Merge pull request #14660 from YashasSamaga:dnn-cuda-build

add cuDNN dependency and setup build for cuda4dnn (#14660)

* update cmake for cuda4dnn

- Adds FindCUDNN
- Adds new options:
   * WITH_CUDA
   * OPENCV_DNN_CUDA
- Adds CUDA4DNN preprocessor symbol for the DNN module

* FIX: append EXCLUDE_CUDA instead of overwrite

* remove cuDNN dependency for user apps

* fix unused variable warning

CMakeLists.txt

@@ -249,6 +249,9 @@ OCV_OPTION(WITH_CUFFT "Include NVidia Cuda Fast Fourier Transform (FFT) library
 OCV_OPTION(WITH_CUBLAS "Include NVidia Cuda Basic Linear Algebra Subprograms (BLAS) library support" WITH_CUDA
   VISIBLE_IF WITH_CUDA
   VERIFY HAVE_CUBLAS)
+OCV_OPTION(WITH_CUDNN "Include NVIDIA CUDA Deep Neural Network (cuDNN) library support" WITH_CUDA
+  VISIBLE_IF WITH_CUDA
+  VERIFY HAVE_CUDNN)
 OCV_OPTION(WITH_NVCUVID "Include NVidia Video Decoding library support" WITH_CUDA
   VISIBLE_IF WITH_CUDA
   VERIFY HAVE_NVCUVID)
@@ -918,6 +921,9 @@ if(HAVE_CUDA)
   if(HAVE_CUBLAS)
     set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} ${CUDA_cublas_LIBRARY})
   endif()
+  if(HAVE_CUDNN)
+    set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} ${CUDNN_LIBRARIES})
+  endif()
   if(HAVE_CUFFT)
     set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} ${CUDA_cufft_LIBRARY})
   endif()
@@ -1573,6 +1579,11 @@ if(WITH_CUDA OR HAVE_CUDA)
     status("    NVIDIA GPU arch:"      ${OPENCV_CUDA_ARCH_BIN})
     status("    NVIDIA PTX archs:"     ${OPENCV_CUDA_ARCH_PTX})
   endif()
+ endif()
+
+ if(WITH_CUDNN OR HAVE_CUDNN)
+    status("")
+    status("  cuDNN:" HAVE_CUDNN THEN "YES (ver ${CUDNN_VERSION})" ELSE NO)
 endif()
 
 if(WITH_VULKAN OR HAVE_VULKAN)

