Holoscan SDK v2.6.0 Release

Co-authored by: Alexis Girault <[email protected]> Co-authored by: Andreas Heumann <[email protected]> Co-authored by: Gigon Bae <[email protected]> Co-authored by: Gregory Lee <[email protected]> Co-authored by: Julien Jomier <[email protected]> Co-authored by: Shekhar Dwivedi <[email protected]> Co-authored by: Soham Sinha <[email protected]> Co-authored by: Tom Birdsong <[email protected]> Co-authored by: Wendell Hom <[email protected]>
nvidia-holoscan · Oct 29, 2024 · 2eb3860 · 2eb3860
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diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -1520,6 +1520,29 @@
                 }
             ]
         },
+        {
+            "name": "(gdb) Holoinfer: tests",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.buildDirectory}/gtests/HOLOINFER_TEST",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}",
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ]
+        },
         {
             "name": "(gdb) Holoviz: functional tests",
             "type": "cppdbg",

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -121,7 +121,10 @@
         "ranges": "cpp",
         "barrier": "cpp",
         "latch": "cpp",
-        "syncstream": "cpp"
+        "syncstream": "cpp",
+        "__functional_base_03": "cpp",
+        "annotated_ptr": "cpp",
+        "stream_ref": "cpp"
     },
     "git.alwaysSignOff": true,
     "git.untrackedChanges": "separate",

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -32,6 +32,7 @@ option(HOLOSCAN_DOWNLOAD_DATASETS "Download SDK Datasets" ON)
 option(HOLOSCAN_BUILD_TESTS "Build Holoscan SDK Tests" ON)
 option(HOLOSCAN_USE_CCACHE "Use ccache for building Holoscan SDK" OFF)
 option(HOLOSCAN_INSTALL_EXAMPLE_SOURCE "Install the example source code" ON)
+option(HOLOSCAN_ENABLE_CLANG_TIDY "Enable use of clang-tidy" OFF)
 
 # ##############################################################################
 # # Prerequisite statements
@@ -254,6 +255,12 @@ install(DIRECTORY ${cli11_SOURCE_DIR}/include/CLI/
     COMPONENT holoscan-core
 )
 
+# Copy bundled spdlog headers
+install(DIRECTORY ${spdlog_SOURCE_DIR}/include/spdlog/
+    DESTINATION include/3rdparty/spdlog
+    COMPONENT holoscan-core
+)
+
 # Copy version file
 install(FILES ${${HOLOSCAN_PACKAGE_NAME}_BINARY_DIR}/include/holoscan/version_config.hpp
     DESTINATION include/holoscan
@@ -268,6 +275,7 @@ install(DIRECTORY
   ${GXF_INCLUDE_DIR}/gxf/cuda
   ${GXF_INCLUDE_DIR}/gxf/logger
   ${GXF_INCLUDE_DIR}/gxf/multimedia
+  ${GXF_INCLUDE_DIR}/gxf/rmm
   ${GXF_INCLUDE_DIR}/gxf/serialization
   ${GXF_INCLUDE_DIR}/gxf/std
   ${GXF_INCLUDE_DIR}/gxf/ucx
@@ -438,6 +446,11 @@ if(HOLOSCAN_BUILD_TESTS)
     add_test(NAME HOLOVIZ_UNIT_TEST COMMAND holoscan::viz::unittests)
 endif()
 
