ARCH_LIST}"
-    )
-    find_package(Torch REQUIRED)
-
-    execute_process(
-        COMMAND
-            "${Python3_EXECUTABLE}" -c
-            "from pathlib import Path; import torch; print(Path(torch.__file__).parent / 'lib')"
-        OUTPUT_VARIABLE OPENCDA_DETECTED_TORCH_LIBRARY_DIR
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        COMMAND_ERROR_IS_FATAL ANY
-    )
-    set(
-        OPENCDA_TORCH_RUNTIME_LIBRARY_DIR
-        "${OPENCDA_DETECTED_TORCH_LIBRARY_DIR}"
-        CACHE PATH
-        "Runtime directory containing the PyTorch shared libraries"
-    )
-    find_library(
-        OPENCDA_TORCH_PYTHON_LIBRARY
-        NAMES torch_python
-        PATHS "${OPENCDA_DETECTED_TORCH_LIBRARY_DIR}"
-        NO_DEFAULT_PATH
-        REQUIRED
-    )
-
-    add_subdirectory(OpenCOOD/opencood/pcdet_utils)
-endif()
+add_subdirectory(opencda/core/common/communication)

CMakePresets.json

@@ -3,10 +3,6 @@
     {
       "configurePreset": "protobuf",
       "name": "protobuf"
-    },
-    {
-      "configurePreset": "cuda",
-      "name": "cuda"
     }
   ],
   "cmakeMinimumRequired": {
@@ -18,23 +14,11 @@
     {
       "binaryDir": "${sourceDir}/build/protobuf",
       "cacheVariables": {
-        "OPENCDA_BUILD_CUDA": "OFF",
         "OPENCDA_BUILD_PROTOBUF": "ON"
       },
       "displayName": "OpenCDA protobuf modules",
       "generator": "Ninja",
       "name": "protobuf"
-    },
-    {
-      "binaryDir": "${sourceDir}/build/cuda",
-      "cacheVariables": {
-        "CMAKE_BUILD_TYPE": "Release",
-        "OPENCDA_BUILD_CUDA": "ON",
-        "OPENCDA_BUILD_PROTOBUF": "OFF"
-      },
-      "displayName": "OpenCOOD CUDA extensions",
-      "generator": "Ninja",
-      "name": "cuda"
     }
   ],
   "version": 6

Dockerfile

@@ -14,6 +14,8 @@ ENV HOME=${HOME}
 ENV PATH="/opt/venv/bin:${PATH}"
 ENV XDG_RUNTIME_DIR=/tmp/runtime-${USER}
 ENV OPENCDA_WORKSPACE=${HOME}/cavise/opencda
+ENV OPENCOOD_WORKSPACE=${HOME}/cavise/opencood
+ENV CAVISE_MODELS_ROOT=${HOME}/cavise/models
 
 RUN apt-get update && \
     apt-get install -y --no-install-recommends \
@@ -39,7 +41,7 @@ RUN if id -u ubuntu >/dev/null 2>&1; then userdel -r ubuntu; fi && \
     chown -R ${UID}:${UID} ${XDG_RUNTIME_DIR} ${HOME}
 
 
-FROM runtime-base AS python-dependencies
+FROM runtime-base AS python-opencda-dependencies
 
 RUN apt-get update && \
     apt-get install -y --no-install-recommends python3-venv=3.12.* && \
@@ -57,6 +59,14 @@ RUN python3 -m venv /opt/venv && \
         -r /tmp/opencda-requirements/requirements.txt
 
 
+FROM python-opencda-dependencies AS python-opencood-dependencies
+
+COPY opencood/requirements.txt /tmp/opencood-requirements/requirements.txt
+
+RUN /opt/venv/bin/python -m pip install --no-cache-dir \
+        -r /tmp/opencood-requirements/requirements.txt
+
+
 FROM ubuntu:${UBUNTU_VERSION}@${UBUNTU_DIGEST} AS protobuf-builder
 
 ARG PROTOC_VERSION=36.0
@@ -98,14 +108,13 @@ COPY opencda/opencda/core/common/communication/messages/ \
 
 RUN cmake -S . -B /tmp/opencda-protobuf-build -G Ninja \
         -DOPENCDA_BUILD_PROTOBUF=ON \
-        -DOPENCDA_BUILD_CUDA=OFF \
     && \
     cmake --build /tmp/opencda-protobuf-build && \
     cmake --install /tmp/opencda-protobuf-build \
         --prefix /opt/opencda-artifacts/protobuf
 
 
-FROM docker.io/nvidia/cuda:${CUDA_VERSION}-devel-ubuntu${UBUNTU_VERSION}@${CUDA_DEVEL_DIGEST} AS cuda-builder
+FROM docker.io/nvidia/cuda:${CUDA_VERSION}-devel-ubuntu${UBUNTU_VERSION}@${CUDA_DEVEL_DIGEST} AS opencood-cuda-builder
 
 ARG CUDA_ARCHITECTURES=86
 
@@ -120,30 +129,27 @@ RUN apt-get update && \
     && \
     rm -rf /var/lib/apt/lists/*
 