cmake/FindCUDNN.cmake

+# template taken from https://cmake.org/cmake/help/v3.14/manual/cmake-developer.7.html
+
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+#[=======================================================================[.rst:
+FindCUDNN
+---------
+
+Finds the cuDNN library.
+
+Requires:
+^^^^^^^^^
+
+find_cuda_helper_libs from FindCUDA.cmake
+i.e. CUDA module should be found using FindCUDA.cmake before attempting to find cuDNN
+
+Result Variables
+^^^^^^^^^^^^^^^^
+
+This will define the following variables:
+
+``CUDNN_FOUND``
+``CUDNN_INCLUDE_DIRS``    location of cudnn.h
+``CUDNN_LIBRARIES``       location of cudnn library
+
+Cache Variables
+^^^^^^^^^^^^^^^
+
+The following cache variables will be set if cuDNN was found. They may also be set on failure.
+
+``CUDNN_LIBRARY``
+``CUDNN_INCLUDE_DIR``
+``CUDNN_VERSION``
+
+``CUDNN_VERSION_MAJOR`` INTERNAL
+``CUDNN_VERSION_MINOR`` INTERNAL
+``CUDNN_VERSION_PATCH`` INTERNAL
+
+#]=======================================================================]
+
+# find the library
+if(CUDA_FOUND)
+  find_cuda_helper_libs(cudnn)
+  set(CUDNN_LIBRARY ${CUDA_cudnn_LIBRARY} CACHE FILEPATH "location of the cuDNN library")
+  unset(CUDA_cudnn_LIBRARY CACHE)
+endif()
+
+# find the include
+if(CUDNN_LIBRARY)
+  find_path(CUDNN_INCLUDE_DIR
+    cudnn.h
+    PATHS ${CUDA_TOOLKIT_INCLUDE}
+    DOC "location of cudnn.h"
+    NO_DEFAULT_PATH
+  )
+
+  if(NOT CUDNN_INCLUDE_DIR)
+    find_path(CUDNN_INCLUDE_DIR
+      cudnn.h
+      DOC "location of cudnn.h"
+    )
+  endif()
+endif()
+
+# extract version from the include
+if(CUDNN_INCLUDE_DIR)
+  file(READ "${CUDNN_INCLUDE_DIR}/cudnn.h" CUDNN_H_CONTENTS)
+
+  string(REGEX MATCH "define CUDNN_MAJOR ([0-9]+)" _ "${CUDNN_H_CONTENTS}")
+  set(CUDNN_MAJOR_VERSION ${CMAKE_MATCH_1} CACHE INTERNAL "")
+  string(REGEX MATCH "define CUDNN_MINOR ([0-9]+)" _ "${CUDNN_H_CONTENTS}")
+  set(CUDNN_MINOR_VERSION ${CMAKE_MATCH_1} CACHE INTERNAL "")
+  string(REGEX MATCH "define CUDNN_PATCHLEVEL ([0-9]+)" _ "${CUDNN_H_CONTENTS}")
+  set(CUDNN_PATCH_VERSION ${CMAKE_MATCH_1} CACHE INTERNAL "")
+
+  set(CUDNN_VERSION
+    "${CUDNN_MAJOR_VERSION}.${CUDNN_MINOR_VERSION}.${CUDNN_PATCH_VERSION}"
+    CACHE
+    STRING
+    "cuDNN version"
+  )
+
+  unset(CUDNN_H_CONTENTS)
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CUDNN
+  FOUND_VAR CUDNN_FOUND
+  REQUIRED_VARS
+    CUDNN_LIBRARY
+    CUDNN_INCLUDE_DIR
+  VERSION_VAR CUDNN_VERSION
+)
+
+if(CUDNN_FOUND)
+  set(CUDNN_LIBRARIES ${CUDNN_LIBRARY})
+  set(CUDNN_INCLUDE_DIRS ${CUDNN_INCLUDE_DIR})
+endif()
+
+mark_as_advanced(
+  CUDNN_LIBRARY
+  CUDNN_INCLUDE_DIR
+  CUDNN_VERSION
+)

cmake/OpenCVDetectCUDA.cmake

@@ -37,6 +37,16 @@ if(CUDA_FOUND)
     set(HAVE_CUBLAS 1)
   endif()
 
+  if(WITH_CUDNN)
+      set(CMAKE_MODULE_PATH "${OpenCV_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+      find_host_package(CUDNN "${MIN_VER_CUDNN}")
+      list(REMOVE_AT CMAKE_MODULE_PATH 0)
+
+      if(CUDNN_FOUND)
+        set(HAVE_CUDNN 1)
+      endif()
+  endif()
+
   if(WITH_NVCUVID)
     find_cuda_helper_libs(nvcuvid)
     if(WIN32)
@@ -293,6 +303,13 @@ if(HAVE_CUDA)
     endforeach()
   endif()
 
+  if(HAVE_CUDNN)
+    foreach(p ${CUDNN_LIBRARIES})
+      get_filename_component(_tmp ${p} PATH)
+      list(APPEND CUDA_LIBS_PATH ${_tmp})
+    endforeach()
+  endif()
+
   if(HAVE_CUFFT)
     foreach(p ${CUDA_cufft_LIBRARY})
       get_filename_component(_tmp ${p} PATH)
@@ -311,7 +328,10 @@ if(HAVE_CUDA)
     set(CUDA_cublas_LIBRARY_ABS ${CUDA_cublas_LIBRARY})
     ocv_convert_to_lib_name(CUDA_cublas_LIBRARY ${CUDA_cublas_LIBRARY})
   endif()
-
+  if(HAVE_CUDNN)
+    set(CUDNN_LIBRARIES_ABS ${CUDNN_LIBRARIES})
+    ocv_convert_to_lib_name(CUDNN_LIBRARIES ${CUDNN_LIBRARIES})
+  endif()
   if(HAVE_CUFFT)
     set(CUDA_cufft_LIBRARY_ABS ${CUDA_cufft_LIBRARY})
     ocv_convert_to_lib_name(CUDA_cufft_LIBRARY ${CUDA_cufft_LIBRARY})

cmake/OpenCVMinDepVersions.cmake

 set(MIN_VER_CMAKE 3.5.1)
 set(MIN_VER_CUDA 6.5)
+set(MIN_VER_CUDNN 6)
 set(MIN_VER_PYTHON2 2.7)
 set(MIN_VER_PYTHON3 3.2)
 set(MIN_VER_ZLIB 1.2.3)