+# If enabling clang-tidy
+if(HOLOSCAN_ENABLE_CLANG_TIDY)
+  set(CMAKE_CXX_CLANG_TIDY "clang-tidy;--checks=*,-llvmlibc-restrict-system-libc-headers,-fuchsia-default-arguments-calls,-llvmlibc-implementation-in-namespace,-readability-magic-numbers,-readability-identifier-length,-readability-magic-numbers,-cppcoreguidelines-avoid-magic-numbers,-altera-unroll-loops,-llvmlibc-callee-namespace,-google-build-using-namespace,-llvm-include-order,-bugprone-exception-escape,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-modernize-use-trailing-return-type,-altera-id-dependent-backward-branch,-fuchsia-default-arguments-declarations,-bugprone-easily-swappable-parameters,-clang-diagnostic-ignored-optimization-argument;--extra-arg=-std=c++17")
+endif()
+
 if(HOLOSCAN_BUILD_PYTHON)
     add_subdirectory(python)
 endif()

diff --git a/CPPLINT.cfg b/CPPLINT.cfg
@@ -1,6 +1,7 @@
 # mark cpp and cu files as header too so build/include_what_you_use will be applied
 headers=cpp,cu,cuh,h,hpp
-filter=-build/header_guard,-readability/todo,-runtime/references,-build/c++11,-runtime/int,-build/include_subdir,-build/namespaces,-readability/casting
+# need -readability/nolint to ignore unrecognized NOLINT categories from clang-tidy
+filter=-build/header_guard,-readability/todo,-readability/nolint,-runtime/references,-build/c++11,-runtime/int,-build/include_subdir,-build/namespaces,-readability/casting
 # CPPLINT.cfg file's 'exclude_files' option works only for file/folder names in the same directory as the .cfg file
 # See https://github.com/google/styleguide/issues/220 for more details
 exclude_files=\.cache|build|build-|install|data

diff --git a/DEVELOP.md b/DEVELOP.md
@@ -81,15 +81,16 @@ To build the Holoscan SDK on a local environment, the following versions of dev
 
 | Dependency | Min version | Needed by | Dockerfile stage |
 |---|---|---|---|
-| CUDA | 12.2 | Core SDK | base |
+| CUDA | 12.6 | Core SDK | base |
 | gRPC | 1.54.2 | Core SDK | grpc-builder |
-| UCX | 1.15.0 | Core SDK | ucx-builder |
-| GXF | 4.0 | Core SDK | gxf-downloader |
-| MOFED | 23.07 | ConnectX | mofed-installer |
-| TensorRT | 8.6.1 | Inference operator | base |
-| ONNX Runtime | 1.15.1 | Inference operator | onnxruntime-downloader |
-| LibTorch | 2.1.0 | Inference operator<br>(torch plugin) | torch-downloader-[x86_64\|arm64] |
-| TorchVision | 0.16.0 | Inference operator<br>(torch plugin) | torchvision-downloader-[x86_64\|arm64] |
+| UCX | 1.17.0 | Core SDK | base |
+| GXF | 4.1 | Core SDK | gxf-downloader |
+| MOFED | 24.07 | ConnectX | mofed-installer |
+| TensorRT | 10.3 | Inference operator | base |
+| NVPL | 24.03 | LibTorch | build |
+| ONNX Runtime | 1.18.1 | Inference operator | onnxruntime-downloader |
+| LibTorch | 2.5.0 | Inference operator<br>(torch plugin) | torch-downloader-[x86_64\|arm64] |
+| TorchVision | 0.20.0 | Inference operator<br>(torch plugin) | torchvision-downloader-[x86_64\|arm64] |
 | Vulkan SDK | 1.3.216 | Holoviz operator | vulkansdk-builder |
 | Vulkan loader and<br>validation layers | 1.3.204 | Holoviz operator | dev |
 | spirv-tools | 2022.1 | Holoviz operator | dev |

diff --git a/Dockerfile b/Dockerfile
@@ -20,20 +20,19 @@
 ############################################################
 # Dependencies ending in _YY.MM are built or extracted from
 # the TensorRT or PyTorch NGC containers of that same version
-ARG ONNX_RUNTIME_VERSION=1.15.1_23.08
-ARG LIBTORCH_VERSION=2.1.0_23.08
-ARG TORCHVISION_VERSION=0.16.0_23.08
+ARG ONNX_RUNTIME_VERSION=1.18.1_38712740_24.08-cuda-12.6
+ARG LIBTORCH_VERSION=2.5.0_24.08
+ARG TORCHVISION_VERSION=0.20.0_24.08
 ARG GRPC_VERSION=1.54.2
-ARG UCX_VERSION=1.15.0
-ARG GXF_VERSION=4.0_20240409_bc03d9d
-ARG MOFED_VERSION=23.10-2.1.3.1
+ARG GXF_VERSION=447_20241004_bf72709
+ARG MOFED_VERSION=24.07-0.6.1.0
 
