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Fix OOM Crash During Compilation #428

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Merged
ClayJay3 merged 1 commit into from
Feb 24, 2026
+53 −4
Merged

Fix OOM Crash During Compilation #428

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2 changes: 1 addition & 1 deletion .devcontainer/Jammy.dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ RUN apt-get update && apt-get install -y wget gnupg && \

# Install Required Ubuntu Packages
RUN apt-get update && apt-get install --no-install-recommends -y iputils-ping \
build-essential gdb less udev zstd sudo libgomp1 python-is-python3 \
build-essential lld gdb less udev zstd sudo libgomp1 python-is-python3 \
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cmake git libgtk2.0-dev pkg-config libx264-dev libdrm-dev ssh \
libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev tzdata net-tools \
yasm libatlas-base-dev libpq-dev libpostproc-dev libusb-1.0-0-dev \
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2 changes: 1 addition & 1 deletion .devcontainer/JetPack.dockerfile
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Expand Up @@ -34,7 +34,7 @@ RUN apt-get update && apt-get install -y wget && \

# Install Required Ubuntu Packages
RUN apt-get update && apt-get install --no-install-recommends -y \
build-essential cmake git gdb file tar libatlas-base-dev apt-transport-https iputils-ping \
build-essential lld cmake git gdb file tar libatlas-base-dev apt-transport-https iputils-ping \
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libswresample-dev libcanberra-gtk3-module zstd less libx264-dev libdrm-dev python-is-python3 \
libeigen3-dev libglew-dev libgstreamer-plugins-base1.0-dev udev net-tools libssl-dev \
libgstreamer-plugins-good1.0-dev libgstreamer1.0-dev libgtk-3-dev libjpeg-dev sudo usbutils \
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4 changes: 2 additions & 2 deletions .devcontainer/devcontainer.json
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Expand Up @@ -43,8 +43,8 @@
"image": "ghcr.io/missourimrdt/autonomy-jammy:2025-11-06-19-13-36",
// "image": "ghcr.io/missourimrdt/autonomy-jetpack:2025-11-06-19-13-36",
// "build": {
// // "dockerfile": "Jammy.dockerfile"
// "dockerfile": "JetPack.dockerfile"
// "dockerfile": "Jammy.dockerfile"
// // "dockerfile": "JetPack.dockerfile"
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// },
// Features to add to the dev container. More info: https://containers.dev/features.
// "features": {},
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49 changes: 49 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -31,6 +31,19 @@ project(Autonomy_Software VERSION 24.05.00 LANGUAGES C CXX CUDA)
## CMake Policies
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "Suppress developer warnings")

####################################################################################################################
## Performance Enhancements ##
####################################################################################################################

## Use LLD linker if available to save RAM and time during the linking phase
if(NOT MSVC)
add_link_options("-fuse-ld=lld")
endif()

## Enable Unity Builds to drastically reduce memory usage during compilation
set(CMAKE_UNITY_BUILD ON)
set(CMAKE_UNITY_BUILD_BATCH_SIZE 8) # Adjust batch size based on project size. Lower is less RAM usage but longer compile times.
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####################################################################################################################
## Options ##
####################################################################################################################
Expand Down Expand Up @@ -336,6 +349,18 @@ set(AUTONOMY_LIBRARIES Threads::Threads
)
target_link_libraries(${EXE_NAME} PRIVATE ${AUTONOMY_LIBRARIES})

# Add a precompiled header for the heaviest libraries to vastly reduce RAM usage
target_precompile_headers(${EXE_NAME} PRIVATE
<vector>
<string>
<memory>
<Eigen/Dense>
<pcl/point_cloud.h>
<pcl/point_types.h>
<torch/torch.h>
<opencv2/opencv.hpp>
)
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####################################################################################################################
## Installation and Tests ##
####################################################################################################################
Expand Down Expand Up @@ -368,6 +393,18 @@ if (BUILD_TESTS_MODE)

add_executable(${EXE_NAME}_UnitTests ${Runner_SRC} ${UTests_SRC} ${TEST_SRC})
target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})

# Apply precompiled headers to Unit Tests
target_precompile_headers(${EXE_NAME}_UnitTests PRIVATE
<vector>
<string>
<memory>
<Eigen/Dense>
<pcl/point_cloud.h>
<pcl/point_types.h>
<torch/torch.h>
<opencv2/opencv.hpp>
)
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foreach(test_file ${UTests_SRC})
get_filename_component(test_name ${test_file} NAME_WE)
Expand All @@ -382,6 +419,18 @@ if (BUILD_TESTS_MODE)
add_executable(${EXE_NAME}_IntegrationTests ${Runner_SRC} ${ITests_SRC} ${TEST_SRC})
target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})

# Apply precompiled headers to Integration Tests
target_precompile_headers(${EXE_NAME}_IntegrationTests PRIVATE
<vector>
<string>
<memory>
<Eigen/Dense>
<pcl/point_cloud.h>
<pcl/point_types.h>
<torch/torch.h>
<opencv2/opencv.hpp>
)
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foreach(test_file ${ITests_SRC})
get_filename_component(test_name ${test_file} NAME_WE)
add_test(NAME ITest_${test_name} COMMAND ${EXE_NAME}_IntegrationTests --gtest_filter=${test_name}Test*.* --timestamp=${CURRENT_TIMESTAMP})
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