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Support Aarch64 on ROS1 #26

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Support Aarch64 on ROS1 #26

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74 changes: 52 additions & 22 deletions ros_msft_onnx/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -69,54 +69,84 @@ add_executable(${PROJECT_NAME}_node src/ros_msft_onnx.cpp src/main.cpp src/yolo_
add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${EIGEN3_LIBS} ${YAML_CPP_LIBRARIES})

message("Installing onnxruntime_vendor Nuget package")

if(MSVC)
set(ONNX_RUNTIME "Microsoft.ML.OnnxRuntime.DirectML.1.7.0")
set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime.DirectML/1.7.0")
set(PACKAGE_SHA512 "2e5bd2c0ade72444d4efdfbd6a75571aaa72045769f9b5847186129c9e5e667ad080d5d2b9a12cce88c9eee68302be89cdb7030ccefa3d572e591b1c453c7340")
elseif(CUDA_SUPPORT)
set(ONNX_RUNTIME "Microsoft.ML.OnnxRuntime.Gpu.1.7.1")
set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime.Gpu/1.7.1")
set(PACKAGE_SHA512 "41112118007aae34fcc38100152df6e6fa5fc567e61aa4ded42a26d39751f1be7ec225c0d73799f065015e284f0fb9bd7e0835c733e9abad5b0243a391411f8d")
message (STATUS "Building the Onnx Runtime ROS node for ${CMAKE_SYSTEM_PROCESSOR}")

if (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/../onnxruntime-linux-aarch64-gpu-1.10.0.tgz")
set(ONNX_RUNTIME "onnxruntime-linux-aarch64-gpu-1.10.0")
else()
message(FATAL_ERROR "At this time, compiling for ARM64 requires building the ONNX runtime manually. Place the file as a tgz in ros_msft_onnx/onnxruntime-linux-aarch64-gpu-1.10.0.tgz")
endif()
else()
set(ONNX_RUNTIME "Microsoft.ML.OnnxRuntime.1.7.0")
set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime/1.7.0")
set(PACKAGE_SHA512 "1fc15386bdfa455f457e50899e3c9c454aafbdc345799dcf4ecfd6990a9dbd8cd7f0b1f3bf412c47c900543c535f95aa1cb1e14e9851cb9b600c60a981f38a50")
message(STATUS "Installing onnxruntime_vendor Nuget package")

if(MSVC)
set(ONNX_RUNTIME "Microsoft.ML.OnnxRuntime.DirectML.1.7.0")
set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime.DirectML/1.7.0")
set(PACKAGE_SHA512 "2e5bd2c0ade72444d4efdfbd6a75571aaa72045769f9b5847186129c9e5e667ad080d5d2b9a12cce88c9eee68302be89cdb7030ccefa3d572e591b1c453c7340")
elseif(CUDA_SUPPORT)
set(ONNX_RUNTIME "Microsoft.ML.OnnxRuntime.Gpu.1.7.1")
set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime.Gpu/1.7.1")
set(PACKAGE_SHA512 "41112118007aae34fcc38100152df6e6fa5fc567e61aa4ded42a26d39751f1be7ec225c0d73799f065015e284f0fb9bd7e0835c733e9abad5b0243a391411f8d")
else()
set(ONNX_RUNTIME "Microsoft.ML.OnnxRuntime.1.7.0")
set(PACKAGE_URL "https://www.nuget.org/api/v2/package/Microsoft.ML.OnnxRuntime/1.7.0")
set(PACKAGE_SHA512 "1fc15386bdfa455f457e50899e3c9c454aafbdc345799dcf4ecfd6990a9dbd8cd7f0b1f3bf412c47c900543c535f95aa1cb1e14e9851cb9b600c60a981f38a50")
endif()

file(DOWNLOAD
${PACKAGE_URL}
${CMAKE_CURRENT_BINARY_DIR}/onnxruntime.nuget
EXPECTED_HASH SHA512=${PACKAGE_SHA512}
SHOW_PROGRESS
)
endif()

file(DOWNLOAD
${PACKAGE_URL}
${CMAKE_CURRENT_BINARY_DIR}/onnxruntime.nuget
EXPECTED_HASH SHA512=${PACKAGE_SHA512}
SHOW_PROGRESS
)

file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}")

if(MSVC)
set(ARCH "win-x64" )
execute_process(COMMAND tar xvzf "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime.nuget"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}"
)
include_directories(
${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/build/native/include/
)

elseif (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
set(ARCH "linux-aarch64")
# aarch64 has a different package layout
execute_process(COMMAND tar xvzf "${CMAKE_CURRENT_SOURCE_DIR}/../onnxruntime-linux-aarch64-gpu-1.10.0.tgz"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime"
)

include_directories(
${CMAKE_CURRENT_BINARY_DIR}/onnxruntime/onnxruntime-linux-aarch64-gpu-1.10.0/include/
)
else()
set(ARCH "linux-x64")
execute_process(COMMAND unzip -oq "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime.nuget"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}"
)

include_directories(
${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/build/native/include/
)
endif()

include_directories(
${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/build/native/include/
)

if(MSVC)
target_link_libraries(${PROJECT_NAME}_node ${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/runtimes/${ARCH}/native/onnxruntime.lib)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/runtimes/${ARCH}/native/onnxruntime.dll ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/onnxruntime.dll COPYONLY)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/runtimes/${ARCH}/native/onnxruntime.lib ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/onnxruntime.lib COPYONLY)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/runtimes/${ARCH}/native/onnxruntime.pdb ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/onnxruntime.pdb COPYONLY)
elseif (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
target_link_libraries(${PROJECT_NAME}_node ${CMAKE_CURRENT_BINARY_DIR}/onnxruntime/onnxruntime-linux-aarch64-gpu-1.10.0/lib/libonnxruntime.so)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/onnxruntime/onnxruntime-linux-aarch64-gpu-1.10.0/lib/libonnxruntime_providers_cuda.so ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/libonnxruntime_providers_cuda.so COPYONLY)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/onnxruntime/onnxruntime-linux-aarch64-gpu-1.10.0/lib/libonnxruntime_providers_shared.so ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/libonnxruntime_providers_shared.so COPYONLY)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/onnxruntime/onnxruntime-linux-aarch64-gpu-1.10.0/lib/libonnxruntime_providers_tensorrt.so ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/libonnxruntime_providers_tensorrt.so COPYONLY)

else()
target_link_libraries(${PROJECT_NAME}_node ${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/runtimes/${ARCH}/native/libonnxruntime.so)
configure_file(${CMAKE_CURRENT_BINARY_DIR}/${ONNX_RUNTIME}/runtimes/${ARCH}/native/libonnxruntime.so ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/libonnxruntime.so COPYONLY)
Expand Down