 ############################################################
 # Base image
 ############################################################
 ARG GPU_TYPE=dgpu
-FROM nvcr.io/nvidia/tensorrt:23.08-py3 AS dgpu_base
-FROM nvcr.io/nvidia/tensorrt:23.12-py3-igpu AS igpu_base
+FROM nvcr.io/nvidia/tensorrt:24.08-py3 AS dgpu_base
+FROM nvcr.io/nvidia/tensorrt:24.08-py3-igpu AS igpu_base
 FROM ${GPU_TYPE}_base AS base
 
 ARG DEBIAN_FRONTEND=noninteractive
@@ -84,7 +83,7 @@ ARG ONNX_RUNTIME_VERSION
 # note: built with CUDA and TensorRT providers
 WORKDIR /opt/onnxruntime
 RUN curl -S -L -# -o ort.tgz \
-    https://edge.urm.nvidia.com/artifactory/sw-holoscan-thirdparty-generic-local/onnxruntime/onnxruntime-${ONNX_RUNTIME_VERSION}-cuda-12.2-$(uname -m).tar.gz
+    https://edge.urm.nvidia.com/artifactory/sw-holoscan-thirdparty-generic-local/onnxruntime/onnxruntime-${ONNX_RUNTIME_VERSION}-$(uname -m).tar.gz
 RUN mkdir -p ${ONNX_RUNTIME_VERSION}
 RUN tar -xf ort.tgz -C ${ONNX_RUNTIME_VERSION} --strip-components 2
 
@@ -96,15 +95,20 @@ ARG LIBTORCH_VERSION
 ARG GPU_TYPE
 
 # Download libtorch binaries from artifactory
-# note: extracted from nvcr.io/nvidia/pytorch:23.07-py3
+# note: extracted from nvcr.io/nvidia/pytorch:24.08-py3
 WORKDIR /opt/libtorch/
 RUN ARCH=$(uname -m) && if [ "$ARCH" = "aarch64" ]; then ARCH="${ARCH}-${GPU_TYPE}"; fi && \
     curl -S -# -o libtorch.tgz -L \
         https://edge.urm.nvidia.com/artifactory/sw-holoscan-thirdparty-generic-local/libtorch/libtorch-${LIBTORCH_VERSION}-${ARCH}.tar.gz
 RUN mkdir -p ${LIBTORCH_VERSION}
 RUN tar -xf libtorch.tgz -C ${LIBTORCH_VERSION} --strip-components 1
-# Remove kineto from config to remove warning, not needed by holoscan
+
+# Patch step to remove kineto from config to remove warning, not needed by holoscan
 RUN find . -type f -name "*Config.cmake" -exec sed -i '/kineto/d' {} +
+# Patch step for CMake configuration warning
+COPY patches/libtorch.Caffe2.cmake.patch ${LIBTORCH_VERSION}/share/cmake/Caffe2/cuda.patch
+WORKDIR ${LIBTORCH_VERSION}
+RUN patch -p1 < share/cmake/Caffe2/cuda.patch
 
