support jetson orin

Author: Ar-Ray-code

yolox_ros_cpp/docker/jetson/docker-compose.yaml

@@ -1,65 +1,27 @@
-FROM dustynv/ros:foxy-ros-base-l4t-r32.6.1
+FROM dustynv/ros:humble-ros-base-deepstream-l4t-r35.1.0
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt update && \
-    apt install -y libeigen3-dev python3-pip && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN python3 -m pip install -U pip && \
-    python3 -m pip install cmake
-
 # add PATH
 ENV PATH=$PATH:/usr/src/tensorrt/bin
 
-# torch 1.9.0
-WORKDIR /workspace
-RUN apt update && \
-    apt install -y libopenblas-base libopenmpi-dev && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/*
-RUN wget https://nvidia.box.com/shared/static/h1z9sw4bb1ybi0rm3tu8qdj8hs05ljbm.whl -O torch-1.9.0-cp36-cp36m-linux_aarch64.whl && \
-    python3 -m pip install Cython && \
-    python3 -m pip install numpy torch-1.9.0-cp36-cp36m-linux_aarch64.whl &&\
-    rm torch-1.9.0-cp36-cp36m-linux_aarch64.whl 
-
-# torch2trt
-WORKDIR /workspace
-RUN git clone https://github.com/NVIDIA-AI-IOT/torch2trt && \
-    cd torch2trt && \
-    python3 setup.py install    
-
-# torchvision
-ENV TORCHVISION_VERSION=0.10.0
-WORKDIR /workspace
-RUN apt update && \
-    apt install -y libjpeg-dev zlib1g-dev libpython3-dev libavcodec-dev libavformat-dev libswscale-dev && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/*
-RUN git clone --branch v${TORCHVISION_VERSION} https://github.com/pytorch/vision torchvision && \
-    cd torchvision && \
-    BUILD_VERSION=$TORCHVISION_VERSION && \
-    python3 setup.py install
-
-# YOLOX
-WORKDIR /workspace
-ENV YOLOX_VERSION=0.2.0
-# matplotlib, onnx-optimizer cannot install by pip
-RUN apt update && \
-    apt install -y python3-matplotlib && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/*
-RUN python3 -m pip install onnx==1.8.1 onnxruntime==1.8.0
-RUN git clone --recursive https://github.com/onnx/optimizer onnxoptimizer && \
-    cd onnxoptimizer && \
-    python3 -m pip install -e .
-
-# bugfix for numpy==1.19.5 
-# set OPENBLAS_CORETYPE environment variable to ARMV8
-ENV OPENBLAS_CORETYPE=ARMV8
-
-RUN git clone -b $YOLOX_VERSION https://github.com/Megvii-BaseDetection/YOLOX YOLOX && \
-    cd YOLOX && \
-    python3 -m pip install -e .
-
+RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 42D5A192B819C5DA && \
+    apt-get update && \
+    apt-get install -y \
+    doxygen \
+    libfmt-dev \
+    librange-v3-dev \
+    python3-pip \
+    python3-jinja2 \
+    python3-typeguard
+RUN mkdir -p /dependencies/src && \
+    cd /dependencies/src && \
+    git clone https://github.com/PickNikRobotics/RSL.git && \
+    git clone https://github.com/PickNikRobotics/cpp_polyfills.git && \
+    git clone https://github.com/ros-perception/vision_opencv.git  -b humble && \
+    git clone https://github.com/PickNikRobotics/generate_parameter_library.git && \
+    cd /dependencies/ && \
+    . /opt/ros/humble/install/setup.sh && \
+    colcon build
+
+COPY /usr/include/aarch64-linux-gnu/ /usr/include/aarch64-linux-gnu/

yolox_ros_cpp/docker/jetson/dockerfile

@@ -0,0 +1,13 @@
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+cd ${SCRIPT_DIR}
+mkdir ./tensorrt_dir
+cp -r /usr/include/aarch64-linux-gnu/* ./tensorrt_dir/
+
+docker build -t yolox_ros_jetson:latest -f ./dockerfile .
+docker run -it --rm --network host --volume $HOME/ros2_ws:/root/ros2_ws --device /dev/video0:/dev/video0 --workdir /root/ros2_ws --runtime nvidia yolox_ros_jetson /bin/bash
+
+
+# source /dependencies/install/setup.bash
+# colcon build --cmake-args -DJETSON=ON
+# bash src/YOLOX-ROS/weights/onnx/download.bash yolox_tiny
+# bash src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_tiny

yolox_ros_cpp/docker/jetson/setup.bash

@@ -18,6 +18,12 @@ option(YOLOX_USE_OPENVINO    "Use OpenVINO"  OFF)
 option(YOLOX_USE_TENSORRT    "Use TensorRT"  OFF)
 option(YOLOX_USE_ONNXRUNTIME "Use ONNXRuntime"  OFF)
 option(YOLOX_USE_TFLITE      "Use tflite"  OFF)
+option(JETSON                "Use Jetson"  OFF)
+
+if(JETSON)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I/usr/include/aarch64-linux-gnu/ -L/usr/lib/aarch64-linux-gnu/")
+  set(YOLOX_USE_TENSORRT ON)
+endif()
 
 if(NOT YOLOX_USE_OPENVINO AND NOT YOLOX_USE_TENSORRT AND NOT YOLOX_USE_ONNXRUNTIME AND NOT YOLOX_USE_TFLITE)
   message(FATAL_ERROR "YOLOX_USE_OPENVINO, YOLOX_USE_TENSORRT, YOLOX_USE_ONNXRUNTIME, YOLOX_USE_TFLITE must be ON at least one")