Holoscan SDK v2.1.0 Release

Co-authored-by: Alexis Girault <agirault@nvidia.com> Co-authored-by: Andreas Heumann <aheumann@nvidia.com> Co-authored-by: Arun Patole <apatole@nvidia.com> Co-authored-by: Cristiana Dinea <cdinea@nvidia.com> Co-authored-by: Gigon Bae <gbae@nvidia.com> Co-authored-by: Gregory Lee <grelee@nvidia.com> Co-authored-by: Gregory R. Lee <grelee@nvidia.com> Co-authored-by: Ian Stewart <istewart@nvidia.com> Co-authored-by: Ilies Chergui <ichergui@nvidia.com> Co-authored-by: Julien Jomier <jjomier@nvidia.com> Co-authored-by: Shekhar Dwivedi <shekhard@nvidia.com> Co-authored-by: Soham Sinha <sohams@nvidia.com> Co-authored-by: Tom Birdsong <tbirdsong@nvidia.com> Co-authored-by: Victor Chang <vicchang@nvidia.com> Co-authored-by: Wendell Hom <whom@nvidia.com>
nvidia-holoscan · Jun 4, 2024 · 760e403 · 760e403
1 parent 1e011a4
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diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -30,8 +30,13 @@
         "--security-opt=seccomp=unconfined",
     ],
     "containerEnv": {
+        // X11 support
         "DISPLAY": "${localEnv:DISPLAY}",
-        "NVIDIA_DRIVER_CAPABILITIES": "graphics,video,compute,utility,display",
+        // Wayland support
+        "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+        "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+        "XDG_SESSION_TYPE": "${localEnv:XDG_SESSION_TYPE}",
+        "NVIDIA_DRIVER_CAPABILITIES": "all",
         // Set the following environment variables to use the same folder name as the host machine.
         // This is needed to launch container from the workspace folder that is not same as the SDK source root folder.
         "HOLOSCAN_PUBLIC_FOLDER": "${localEnv:HOLOSCAN_PUBLIC_FOLDER}",
@@ -40,7 +45,10 @@
         "CMAKE_BUILD_PARALLEL_LEVEL": "${localEnv:CMAKE_BUILD_PARALLEL_LEVEL}",
     },
     "mounts": [
+        // X11 support
         "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        // Wayland support
+        "source=${localEnv:XDG_RUNTIME_DIR},target=${localEnv:XDG_RUNTIME_DIR},type=bind,consistency=cached",
     ],
     "workspaceMount": "source=${localWorkspaceFolder},target=/workspace/holoscan-sdk,type=bind,consistency=cached",
     "workspaceFolder": "/workspace/holoscan-sdk",
@@ -74,4 +82,4 @@
     // "postCreateCommand": "gcc -v",
     // Comment out this line to run as root instead.
     "remoteUser": "holoscan-sdk"
-}
+}
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -372,6 +372,24 @@
                 }
             ]
         },
+        {
+            "name": "(gdb) examples/holoviz/cpp/holoviz_camera",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.buildDirectory}/examples/holoviz/cpp/holoviz_camera",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}",
+            "environment": [],
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
         {
             "name": "(gdb) examples/holoviz/cpp/holoviz_geometry",
             "type": "cppdbg",
@@ -485,6 +503,55 @@
                 }
             ]
         },
+        {
+            "name": "(gdb) examples/import_gxf_components/cpp",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.buildDirectory}/examples/import_gxf_components/cpp/import_gxf_components",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}",
+            "environment": [
+                {
+                    "name": "HOLOSCAN_LOG_LEVEL",
+                    "value": "DEBUG"
+                },
+            ],
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+        {
+            "name": "(gdb) examples/import_gxf_components/python",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "/usr/bin/bash",
+            "args": [
+                "${workspaceFolder}/${env:HOLOSCAN_PUBLIC_FOLDER}/.vscode/debug_python",
+                "${workspaceFolder}/${env:HOLOSCAN_PUBLIC_FOLDER}/examples/import_gxf_components/python/import_gxf_components.py",
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}",
+            "environment": [
+                {
+                    "name": "HOLOSCAN_LOG_LEVEL",
+                    "value": "DEBUG"
+                },
+                {
+                    "name": "PYTHONPATH",
+                    "value": "${command:cmake.buildDirectory}/python/lib"
+                },
+                {
+                    "name": "HOLOSCAN_INPUT_PATH",
+                    "value": "${command:cmake.buildDirectory}/../data"
+                },
+            ],
+        },
         {
             "name": "(gdb) examples/multithread/cpp/multithread",
             "type": "cppdbg",

