support onnxruntime

Author: Ar-Ray-code

yolox_ros_cpp/README.md

@@ -5,8 +5,8 @@
 - OpenCV 4.x
 - OpenVINO 2021.*
 - TensorRT 8.x *
-<!-- - ONNXRuntime * -->
-<!-- - Tensorflow Lite * -->
+- ONNXRuntime *
+- Tensorflow Lite *
 
 ※ Either one of OpenVINO or TensorRT or ONNXRuntime or Tensorflow Lite is required.
 
@@ -230,34 +230,30 @@ colcon build --cmake-args \
 
 ### OpenVINO
 ```bash
-# run yolox_tiny
 ros2 launch yolox_ros_cpp yolox_openvino.launch.py
 
-# run other model
-ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
-    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/openvino/yolox_s.xml
+## run other model
+# ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
+#     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/openvino/yolox_s.xml
 
-# run PINTO_model_zoo model
-# This model is converted from version 0.1.0.
-ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
-    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_tiny_480x640.onnx \
-    model_version:="0.1.0"
+## run PINTO_model_zoo model (version 0.1.0)
+# ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
+#     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_tiny_480x640.onnx \
+#     model_version:="0.1.0"
 
-# run YOLOX-tiny with NCS2
-ros2 launch yolox_ros_cpp yolox_openvino_ncs2.launch.py
+## run YOLOX-tiny with NCS2
+# ros2 launch yolox_ros_cpp yolox_openvino_ncs2.launch.py
 
 ```
 
 ### TensorRT
 ```bash
-# run yolox_tiny
 ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py
 
-# run PINTO_model_zoo model
-# This model is converted from version 0.1.0.
-ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py \
-    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_tiny_480x640.trt \
-    model_version:="0.1.0"
+## run PINTO_model_zoo model (version 0.1.0)
+# ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py \
+#     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_tiny_480x640.trt \
+#     model_version:="0.1.0"
 
 ```
 
@@ -280,7 +276,7 @@ ros2 launch yolox_ros_cpp yolox_onnxruntime.launch.py
 ```bash
 ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 
-# # run PINTO_model_zoo model
+# # run PINTO_model_zoo model (version 0.1.0)
 # ros2 launch yolox_ros_cpp yolox_tflite.launch.py \
 #     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model_float32.tflite \
 #     model_version:=0.1.0 \

yolox_ros_cpp/yolox_cpp/CMakeLists.txt

@@ -62,6 +62,14 @@ if(YOLOX_USE_TFLITE)
   set(INCLUDES ${INCLUDES} ${FLATBUFFERS_INCLUDE_DIR})
 endif()
 
+# onnxruntime
+if(YOLOX_USE_ONNXRUNTIME)
+  find_library(ONNXRUNTIME NAMES onnxruntime)
+  set(ENABLE_ONNXRUNTIME ON)
+  set(TARGET_SRC src/yolox_onnxruntime.cpp)
+  # set(TARGET_DPENDENCIES )
+endif()
+
 configure_file(
   "${PROJECT_SOURCE_DIR}/include/yolox_cpp/config.h.in"
   "${PROJECT_SOURCE_DIR}/include/yolox_cpp/config.h"
@@ -83,6 +91,10 @@ if (YOLOX_USE_TFLITE)
   install(DIRECTORY ${TFLITE_LIB_PATH}/ DESTINATION lib)
 endif()
 
+if (YOLOX_USE_ONNXRUNTIME)
+  target_link_libraries(yolox_cpp onnxruntime)
+endif()
+
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py

@@ -16,7 +16,7 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             "model_path",
-            default_value="./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_nano.onnx",
+            default_value="./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx",
             description="yolox model path."
         ),
         DeclareLaunchArgument(

yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp

@@ -65,9 +65,9 @@ namespace yolox_ros_cpp
             RCLCPP_INFO(this->get_logger(), "Model Type is ONNXRuntime");
             this->yolox_ = std::make_unique<yolox_cpp::YoloXONNXRuntime>(
                 this->params_.model_path,
-                this->params_.onnxruntime_intra_op_num_threads_,
-                this->params_.onnxruntime_inter_op_num_threads_,
-                this->params_.onnxruntime_use_cuda_, this->params_.onnxruntime_device_id,
+                this->params_.onnxruntime_intra_op_num_threads,
+                this->params_.onnxruntime_inter_op_num_threads,
+                this->params_.onnxruntime_use_cuda, this->params_.onnxruntime_device_id,
                 this->params_.onnxruntime_use_parallel,
                 this->params_.nms, this->params_.conf, this->params_.model_version,
                 this->params_.num_classes, this->params_.p6);