 ############################################################
 # TorchVision
@@ -172,44 +176,21 @@ RUN UBUNTU_VERSION=$(cat /etc/lsb-release | grep DISTRIB_RELEASE | cut -d= -f2)
 ############################################################
 # UCX
 ############################################################
-FROM mofed-installer AS ucx-builder
-ARG UCX_VERSION
-
-# Clone
-WORKDIR /opt/ucx/
-RUN git clone --depth 1 --branch v${UCX_VERSION} https://github.com/openucx/ucx.git src
-
-# Patch
-WORKDIR /opt/ucx/src
-RUN curl -L https://github.com/openucx/ucx/pull/9341.patch | git apply
+FROM build-tools AS ucx-patcher
 
-# Prerequisites to build
-RUN apt-get update \
-    && apt-get install --no-install-recommends -y \
-        libtool="2.4.6-*" \
-        automake="1:1.16.5-*" \
-    && rm -rf /var/lib/apt/lists/*
-
-# Build and install
-RUN ./autogen.sh
-WORKDIR /opt/ucx/build
-RUN ../src/contrib/configure-release-mt --with-cuda=/usr/local/cuda-12 \
-    --prefix=/opt/ucx/${UCX_VERSION}
-RUN make -j $(( `nproc` > ${MAX_PROC} ? ${MAX_PROC} : `nproc` )) install
-
-# Apply patches for import and run
+# The base container provides custom builds of HPCX libraries without
+# the necessary rpath for non-containerized applications. We patch RPATH
+# for portability when we later repackage these libraries for distribution
+# outside of the container.
 WORKDIR /opt/ucx/${UCX_VERSION}
-# patch cmake config
-RUN sed -i "s|set(prefix.*)|set(prefix \"$(pwd)\")|" lib/cmake/ucx/ucx-targets.cmake
-# patch rpath (relative to ORIGIN)
-RUN patchelf --set-rpath '$ORIGIN' lib/libuc*.so*
-RUN patchelf --set-rpath '$ORIGIN:$ORIGIN/..' lib/ucx/libuc*.so*
-RUN patchelf --set-rpath '$ORIGIN/../lib' bin/*
+RUN patchelf --set-rpath '$ORIGIN' /opt/hpcx/ucx/lib/libuc*.so* \
+    && patchelf --set-rpath '$ORIGIN:$ORIGIN/..' /opt/hpcx/ucx/lib/ucx/libuc*.so* \
+    && patchelf --set-rpath '$ORIGIN/../lib' /opt/hpcx/ucx/bin/*
 
 ############################################################
 # GXF
 ############################################################
-FROM base AS gxf-builder
+FROM base AS gxf-downloader
 ARG GXF_VERSION
 
 WORKDIR /opt/nvidia/gxf
@@ -259,22 +240,21 @@ ENV GRPC=/opt/grpc/${GRPC_VERSION}
 COPY --from=grpc-builder ${GRPC} ${GRPC}
 ENV CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${GRPC}"
 
-# Copy UCX
-ARG UCX_VERSION
-ENV UCX=/opt/ucx/${UCX_VERSION}
-COPY --from=ucx-builder ${UCX} ${UCX}
-ENV PATH="${PATH}:${UCX}/bin"
-ENV CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${UCX}"
-# remove older version of UCX in hpcx install
-RUN rm -rf /opt/hpcx/ucx /usr/local/ucx
-RUN unset OPENUCX_VERSION
-# required for gxf_ucx.so to find ucx
-ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${UCX}/lib"
+# Copy UCX and set other HPC-X runtime paths
+ENV HPCX=/opt/hpcx
+COPY --from=ucx-patcher ${HPCX}/ucx ${HPCX}/ucx
+ENV PATH="${PATH}:${HPCX}/ucx/bin:${HPCX}/ucc/bin:${HPCX}/ompi/bin"
+ENV CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${HPCX}/ucx"
+# Constrain HPCX's ld config to Holoscan/Torch explicit dependencies,
+# to prevent inadvertently picking up non-expected libraries
+RUN echo "${HPCX}/ucx/lib" > /etc/ld.so.conf.d/hpcx.conf \
+    && echo "${HPCX}/ucc/lib" >> /etc/ld.so.conf.d/hpcx.conf \
+    && echo "${HPCX}/ompi/lib" >> /etc/ld.so.conf.d/hpcx.conf
 