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -188,6 +188,7 @@ list(APPEND HOLOSCAN_INSTALL_TARGETS
     op_async_ping_tx
     op_bayer_demosaic
     op_format_converter
+    op_gxf_codelet
     op_holoviz
     op_inference
     op_inference_processor

diff --git a/Dockerfile b/Dockerfile
@@ -38,6 +38,7 @@ FROM nvcr.io/nvidia/tensorrt:23.12-py3-igpu AS igpu_base
 FROM ${GPU_TYPE}_base AS base
 
 ARG DEBIAN_FRONTEND=noninteractive
+ENV NVIDIA_DRIVER_CAPABILITIES=all
 
 ############################################################
 # Variables
@@ -328,12 +329,14 @@ RUN install -m 0755 -d /etc/apt/keyrings \
 #  libx* - X packages
 #  libvulkan1 - for Vulkan apps (Holoviz)
 #  vulkan-validationlayers, spirv-tools - for Vulkan validation layer (enabled for Holoviz in debug mode)
+#  libwayland-dev, libxkbcommon-dev, pkg-config - GLFW compile dependency for Wayland support
+#  libdecor-0-plugin-1-cairo - GLFW runtime dependency for Wayland window decorations
 #  libegl1 - to run headless Vulkan apps
 #  libopenblas0 - libtorch dependency
 #  libv4l-dev - V4L2 operator dependency
 #  v4l-utils - V4L2 operator utility
 #  libpng-dev - torchvision dependency
-#  libjpeg-dev - torchvision dependency
+#  libjpeg-dev - torchvision, v4l2 mjpeg dependency
 #  docker-ce-cli - enable Docker DooD for CLI
 #  docker-buildx-plugin - enable Docker DooD for CLI
 RUN apt-get update \
@@ -349,6 +352,10 @@ RUN apt-get update \
         libvulkan1="1.3.204.1-*" \
         vulkan-validationlayers="1.3.204.1-*" \
         spirv-tools="2022.1+1.3.204.0-*" \
+        libwayland-dev="1.20.0-*" \
+        libxkbcommon-dev="1.4.0-*" \
+        pkg-config="0.29.2-*" \
+        libdecor-0-plugin-1-cairo="0.1.0-*" \
         libegl1="1.4.0-*" \
         libopenblas0="0.3.20+ds-*" \
         libv4l-dev="1.22.1-*" \

diff --git a/NOTICE.txt b/NOTICE.txt
@@ -47,8 +47,8 @@ Licensed under MIT (https://github.com/fmtlib/fmt/blob/8.1.1/LICENSE.rst)
 
 GLFW (https://www.glfw.org/)
 Copyright (c) 2002-2006 Marcus Geelnard
-Copyright (c) 2006-2016 Camilla Berglund <elmindreda@glfw.org>
-Licensed under Zlib (https://github.com/glfw/glfw/blob/3.3.7/COPYING.txt)
+Copyright (c) 2006-2019 Camilla Löwy
+Licensed under Zlib (https://github.com/glfw/glfw/blob/3.4/LICENSE.md)
 
 gRPC (https://github.com/grpc/grpc)
 Copyright 2014 gRPC authors.
@@ -81,6 +81,20 @@ Copyright © 2015      Research Organization for Information Science and Technol
 Copyright © 2015-2016 Intel, Inc.  All rights reserved.
 Licensed under BSD-3-clause (https://github.com/open-mpi/hwloc/blob/hwloc-2.9.0/COPYING)
 
