Feature/refactoring

.github/workflows/main.yml

@@ -0,0 +1,13 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  tue-ci:
+    name: TUe CI - ${{ github.event_name }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: TUe CI
+        uses: tue-robotics/tue-env/ci/main@master
+        with:
+          package: ${{ github.event.repository.name }}

.gitignore

@@ -0,0 +1,14 @@
+build/
+images/*
+onnxruntime*/
+onnxruntime/*
+docker/*
+CMakefile
+CMakeCache.txt
+CMakeFiles/*
+cmake_install.cmake
+Makefile
+SPEED-SAM-C-TENSORRT/
+sam_inference/model/FastSAM-x.onnx
+mask*
+segmentation_results*

.vscode/c_cpp_properties_json

@@ -0,0 +1,23 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/include/**",
+                "${workspaceFolder}/../hero_sam/onnxruntime-linux-x64-gpu-1.21.1/include",
+                "/usr/local/cuda/include",
+                "/usr/include/opencv4/**",
+                "/opt/ros/noetic/include/**"
+            ],
+            "defines": [
+
+            ],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64",
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,94 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Debug SAM Model",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "/home/amigo/ros/noetic/system/devel/lib/sam_onnx_ros/test11_sam_onnx_ros", // Path to the executable
+            "args": [], // Add any command-line arguments for your program here
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}/build", // Set the working directory
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ],
+            //"preLaunchTask": "build-sam-project" // Ensure the project is built before debugging
+        },
+        {
+            "name": "Debug GTest (pick binary)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${input:testBinary}", // pick utils_tests or sam_tests
+            "args": [
+                //"--gtest_filter=${input:gtestFilter}"          // uncomment to filter tests
+            ],
+            "cwd": "${workspaceFolder}", // cwd doesn’t matter if SAM_MODELS_DIR is set
+            "environment": [
+                {
+                    "name": "SAM_MODELS_DIR",
+                    "value": "${env:SAM_MODELS_DIR}"
+                } // or hardcode a path here
+            ],
+            "stopAtEntry": false,
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+        {
+            "name": "Run all tests (ctest)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "/usr/bin/ctest",
+            "args": [
+                "--test-dir",
+                "/home/amigo/ros/noetic/system/build/sam_onnx_ros",
+                "-R",
+                "(sam_tests|utils_tests)",
+                "--output-on-failure",
+                "-j",
+                "4"
+            ],
+            "cwd": "/home/amigo/ros/noetic/system/build/sam_onnx_ros",
+            "environment": [
+                {
+                    "name": "SAM_MODELS_DIR",
+                    "value": "${env:SAM_MODELS_DIR}"
+                }
+            ],
+            "stopAtEntry": false,
+            "externalConsole": false,
+            "MIMode": "gdb"
+            // Note: ctest launching isn't great for step-debugging individual tests.
+        }
+    ],
+    "inputs": [
+        {
+            "id": "testBinary",
+            "type": "pickString",
+            "description": "Select gtest executable",
+            "options": [
+                "/home/amigo/ros/noetic/system/devel/.private/sam_onnx_ros/lib/sam_onnx_ros/utils_tests",
+                "/home/amigo/ros/noetic/system/devel/.private/sam_onnx_ros/lib/sam_onnx_ros/sam_tests"
+            ]
+        },
+        {
+            "id": "gtestFilter",
+            "type": "promptString",
+            "description": "gtest filter (e.g. Utils* or SamInferenceTest.PreProcess*)",
+            "default": "*"
+        }
+    ],
+}

.vscode/settings.json

@@ -0,0 +1,77 @@
+{
+    "files.associations": {
+        "iostream": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "numbers": "cpp",
+        "semaphore": "cpp",
+        "stop_token": "cpp",
+        "*.txx": "cpp",
+        "filesystem": "cpp"
+    }
+}

.vscode/tasks.json

@@ -0,0 +1,97 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "build-sam-project",
+            "dependsOrder": "sequence",
+            "dependsOn": ["configure-sam", "build-sam-binary"],
+            "problemMatcher": ["$gcc"],
+            "group": "build"
+        },
+        {
+            "label": "build-pipeline-project",
+            "dependsOrder": "sequence",
+            "dependsOn": ["configure-pipeline", "build-pipeline-binary"],
+            "problemMatcher": ["$gcc"],
+            "group": "build"
+        },
+        {
+            "label": "build-yolo-project",
+            "dependsOrder": "sequence",
+            "dependsOn": ["configure-yolo", "build-yolo-binary"],
+            "problemMatcher": ["$gcc"],
+            "group": "build"
+        },
+        {
+            "label": "configure-sam",
+            "type": "shell",
+            "command": "cmake",
+            "args": [
+                "-DCMAKE_BUILD_TYPE=Debug",
+                "-DCMAKE_POLICY_VERSION_MINIMUM=3.5",
+                "-S", "${workspaceFolder}/",
+                "-B", "${workspaceFolder}/build"
+            ],
+            "problemMatcher": ["$gcc"]
+        },
+        {
+            "label": "configure-pipeline",
+            "type": "shell",
+            "command": "cmake",
+            "args": [
+                "-DCMAKE_BUILD_TYPE=Debug",
+                "-S", "${workspaceFolder}/pipeline",
+                "-B", "${workspaceFolder}/pipeline/build"
+            ],
+            "problemMatcher": ["$gcc"]
+        },
+        {
+            "label": "configure-yolo",
+            "type": "shell",
+            "command": "cmake",
+            "args": [
+                "-DCMAKE_BUILD_TYPE=Debug",
+                "-S", "${workspaceFolder}/yolo_inference",
+                "-B", "${workspaceFolder}/yolo_inference/build",
+                                "-DCMAKE_POLICY_VERSION_MINIMUM=3.5",
+
+            ],
+            "problemMatcher": ["$gcc"]
+        },
+        {
+            "label": "build-sam-binary",
+            "type": "shell",
+            "command": "cmake",
+            "args": [
+                "--build",
+                "${workspaceFolder}/build",
+                "--config", "Debug"
+            ],
+            "problemMatcher": ["$gcc"]
+        },
+        {
+            "label": "build-pipeline-binary",
+            "type": "shell",
+            "command": "cmake",
+            "args": [
+                "--build",
+                "${workspaceFolder}/pipeline/build",
+                "-DCMAKE_POLICY_VERSION_MINIMUM=3.5",
+                "--config", "Debug"
+            ],
+            "problemMatcher": ["$gcc"]
+        },
+        {
+            "label": "build-yolo-binary",
+            "type": "shell",
+            "command": "cmake",
+            "args": [
+                "--build",
+                "${workspaceFolder}/yolo_inference/build",
+                "--config", "Debug"
+            ],
+            "problemMatcher": ["$gcc"]
+        }
+
+    ]
+}