 # Copy GXF
 ARG GXF_VERSION
 ENV GXF=/opt/nvidia/gxf/${GXF_VERSION}
-COPY --from=gxf-builder ${GXF} ${GXF}
+COPY --from=gxf-downloader ${GXF} ${GXF}
 ENV CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}:${GXF}"
 
 # Setup Docker & NVIDIA Container Toolkit's apt repositories to enable DooD
@@ -289,6 +269,21 @@ RUN install -m 0755 -d /etc/apt/keyrings \
         "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
         tee /etc/apt/sources.list.d/docker.list > /dev/null
 
+# Install NVIDIA Performance Libraries on arm64 dGPU platform
+# as a runtime requirement for the Holoinfer `libtorch` backend (2.5.0).
+ARG GPU_TYPE
+RUN if [[ $(uname -m) = "aarch64" && ${GPU_TYPE} = "dgpu" ]]; then \
+    curl -L https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/sbsa/cuda-keyring_1.1-1_all.deb -O \
+    && dpkg -i cuda-keyring_1.1-1_all.deb \
+    && apt-get update \
+    && apt-get install --no-install-recommends -y \
+        nvpl-blas=0.2.0.1-* \
+        nvpl-lapack=0.2.2.1-* \
+    && apt-get purge -y cuda-keyring \
+    && rm cuda-keyring_1.1-1_all.deb \
+    && rm -rf /var/lib/apt/lists/* \
+    ; fi
+
 # APT INSTALLS
 #  valgrind - dynamic analysis
 #  clang-tidy - static analysis

diff --git a/NOTICE.txt b/NOTICE.txt
@@ -42,8 +42,8 @@ expected (https://github.com/TartanLlama/expected)
 Licensed under CC0-1.0 (https://github.com/TartanLlama/expected/blob/v1.1.0/COPYING)
 
 fmt (https://github.com/fmtlib/fmt)
-Copyright (c) 2012 - present, Victor Zverovich
-Licensed under MIT (https://github.com/fmtlib/fmt/blob/8.1.1/LICENSE.rst)
+Copyright (c) 2012 - present, Victor Zverovich and {fmt} contributors
+Licensed under MIT (https://github.com/fmtlib/fmt/blob/10.1.1/LICENSE.rst)
 
 GLFW (https://www.glfw.org/)
 Copyright (c) 2002-2006 Marcus Geelnard
@@ -237,7 +237,7 @@ Licensed under Apache-2.0 (http://www.apache.org/licenses/LICENSE-2.0)
 
 ONNX Runtime (https://github.com/microsoft/onnxruntime)
 Copyright (c) Microsoft Corporation
-Licensed under MIT (https://github.com/microsoft/onnxruntime/blob/v1.15.1/LICENSE)
+Licensed under MIT (https://github.com/microsoft/onnxruntime/blob/v1.18.1/LICENSE)
 
 openblas (https://packages.ubuntu.com/jammy/libopenblas0)
 2011-2021 The OpenBLAS Project
@@ -275,12 +275,16 @@ RAPIDS rapids-cmake (https://github.com/rapidsai/rapids-cmake)
 Copyright (c) 2020-2021, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 Licensed under Apache-2.0 (https://github.com/rapidsai/rapids-cmake/blob/branch-23.06/LICENSE)
 