+AJA NTV2 SDK (https://github.com/nvidia-holoscan/libajantv2)
+Copyright (c) 2023 AJA Video Systems
+Licensed under MIT (https://github.com/nvidia-holoscan/libajantv2/blob/holoscan/LICENSE)
+
+libdecor-0-plugin-1-cairo (https://packages.ubuntu.com/jammy/libdecor-0-plugin-1-cairo)
+2010 Intel Corporation
+2011 Benjamin Franzke
+2017-2018 Red Hat Inc
+2018-2019 Jonas Ã…dahl
+2019 Christian Rauch
+2021 Christian Rauch
+2021 Marco Trevisan
+Licensed under MIT (http://changelogs.ubuntu.com/changelogs/pool/main/libd/libdecor-0/libdecor-0_0.1.0-3build1/copyright)
+
 libegl1 (https://packages.ubuntu.com/jammy/libegl1)
 2013-2017 NVIDIA Corporation
 2007-2013 VMware, Inc
@@ -144,6 +158,63 @@ libvulkan1 (https://packages.ubuntu.com/jammy/libvulkan1)
 2015-2016 LunarG, Inc
 Licensed under Apache-2.0 (http://changelogs.ubuntu.com/changelogs/pool/main/v/vulkan-loader/vulkan-loader_1.3.204.1-2/copyright)
 
