updated CMakeLists, included .hpp suffix and sam_onnx_ros include dir and configuration .hpp.in file

Author: IasonTheodorou

CMakeLists.txt

@@ -3,26 +3,19 @@ cmake_minimum_required(VERSION 3.14)
 project(sam_onnx_ros)
 
 # -------------- CMake Policies ------------------#
-# add_compile_options(-Wall -Werror=all)
-# add_compile_options(-Wextra -Werror=extra)
+add_compile_options(-Wall -Werror=all)
+add_compile_options(-Wextra -Werror=extra)
 
 # -------------- Support C++17 for using filesystem  ------------------#
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-# -------------- OpenCV  ------------------#
-find_package(OpenCV REQUIRED)
-find_package(console_bridge REQUIRED)
 
 # -------------- ONNXRuntime  ------------------#
 set(ONNXRUNTIME_VERSION 1.21.0)
 set(ONNXRUNTIME_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../hero_sam.bak/onnxruntime-linux-x64-gpu-1.21.1")
 include_directories(${ONNXRUNTIME_ROOT}/include)
 
-# -------------- Cuda ------------------#
-add_definitions(-DUSE_CUDA=1)
-include_directories(/usr/local/cuda/include)
 
 # -------------- Models ------------------#
 # TODO: Find proper folder Copy sam_<model>.onnx file to the same folder of the executable file
@@ -37,15 +30,28 @@ find_package(catkin REQUIRED
   #onnxruntime_ros
 )
 
-find_package(console_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+# -------------- Cuda ------------------#
+add_definitions(-DUSE_CUDA=1)
+include_directories(/usr/local/cuda/include)
+
+set(${PROJECT_NAME}_CUDA_ENABLED ${onnxruntime_ros_CUDA_ENABLED})
+if(onnxruntime_ros_CUDA_ENABLED)
+  find_package(CUDAToolkit REQUIRED)
+endif()
+
+configure_file(include/${PROJECT_NAME}/config.hpp.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}/config.hpp)
+# add_custom_target(generate_config_hpp
+#   DEPENDS ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}/config.hpp
 
 # ------------------------------------------------------------------------------------------------
 #                                        CATKIN EXPORT
 # ------------------------------------------------------------------------------------------------
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}_lib
+  LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS
   DEPENDS OpenCV console_bridge
 )
@@ -54,14 +60,14 @@ catkin_package(
 #                                           BUILD
 # ------------------------------------------------------------------------------------------------
 
-# Build core library
-add_library(${PROJECT_NAME}_lib
+# Build library
+add_library(${PROJECT_NAME}
         src/sam_inference.cpp
         src/segmentation.cpp
         src/utils.cpp
 )
 
-target_include_directories(${PROJECT_NAME}_lib
+target_include_directories(${PROJECT_NAME}
   PUBLIC
     include
     SYSTEM
@@ -72,19 +78,19 @@ target_include_directories(${PROJECT_NAME}_lib
 )
 
 
-target_link_libraries(${PROJECT_NAME}_lib
+target_link_libraries(${PROJECT_NAME}
     ${OpenCV_LIBS}
     ${catkin_LIBRARIES}
     ${ONNXRUNTIME_ROOT}/lib/libonnxruntime.so
 )
 
 # Main executable links the core lib
-add_executable(${PROJECT_NAME}
+add_executable(test_${PROJECT_NAME}
   src/main.cpp
 )
 
-target_link_libraries(${PROJECT_NAME}
-  ${PROJECT_NAME}_lib
+target_link_libraries(test_${PROJECT_NAME}
+  ${PROJECT_NAME}
   ${catkin_LIBRARIES}
   ${ONNXRUNTIME_ROOT}/lib/libonnxruntime.so
 )
@@ -100,7 +106,7 @@ install(
 
 install(
   TARGETS
-    ${PROJECT_NAME}_lib
+    ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
@@ -116,8 +122,8 @@ install(
 #                                           Testing
 # ------------------------------------------------------------------------------------------------
 if (CATKIN_ENABLE_TESTING)
-  find_package(catkin_lint_cmake REQUIRED)
-  catkin_add_catkin_lint_test("-W2 --ignore HEADER_OUTSIDE_PACKAGE_INCLUDE_PATH")
+  #find_package(catkin_lint_cmake REQUIRED)
+  #catkin_add_catkin_lint_test("-W2 --ignore HEADER_OUTSIDE_PACKAGE_INCLUDE_PATH")
 