+RMM (https://github.com/rapidsai/rmm)
+Copyright (c) 2018-2024, NVIDIA CORPORATION.
+Licensed under Apache 2.0 (https://github.com/rapidsai/rmm/blob/branch-24.04/LICENSE)
+
 Google Fonts Roboto (https://github.com/googlefonts/roboto/releases/download/v2.138/roboto-android.zip)
 Licensed under Apache-2.0 (https://github.com/googlefonts/roboto/blob/v2.138/LICENSE)
 
 spdlog (https://github.com/gabime/spdlog)
 Copyright (c) 2016 Gabi Melman.
-Licensed under MIT (https://github.com/gabime/spdlog/blob/v1.10.0/LICENSE)
+Licensed under MIT (https://github.com/gabime/spdlog/blob/v1.12.0/LICENSE)
 
 spirv-tools (https://packages.ubuntu.com/jammy/spirv-tools)
 2016-2017 Google Inc.
@@ -310,7 +314,7 @@ Copyright (C) 2016-2020      Advanced Micro Devices, Inc.  All rights reserved.
 Copyright (C) 2019           UChicago Argonne, LLC.  All rights reserved.
 Copyright (C) 2020           Huawei Technologies Co., Ltd. All rights reserved.
 Copyright (C) 2016-2020      Stony Brook University. All rights reserved.
-Licensed under BSD-3-clause (https://github.com/openucx/ucx/blob/v1.15.0-rc2/LICENSE)
+Licensed under BSD-3-clause (https://github.com/openucx/ucx/blob/v1.17.0/LICENSE)
 
 v4l-utils (https://packages.ubuntu.com/jammy/v4l-utils)
 2006-2010 Mauro Carvalho Chehab <[email protected]>

diff --git a/README.md b/README.md
@@ -18,7 +18,7 @@ The Holoscan User Guide includes:
 - Requirements and setup steps;
 - Detailed SDK documentation, including a developer introduction, examples, and API details.
 
-We also recommend visiting [NVIDIA HoloHub](https://nvidia-holoscan.github.io/holohub/) to view
+We also recommend visiting [NVIDIA HoloHub](https://github.com/nvidia-holoscan/holohub) to view
 community projects and reusable components available for your Holoscan project.
 
 ## Obtaining the Holoscan SDK
@@ -54,7 +54,7 @@ and may include them in Holoscan SDK releases at our discretion. Please refer to
 
 ### Relation to NVIDIA Clara
 
-In previous releases, the prefix [`Clara`](https://developer.nvidia.com/industries/healthcare) was used to define Holoscan as a platform designed initially for [medical devices](https://www.nvidia.com/en-us/clara/developer-kits/). Starting with version 0.4.0, the Holoscan SDK is built to be domain-agnostic and can be used to build sensor AI applications in multiple domains. Domain specific content will be hosted on the [HoloHub](https://nvidia-holoscan.github.io/holohub) repository.
+In previous releases, the prefix [`Clara`](https://developer.nvidia.com/industries/healthcare) was used to define Holoscan as a platform designed initially for [medical devices](https://www.nvidia.com/en-us/clara/developer-kits/). Starting with version 0.4.0, the Holoscan SDK is built to be domain-agnostic and can be used to build sensor AI applications in multiple domains. Domain specific content will be hosted on the [HoloHub](https://github.com/nvidia-holoscan/holohub) repository.
 
 ### Repository structure
 

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.5.0
+2.6.0
diff --git a/cmake/deps/fmt_rapids.cmake b/cmake/deps/fmt_rapids.cmake
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -16,13 +16,13 @@
 # https://docs.rapids.ai/api/rapids-cmake/stable/command/rapids_cpm_find.html
 include(${rapids-cmake-dir}/cpm/find.cmake)
 
-rapids_cpm_find(fmt 8.1.1
+rapids_cpm_find(fmt 10.1.1
     GLOBAL_TARGETS fmt fmt-header-only
     BUILD_EXPORT_SET ${HOLOSCAN_PACKAGE_NAME}-exports
     CPM_ARGS
 
     GITHUB_REPOSITORY fmtlib/fmt
-    GIT_TAG 8.1.1
+    GIT_TAG 10.1.1
     GIT_SHALLOW TRUE
 
     OPTIONS