+libwayland-client (https://packages.ubuntu.com/jammy/libwayland-client++0)
+Copyright: 2014-2019, Nils Christopher Brause
+Copyright: 2014-2019, Nils Christopher Brause, Philipp Kerling
+Copyright: 2014-2019, Philipp Kerling, Nils Christopher Brause
+Copyright: 2015-2016, Red Hat Inc.
+Copyright: 2013-2014, Collabora, Ltd.
+Copyright: 2017-2019, Philipp Kerling
+Copyright: 2014-2019, Nils Christopher Brause, Philipp Kerling, Zsolt BÃ¶lÃ¶ny
+Copyright: 2012-2013, Intel Corporation
+Copyright: 2014, Jonas Ã…dahl
+Copyright: 2014, Stephen "Lyude" Chandler Paul
+Copyright: 2014-2019, Philipp Kerling, Nils Christopher Brause, Craig Andrews, Tobias Kortkamp, Balint Reczey
+Copyright: 2014-2019, Nils Christopher Brause, Philipp Kerling, Bernd Kuhls
+Copyright: 2012-2013, Intel Corporation
+Copyright: 2016, The Chromium Authors.
+Copyright: 2008-2011, Kristian HÃ¸gsberg
+Copyright: 2008-2013, Kristian HÃƒÂ¸gsberg
+Copyright: 2008-2013, Kristian HÃƒÂ¸gsberg
+Copyright: 2015, Jason Ekstrand
+Copyright: 2015-2016, Red Hat
+Copyright: 2015, Samsung Electronics Co., Ltd
+Copyright: 2018, Simon Ser
+Copyright: 2017 wsnipex <wsnipex@a1.net> 2019 Balint Reczey <rbalint@ubuntu.com>
+Licensed under MIT, BSD-2 (https://changelogs.ubuntu.com/changelogs/pool/universe/w/waylandpp/waylandpp_0.2.8-2/copyright)
+
+libwayland-dev (https://packages.ubuntu.com/jammy/libwayland-dev)
+Copyright: Â© 2011 Cyril Brulebois <kibi@debian.org>
+Copyright: Â© 1999 SuSE, Inc. Â© 2002 Keith Packard Â© 2006, 2008 Junio C Hamano Â© 2008-2012 Kristian HÃ¸gsberg Â© 2010-2012 Intel Corporation Â© 2011 Benjamin Franzke Â© 2012-2013, 2016 Collabora, Ltd Â© 2012-2013 Jason Ekstrand Â© 2012-2014 Jonas Ã…dahl Â© 2013 Marek Chalupa Â© 2014-2015 Red Hat, Inc. Â© 2015 Giulio Camuffo  Â© 2016 KlarÃ¤lvdalens Datakonsult AB Â© 2016 Yong Bakos Â© 2017 NVIDIA CORPORATION Â© 2017 Samsung Electronics Co., Ltd
+Licensed under MIT (https://changelogs.ubuntu.com/changelogs/pool/main/w/wayland/wayland_1.20.0-1ubuntu0.1/copyright)
+
+libwayland-egl1 (https://packages.ubuntu.com/jammy/libwayland-egl1)
+Copyright 2011 Cyril Brulebois <kibi@debian.org>
+Copyright: 1999 SuSE, Inc.
+Copyright: 2002 Keith Packard
+Copyright: 2006, 2008 Junio C Hamano
+Copyright: 2008-2012 Kristian HÃ¸gsberg
+Copyright: 2010-2012 Intel Corporation
+Copyright: 2011 Benjamin Franzke
+Copyright: 2012-2013, 2016 Collabora, Ltd
+Copyright: 2012-2013 Jason Ekstrand
+Copyright: 2012-2014 Jonas Ã…dahl
+Copyright: 2013 Marek Chalupa
+Copyright: 2014-2015 Red Hat, Inc.
+Copyright: 2015 Giulio Camuffo
+Copyright: 2016 KlarÃ¤lvdalens Datakonsult AB
+Copyright: 2016 Yong Bakos
+Copyright: 2017 NVIDIA CORPORATION
+Copyright: 2017 Samsung Electronics Co., Ltd
+Licensed under X11 (https://changelogs.ubuntu.com/changelogs/pool/main/w/wayland/wayland_1.20.0-1ubuntu0.1/copyright)
+
+libxkbcommon-dev (https://packages.ubuntu.com/jammy/libxkbcommon-dev)
+Copyright 1985, 1987, 1988, 1990, 1998  The Open Group
+Copyright 2008, 2009  Dan Nicholson
+Copyright (c) 1993, 1994, 1995, 1996 by Silicon Graphics Computer Systems, Inc.
+Copyright 1987, 1988 by Digital Equipment Corporation, Maynard, Massachusetts.
+Licensed under MIT (https://changelogs.ubuntu.com/changelogs/pool/main/libx/libxkbcommon/libxkbcommon_1.4.0-1/copyright)
+
 magic_enum (https://github.com/Neargye/magic_enum)
 Copyright (c) 2019 - 2023 Daniil Goncharov
 Licensed under MIT (https://github.com/Neargye/magic_enum/blob/v0.9.3/LICENSE)
@@ -156,10 +227,6 @@ Ninja (https://packages.ubuntu.com/jammy/ninja-build)
 2011-2014 Google
 Licensed under Apache 2 License (http://changelogs.ubuntu.com/changelogs/pool/universe/n/ninja-build/ninja-build_1.10.1-1/copyright)
 
-AJA NTV2 SDK (https://github.com/ibstewart/ntv2)
-Copyright (c) 2021 AJA Video Systems
-Licensed under MIT (https://github.com/ibstewart/ntv2/blob/holoscan-v0.2.0/LICENSE)
-
 nvpro_core (https://github.com/nvpro-samples/nvpro_core)
 Copyright (c) 2014-2023, NVIDIA CORPORATION.  All rights reserved.
 Licensed under Apache 2.0 (https://github.com/nvpro-samples/nvpro_core/blob/master/LICENSE)
@@ -175,6 +242,11 @@ openblas (https://packages.ubuntu.com/jammy/libopenblas0)
 2020      IBM Corporation
 Licensed under BSD (http://changelogs.ubuntu.com/changelogs/pool/universe/o/openblas/openblas_0.3.20+ds-1/copyright)
 