   # Utils unit tests (no models needed)
   catkin_add_gtest(utils_tests test/test_utils.cpp)

include/sam_onnx_ros/config.hpp.in

@@ -0,0 +1,7 @@
+#ifndef YOLO_ONNX_SAM_CONFIG_HPP_
+#define YOLO_ONNX_SAM_CONFIG_HPP_
+
+//Set which version of the Tree Interface to use
+#define YOLO_ONNX_SAM_CUDA_ENABLED @onnx_sam_ros_CUDA_ENABLED@
+
+#endif //#define YOLO_ONNX_SAM_CONFIG_HPP_

include/dl_types.h renamed to include/sam_onnx_ros/dl_types.hpp

@@ -4,14 +4,14 @@
 
 #define RET_OK nullptr
 #include <memory>
-#include <string>
 #include <vector>
 #include <cstdio>
-#include "utils.h"
 #ifdef USE_CUDA
 #include <cuda_fp16.h>
 #endif
 
+#include "sam_onnx_ros/utils.hpp"
+
 class SAM
 {
 public:

include/sam_inference.h renamed to include/sam_onnx_ros/sam_inference.hpp

@@ -1,9 +1,8 @@
 #ifndef SEGMENTATION_H
 #define SEGMENTATION_H
 
-#include <tuple>
+#include "sam_onnx_ros/sam_inference.hpp"
 
-#include "sam_inference.h"
 std::tuple<std::vector<std::unique_ptr<SAM>>, SEG::_DL_INIT_PARAM, SEG::_DL_INIT_PARAM, SEG::DL_RESULT, std::vector<SEG::DL_RESULT>> Initializer();
 void SegmentAnything(std::vector<std::unique_ptr<SAM>>& samSegmentors, const SEG::_DL_INIT_PARAM& params_encoder, const SEG::_DL_INIT_PARAM& params_decoder, const cv::Mat& img,
 std::vector<SEG::DL_RESULT> &resSam,

include/segmentation.h renamed to include/sam_onnx_ros/segmentation.hpp

@@ -3,15 +3,15 @@
 
 #define RET_OK nullptr
 
-#include <string>
 #include <vector>
 #include <cstdio>
 #include "onnxruntime_cxx_api.h"
-#include "dl_types.h"
 #ifdef USE_CUDA
 #include <cuda_fp16.h>
 #endif
 
+#include "sam_onnx_ros/dl_types.hpp"
+
 class Utils
 {
 public:

include/utils.h renamed to include/sam_onnx_ros/utils.hpp

@@ -1,9 +1,8 @@
-#include "segmentation.h"
-#include <iostream>
-#include <vector>
 #include <filesystem>
 #include <opencv2/opencv.hpp>
 
+#include "sam_onnx_ros/segmentation.hpp"
+
 int main()
 {
     // Running inference

src/main.cpp

@@ -1,9 +1,9 @@
-#include "sam_inference.h"
-#include "utils.h"
-
 #include <regex>
 #include <console_bridge/console.h>
 
+#include "sam_onnx_ros/sam_inference.hpp"
+#include "sam_onnx_ros/utils.hpp"
+
 #define benchmark
 //#define ROI
 
@@ -97,11 +97,11 @@ const char *SAM::CreateSession(SEG::DL_INIT_PARAM &iParams) {
     auto input_shape =
         _session->GetInputTypeInfo(0).GetTensorTypeAndShapeInfo().GetShape();
 
-    auto output_shape =
-        _session->GetOutputTypeInfo(0).GetTensorTypeAndShapeInfo().GetShape();
-    auto output_type = _session->GetOutputTypeInfo(0)
-                           .GetTensorTypeAndShapeInfo()
-                           .GetElementType();
+    // auto output_shape =
+    //     _session->GetOutputTypeInfo(0).GetTensorTypeAndShapeInfo().GetShape();
+    // auto output_type = _session->GetOutputTypeInfo(0)
+    //                        .GetTensorTypeAndShapeInfo()
+    //                        .GetElementType();
 
     WarmUpSession_(_modelType);
     return RET_OK;
@@ -251,9 +251,10 @@ const char *SAM::TensorProcess_(clock_t &starttime_1, const cv::Mat &iImg,
           embeddings.data(), // Use the embeddings from the encoder
           embeddings.size(), // Total number of elements
           decoderInputDims.data(), decoderInputDims.size());
+
       // Use center of bounding box as foreground point
-      float centerX = box.x + box.width / 2.0;
-      float centerY = box.y + box.height / 2.0;
+      // float centerX = box.x + box.width / 2.0;
+      // float centerY = box.y + box.height / 2.0;
 
       // Convert bounding box to points
       std::vector<float> pointCoords = {

src/sam_inference.cpp

@@ -1,4 +1,4 @@
-#include "segmentation.h"
+#include "sam_onnx_ros/segmentation.hpp"
 
 std::tuple<std::vector<std::unique_ptr<SAM>>, SEG::DL_INIT_PARAM,
            SEG::DL_INIT_PARAM, SEG::DL_RESULT, std::vector<SEG::DL_RESULT>>

src/segmentation.cpp

@@ -1,5 +1,5 @@
-#include "utils.h"
-#include <opencv2/ximgproc/edge_filter.hpp> // for guided filter
+#include "sam_onnx_ros/utils.hpp"
+
 //#define LOGGING
 
 // Constructor