-COPY opencda/requirements-cuda.txt /tmp/requirements-cuda.txt
+COPY opencood/requirements-cuda.txt /tmp/requirements-cuda.txt
 
 RUN python3 -m venv /opt/cuda-build-venv && \
     python -m pip install --no-cache-dir \
         cmake==4.4.3 \
         ninja==1.13.2 \
         -r /tmp/requirements-cuda.txt
 
-WORKDIR /src/opencda
+WORKDIR /src/opencood
 
-COPY opencda/CMakeLists.txt ./
-COPY opencda/OpenCOOD/opencood/pcdet_utils/ \
-    OpenCOOD/opencood/pcdet_utils/
+COPY opencood/CMakeLists.txt ./
+COPY opencood/opencood/pcdet_utils/ opencood/pcdet_utils/
 
-RUN cmake -S . -B /tmp/opencda-cuda-build -G Ninja \
-        -DOPENCDA_BUILD_PROTOBUF=OFF \
-        -DOPENCDA_BUILD_CUDA=ON \
+RUN cmake -S . -B /tmp/opencood-cuda-build -G Ninja \
         -DCMAKE_BUILD_TYPE=Release \
         -DCMAKE_CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES} \
-        -DOPENCDA_TORCH_RUNTIME_LIBRARY_DIR=/opt/venv/lib/python3.12/site-packages/torch/lib \
+        -DOPENCOOD_TORCH_RUNTIME_LIBRARY_DIR=/opt/venv/lib/python3.12/site-packages/torch/lib \
     && \
-    cmake --build /tmp/opencda-cuda-build && \
-    cmake --install /tmp/opencda-cuda-build \
-        --prefix /opt/opencda-artifacts/cuda
+    cmake --build /tmp/opencood-cuda-build && \
+    cmake --install /tmp/opencood-cuda-build \
+        --prefix /opt/opencood-artifacts/cuda
 
 
 FROM runtime-base AS opencda-base
@@ -152,13 +158,12 @@ ARG USER=opencda
 ARG UID=1000
 ARG HOME=/home/${USER}
 
-COPY --from=python-dependencies /opt/venv /opt/venv
+COPY --from=python-opencda-dependencies /opt/venv /opt/venv
 
 WORKDIR ${HOME}/cavise/opencda
 
 COPY --chown=${UID}:${UID} opencda/opencda.py ./
 COPY --chown=${UID}:${UID} opencda/opencda/ opencda/
-COPY --chown=${UID}:${UID} opencda/OpenCOOD/ OpenCOOD/
 COPY --chown=${UID}:${UID} opencda/AIM/ AIM/
 COPY opencda/docker/sync-build-artifacts.sh \
     /usr/local/bin/opencda-sync-build-artifacts
@@ -184,19 +189,47 @@ COPY --from=protobuf-builder /opt/opencda-artifacts/protobuf \
     /opt/opencda-artifacts/protobuf
 
 
-FROM opencda-base AS opencda-cuda
+FROM opencda-base AS opencda-coperception-base
+
+ARG USER=opencda
+ARG UID=1000
+
+USER 0
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends git=1:2.43.* && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY --from=python-opencood-dependencies /opt/venv /opt/venv
+COPY --chown=${UID}:${UID} opencood/ ${OPENCOOD_WORKSPACE}/
+COPY opencood/docker/sync-cuda-artifacts.sh \
+    /usr/local/bin/opencood-sync-cuda-artifacts
+
+RUN chmod 755 /usr/local/bin/opencood-sync-cuda-artifacts && \
+    python -m pip install --no-cache-dir --no-build-isolation --no-deps \
+        --editable ${OPENCOOD_WORKSPACE}
+
+USER ${USER}
+
+ENTRYPOINT ["/usr/local/bin/opencood-sync-cuda-artifacts", "/usr/local/bin/opencda-sync-build-artifacts"]
 
-ENV OPENCDA_NATIVE_COMPONENTS="cuda"
 
-COPY --from=cuda-builder /opt/opencda-artifacts/cuda \
-    /opt/opencda-artifacts/cuda
+FROM opencda-coperception-base AS opencda-coperception
 
+ENV OPENCOOD_NATIVE_COMPONENTS=""
 
-FROM opencda-base AS opencda
 
-ENV OPENCDA_NATIVE_COMPONENTS="protobuf cuda"
+FROM opencda-coperception-base AS opencda-cuda
+
+ENV OPENCOOD_NATIVE_COMPONENTS="cuda"
+
+COPY --from=opencood-cuda-builder /opt/opencood-artifacts/cuda \
+    /opt/opencood-artifacts/cuda
+
+
+FROM opencda-cuda AS opencda
+
+ENV OPENCDA_NATIVE_COMPONENTS="protobuf"
 
 COPY --from=protobuf-builder /opt/opencda-artifacts/protobuf \
     /opt/opencda-artifacts/protobuf
-COPY --from=cuda-builder /opt/opencda-artifacts/cuda \
-    /opt/opencda-artifacts/cuda