+pkg-config (https://packages.ubuntu.com/jammy/pkg-config)
+Copyright (C) 2001, 2002 Red Hat Inc.
+Copyright (C) 2004, 2005 Tollef Fog Heen <tfheen@err.no>
+Licensed under GPLv2 (http://changelogs.ubuntu.com/changelogs/pool/main/p/pkg-config/pkg-config_0.29.2-1ubuntu3/copyright)
+
 pybind11 (https://github.com/pybind/pybind11)
 Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.
 Licensed under BSD-3-clause (https://github.com/pybind/pybind11/blob/v2.11.1/LICENSE)

diff --git a/README.md b/README.md
@@ -48,7 +48,7 @@ We appreciate community discussion and feedback in support of Holoscan platform
 
 ### 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/). As Holoscan has grown, its potential to serve other areas has become apparent. With version 0.4.0, we're proud to announce that the Holoscan SDK is now officially built to be domain-agnostic and can be used to build sensor AI applications in multiple domains. Note that some of the content of the SDK (sample applications) or the documentation might still appear to be healthcare-specific pending additional updates. Going forward, 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://nvidia-holoscan.github.io/holohub) repository.
 
 ### Repository structure
 

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.0.0
+2.1.0
diff --git a/cmake/deps/ajantv2_rapids.cmake b/cmake/deps/ajantv2_rapids.cmake
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2022-2023 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");
@@ -16,21 +16,22 @@
 # https://docs.rapids.ai/api/rapids-cmake/stable/command/rapids_find_package.html#
 include(${rapids-cmake-dir}/cpm/find.cmake)
 
-rapids_cpm_find(ajantv2 16.2.0
+# Setting NTV2_VERSION_BUILD environment variable to avoid CMake warning
+set(ENV{NTV2_VERSION_BUILD} 1)
+
+rapids_cpm_find(ajantv2 17.0.1
     GLOBAL_TARGETS AJA::ajantv2
 
     CPM_ARGS
 
-    GITHUB_REPOSITORY nvidia-holoscan/ntv2
-    GIT_TAG 1321a8d4c1a8de696c996d05b65e5aa2934f89d1
+    GITHUB_REPOSITORY nvidia-holoscan/libajantv2
+    GIT_TAG d4250c556bcf1ebade627a3ef7a2027de7dc85ee
     OPTIONS
-    "AJA_BUILD_APPS OFF"
-    "AJA_BUILD_DOCS OFF"
-    "AJA_BUILD_DRIVER OFF"
-    "AJA_BUILD_LIBS ON"
-    "AJA_BUILD_PLUGINS OFF"
-    "AJA_BUILD_QA OFF"
-    "AJA_BUILD_TESTS OFF"
+    "AJANTV2_DISABLE_DEMOS ON"
+    "AJANTV2_DISABLE_DRIVER ON"
+    "AJANTV2_DISABLE_PLUGINS ON"
+    "AJANTV2_DISABLE_TESTS ON"
+    "AJANTV2_DISABLE_TOOLS ON"
     "AJA_INSTALL_HEADERS OFF"
     "AJA_INSTALL_SOURCES OFF"
     EXCLUDE_FROM_ALL
@@ -43,8 +44,8 @@ if(ajantv2_ADDED)
     add_library(AJA::ajantv2 ALIAS ajantv2)
 
     # Install the headers needed for development with the SDK
-    install(DIRECTORY ${ajantv2_SOURCE_DIR}/ajalibraries
-        DESTINATION "include"
+    install(DIRECTORY ${ajantv2_SOURCE_DIR}/ajantv2 ${ajantv2_SOURCE_DIR}/ajabase
+        DESTINATION "include/libajantv2"
         COMPONENT "holoscan-dependencies"
         FILES_MATCHING PATTERN "*.h" PATTERN "*.hh"
         )