cmake/OpenCVModule.cmake

@@ -33,7 +33,7 @@
 # The verbose template for OpenCV module:
 #
 #   ocv_add_module(modname <dependencies>)
-#   ocv_glob_module_sources(([EXCLUDE_CUDA] <extra sources&headers>)
+#   ocv_glob_module_sources(([EXCLUDE_OPENCL] [EXCLUDE_CUDA] <extra sources&headers>)
 #                          or glob them manually and ocv_set_module_sources(...)
 #   ocv_module_include_directories(<extra include directories>)
 #   ocv_create_module()

cmake/OpenCVPackaging.cmake

@@ -99,10 +99,15 @@ if(HAVE_CUDA)
       set(CPACK_DEB_libs_PACKAGE_DEPENDS "${CPACK_DEB_libs_PACKAGE_DEPENDS}, cuda-cufft-${cuda_version_suffix}")
       set(CPACK_DEB_dev_PACKAGE_DEPENDS "${CPACK_DEB_dev_PACKAGE_DEPENDS}, cuda-cufft-dev-${cuda_version_suffix}")
     endif()
-    if(HAVE_HAVE_CUBLAS)
+    if(HAVE_CUBLAS)
       set(CPACK_DEB_libs_PACKAGE_DEPENDS "${CPACK_DEB_libs_PACKAGE_DEPENDS}, cuda-cublas-${cuda_version_suffix}")
       set(CPACK_DEB_dev_PACKAGE_DEPENDS "${CPACK_DEB_dev_PACKAGE_DEPENDS}, cuda-cublas-dev-${cuda_version_suffix}")
     endif()
+    if(HAVE_CUDNN)
+      # TODO
+      #ex: libcudnn7_7.5.1.10-1+cuda10.1_amd64
+      #ex: libcudnn7-dev_7.5.1.10-1+cuda10.1_amd64
+    endif()
   endif()
   set(CPACK_COMPONENT_dev_DEPENDS libs)
 endif()

cmake/templates/OpenCVConfig-CUDA.cmake.in

@@ -6,6 +6,9 @@ set(OpenCV_USE_CUBLAS   "@HAVE_CUBLAS@")
 set(OpenCV_USE_CUFFT    "@HAVE_CUFFT@")
 set(OpenCV_USE_NVCUVID  "@HAVE_NVCUVID@")
 
+set(OpenCV_CUDNN_VERSION    "@CUDNN_VERSION@")
+set(OpenCV_USE_CUDNN        "@HAVE_CUDNN@")
+
 if(NOT CUDA_FOUND)
   find_host_package(CUDA ${OpenCV_CUDA_VERSION} EXACT REQUIRED)
 else()

cmake/templates/cvconfig.h.in

@@ -34,11 +34,14 @@
 /* Cocoa API */
 #cmakedefine HAVE_COCOA
 
+/* NVIDIA CUDA Runtime API*/
+#cmakedefine HAVE_CUDA
+
 /* NVIDIA CUDA Basic Linear Algebra Subprograms (BLAS) API*/
 #cmakedefine HAVE_CUBLAS
 
-/* NVIDIA CUDA Runtime API*/
-#cmakedefine HAVE_CUDA
+/* NVIDIA CUDA Deep Neural Network (cuDNN) API*/
+#cmakedefine HAVE_CUDNN
 
 /* NVIDIA CUDA Fast Fourier Transform (FFT) API*/
 #cmakedefine HAVE_CUFFT

modules/dnn/CMakeLists.txt

@@ -16,10 +16,16 @@ ocv_option(OPENCV_DNN_OPENCL "Build with OpenCL support" HAVE_OPENCL AND NOT APP
 
 if(OPENCV_DNN_OPENCL AND HAVE_OPENCL)
   add_definitions(-DCV_OCL4DNN=1)
-else()
-  ocv_cmake_hook_append(INIT_MODULE_SOURCES_opencv_dnn "${CMAKE_CURRENT_LIST_DIR}/cmake/hooks/INIT_MODULE_SOURCES_opencv_dnn.cmake")
 endif()
 
