cuda12 support for spconv v1.1.2

[wep21]

I would like nvidia team to provide also spconv v1.1.2 shared library for cuda12.x.

[wep21]

cc @hopef

[hopef]

I'll finish it as soon as possible, thanks.

[wep21]

@hopef Any updates?

[scepter914]

I also hope this update.

[xuyuan]

the cuda 12 version has been upload here: https://github.com/NVIDIA-AI-IOT/Lidar_AI_Solution/tree/master/libraries/3DSparseConvolution/libspconv/lib/x86_64

however the results are off:

Comparing to cuda 11 version:

@hopef could you fix this? thx!

[Xinchengzelin]

the cuda 12 version has been upload here: https://github.com/NVIDIA-AI-IOT/Lidar_AI_Solution/tree/master/libraries/3DSparseConvolution/libspconv/lib/x86_64

however the results are off:

Comparing to cuda 11 version:

@hopef could you fix this? thx!

Hi, @xuyuan , spconv v1.1.2 only for Cuda12.2? I tried Cuda12.0, which show the error:

/usr/bin/ld: warning: libprotobuf.so.23, needed by /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<double>::elements() const'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::ComputeUnknownFieldsSize(google::protobuf::internal::InternalMetadata const&, unsigned long, google::protobuf::internal::CachedSize*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::AssignDescriptors(google::protobuf::internal::DescriptorTable const*, bool)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::EpsCopyInputStream::DoneFallback(char const*, int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::VerifyUTF8(google::protobuf::StringPiece, char const*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<float>::Add(float const&)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::ReadSizeFallback(char const*, unsigned int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::Add()'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::WireFormat::InternalSerializeUnknownFieldsToArray(google::protobuf::UnknownFieldSet const&, unsigned char*, google::protobuf::io::EpsCopyOutputStream*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::UnknownFieldParse(unsigned long, google::protobuf::UnknownFieldSet*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::RepeatedPtrField(google::protobuf::Arena*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::MessageLite::ParseFromIstream(std::istream*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::io::EpsCopyOutputStream::WriteRawFallback(void const*, int, unsigned char*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<unsigned long>::elements() const'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::~RepeatedPtrField()'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::ReadTagFallback(char const*, unsigned int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `__libc_single_threaded@GLIBC_2.32'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::PackedInt64Parser(void*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::RepeatedPtrField(google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > const&)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::Clear()'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::io::EpsCopyOutputStream::WriteStringOutline(unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned char*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::PackedInt32Parser(void*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<unsigned long>::Mutable(int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::PackedUInt64Parser(void*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<int>::elements() const'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<int>::Mutable(int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::io::EpsCopyOutputStream::WriteStringMaybeAliasedOutline(unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned char*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::Arena::AllocateAlignedNoHook(unsigned long)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::size() const'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `std::__throw_bad_array_new_length()@GLIBCXX_3.4.29'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::PackedDoubleParser(void*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::PackedFloatParser(void*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::io::EpsCopyOutputStream::EnsureSpaceFallback(unsigned char*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::MergeFrom(google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > const&)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<double>::Mutable(int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedField<float>::Mutable(int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::InlineGreedyStringParser(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, char const*, google::protobuf::internal::ParseContext*)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::internal::VarintParseSlow64(char const*, unsigned int)'
/usr/bin/ld: /home/zetlin/Code/github/Lidar_AI_Solution/CUDA-BEVFusion/../libraries/3DSparseConvolution/libspconv/lib/x86_64/libspconv.so: undefined reference to `google::protobuf::RepeatedPtrField<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >::Get(int) const'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/bevfusion.dir/build.make:186: bevfusion] Error 1
make[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/bevfusion.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

libprotobuf-dev version

(base) ➜  CUDA-BEVFusion git:(master) ✗ sudo apt list | grep "libprotobuf-dev"
[sudo] password for zetlin: 

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

libprotobuf-dev/focal-updates,focal-security,now 3.6.1.3-2ubuntu5.2 amd64 [installed]
libprotobuf-dev/focal-updates,focal-security 3.6.1.3-2ubuntu5.2 i386

[chjej202]

I also need spconv 1.1.2 with cuda 12.
I cannot use pyscn on Orin board with Jetpack 6.0