+ocv_option(OPENCV_DNN_CUDA "Build with CUDA support" HAVE_CUDA AND HAVE_CUBLAS AND HAVE_CUDNN)
+
+if(OPENCV_DNN_CUDA AND HAVE_CUDA AND HAVE_CUBLAS AND HAVE_CUDNN)
+  add_definitions(-DCV_CUDA4DNN=1)
+endif()
+
+ocv_cmake_hook_append(INIT_MODULE_SOURCES_opencv_dnn "${CMAKE_CURRENT_LIST_DIR}/cmake/hooks/INIT_MODULE_SOURCES_opencv_dnn.cmake")
+
 if(MSVC)
   add_definitions( -D_CRT_SECURE_NO_WARNINGS=1 )
   ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4244 /wd4267 /wd4018 /wd4355 /wd4800 /wd4251 /wd4996 /wd4146
@@ -73,12 +79,19 @@ endif()
 set(include_dirs ${fw_inc})
 set(sources_options "")
 set(libs libprotobuf ${LAPACK_LIBRARIES})
+
 if(OPENCV_DNN_OPENCL AND HAVE_OPENCL)
   list(APPEND include_dirs ${OPENCL_INCLUDE_DIRS})
 else()
   set(sources_options EXCLUDE_OPENCL)
 endif()
 
+if(OPENCV_DNN_CUDA AND HAVE_CUDA AND HAVE_CUBLAS AND HAVE_CUDNN)
+  list(APPEND include_dirs ${CUDA_TOOLKIT_INCLUDE} ${CUDNN_INCLUDE_DIRS})
+else()
+  set(sources_options ${sources_options} EXCLUDE_CUDA)
+endif()
+
 ocv_module_include_directories(${include_dirs})
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   ocv_append_source_files_cxx_compiler_options(fw_srcs "-Wno-suggest-override")  # GCC

modules/dnn/cmake/hooks/INIT_MODULE_SOURCES_opencv_dnn.cmake

-message(STATUS "opencv_dnn: filter out ocl4dnn source code")
-ocv_list_filterout(OPENCV_MODULE_${the_module}_SOURCES "/ocl4dnn/")
-ocv_list_filterout(OPENCV_MODULE_${the_module}_HEADERS "/ocl4dnn/")
+if(NOT (OPENCV_DNN_OPENCL AND HAVE_OPENCL))
+  message(STATUS "opencv_dnn: filter out ocl4dnn source code")
+  ocv_list_filterout(OPENCV_MODULE_${the_module}_SOURCES "/ocl4dnn/")
+  ocv_list_filterout(OPENCV_MODULE_${the_module}_HEADERS "/ocl4dnn/")
+endif()
+
+if(NOT (OPENCV_DNN_CUDA AND HAVE_CUDA AND HAVE_CUBLAS AND HAVE_CUDNN))
+  message(STATUS "opencv_dnn: filter out cuda4dnn source code")
+  ocv_list_filterout(OPENCV_MODULE_${the_module}_SOURCES "/cuda4dnn/")
+  ocv_list_filterout(OPENCV_MODULE_${the_module}_HEADERS "/cuda4dnn/")
+endif()

modules/dnn/src/cuda/test.cu

+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+// this file is a stub and will be removed once actual code is added
+
+#include "../precomp.hpp"
+
+#include <cuda_runtime.h>
+
+#ifndef HAVE_CUDA
+#   error "CUDA files should not be compiled if CUDA was not enabled"
+#endif
+
+__global__ void cuda4dnn_build_test_kernel(float* addr) {
+    int idx = threadIdx.x;
+    addr[idx] = 0.0;
+}

modules/dnn/src/cuda4dnn/test.cpp

+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+// this file is a stub and will be removed once actual code is added
+
+#include "../precomp.hpp"
+
+#ifndef HAVE_CUDA
+#   error "CUDA4DNN should be enabled iff CUDA and cuDNN were found"
+#endif
+
+#include <cudnn.h>
+
+void cuda4dnn_build_test_func() {
+    auto ver = cudnnGetVersion();
+    CV_UNUSED(ver);
+}

modules/dnn/src/precomp.hpp

@@ -53,10 +53,22 @@
 #else
 #undef HAVE_OPENCL
 #endif
+
+#ifndef CV_CUDA4DNN
+#define CV_CUDA4DNN 0
+#endif
+
+#if CV_CUDA4DNN
+#ifndef HAVE_CUDA
+#error "Configuration error: re-run CMake from clean build directory"
+#endif
+#else
+#undef HAVE_CUDA
+#endif
+
 #include <opencv2/core/ocl.hpp>
 #include <opencv2/core/opencl/ocl_defs.hpp>
 
-
 #include <opencv2/core/utils/trace.hpp>
 #include <opencv2/dnn.hpp>
 #include <opencv2/dnn/all_layers.hpp>