Refactor project structure & Format files.

.clang-format

@@ -0,0 +1,84 @@
+#基础样式
+BasedOnStyle: Google
+# 指针和引用的对齐: Left, Right, Middle
+DerivePointerAlignment: false
+PointerAlignment: Right
+#访问修饰符前的空格
+AccessModifierOffset: -2
+# 缩进宽度
+IndentWidth: 2
+# 连续的空行保留几行
+MaxEmptyLinesToKeep: 1
+# 圆括号的换行方式
+BreakBeforeBraces: Custom
+# 是否允许短方法单行
+AllowShortFunctionsOnASingleLine: false
+# 支持一行的if
+AllowShortIfStatementsOnASingleLine: false
+# 在未封闭(括号的开始和结束不在同一行)的括号中的代码是否对齐
+AlignAfterOpenBracket: Align
+# switch的case缩进
+IndentCaseLabels: true
+# 每行字符的长度
+ColumnLimit: 100
+# 注释对齐,true将左对齐，false不会对齐
+AlignTrailingComments: true
+# C cast括号后加空格
+SpaceAfterCStyleCast: false
+# 换行的时候对齐操作符
+AlignOperands: true
+# 中括号两边空格 []
+SpacesInSquareBrackets: false
+# 多行声明语句按照=对齐
+AlignConsecutiveDeclarations: true
+# 连续赋值时，对齐所有等号
+AlignConsecutiveAssignments: true
+# 容器类的空格 例如 OC的字典
+SpacesInContainerLiterals: false
+# 在构造函数初始化时按逗号断行，并以冒号对齐
+BreakConstructorInitializersBeforeComma: false
+# 函数参数换行
+AllowAllParametersOfDeclarationOnNextLine: true
+#在续行(#下一行)时的缩进长度
+ContinuationIndentWidth: 4
+# tab键盘的宽度
+TabWidth: 4
+# 赋值运算符前加空格
+SpaceBeforeAssignmentOperators: true
+# 行尾的注释前加1个空格
+SpacesBeforeTrailingComments: 1
+# false表示所有形参要么都在同一行，要么都各自一行
+BinPackParameters: false
+# 头文件排序
+SortIncludes: false
+
+# 大括号换行，只有当BreakBeforeBraces设置为Custom时才有效
+BraceWrapping:
+  # class定义后面
+  AfterClass: false
+  # 控制语句后面
+  AfterControlStatement: true
+  # enum定义后面
+  AfterEnum: false
+  # 函数定义后面
+  AfterFunction: true
+  # 命名空间定义后面
+  AfterNamespace: false
+  # struct定义后面
+  AfterStruct: false
+  # union定义后面
+  AfterUnion: false
+  # extern之后
+  AfterExternBlock: false
+  # catch之前
+  BeforeCatch: false
+  # else之前
+  BeforeElse: false
+  # 缩进大括号
+  IndentBraces: false
+  # 分离空函数
+  SplitEmptyFunction: false
+  # 分离空语句
+  SplitEmptyRecord: false
+  # 分离空命名空间
+  SplitEmptyNamespace: false

.github/workflows/Compilation.yml

@@ -19,12 +19,18 @@ jobs:
         -v ${{ github.workspace }}:/workspace
         -w /workspace
     steps:
-    - uses: actions/checkout@v4
-    - name: Build the Docker image
+    - name: Init Submodule
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive  # 递归初始化所有子模块
+        # 如果子模块是私有仓库，需配置 SSH 密钥
+        ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+    - name: Build Project
       run:
-        cd /workspace && 
-        mkdir build && cd build && 
-        cmake .. && 
+        cd /workspace &&
+        mkdir build && cd build &&
+        cmake .. -DENABLE_TENSORRT=ON &&
         make -j
 
   tensorrt10:
@@ -38,10 +44,16 @@ jobs:
         -v ${{ github.workspace }}:/workspace
         -w /workspace
     steps:
-    - uses: actions/checkout@v4
-    - name: Build the Docker image
+    - name: Init Submodule
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive  # 递归初始化所有子模块
+        # 如果子模块是私有仓库，需配置 SSH 密钥
+        ssh-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+    - name: Build Project
       run:
-        cd /workspace && 
-        mkdir build && cd build && 
-        cmake .. && 
+        cd /workspace &&
+        mkdir build && cd build &&
+        cmake .. -DENABLE_TENSORRT=ON &&
         make -j

.github/workflows/Lint.yml

@@ -0,0 +1,26 @@
+name: pre-commit Checks
+
+on:
+  pull_request:  # 在 PR 时触发
+  push:          # 在推送代码到 main/master 分支时触发
+    branches: [main, master]
+
+jobs:
+  pre-commit:
+    name: Run pre-commit checks
+    runs-on: ubuntu-latest  # 使用 Ubuntu 环境
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4  # 检出代码
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"  # 指定 Python 版本
+
+      - name: Install pre-commit
+        run: pip install pre-commit  # 安装 pre-commit
+
+      - name: Run pre-commit checks
+        run: pre-commit run --all-files  # 运行所有检查

.gitignore

@@ -2,4 +2,4 @@
 build
 models
 .vscode
-mustard0
+mustard0

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "easy_deploy_tool"]
+	path = easy_deploy_tool
+	url = [email protected]:zz990099/EasyDeployTool.git

.pre-commit-config.yaml

@@ -0,0 +1,30 @@
+repos:
+  # 官方仓库中的基础钩子
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+        args: ["--allow-multiple-documents"]
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+  # 运行 Uncrustify 格式化 C/C++ 代码
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: "v20.1.0"  # 指定 clang-format 版本
+    hooks:
+      - id: clang-format
+        name: clang-format (check)
+        args: [--style=file, --dry-run, --Werror]  # 检查模式
+        types: [c, c++]
+        exclude:
+          detection_6d_foundationpose/src/nvdiffrast(/.*)?

CMakeLists.txt

@@ -2,11 +2,10 @@ cmake_minimum_required(VERSION 3.8)
 project(foundationpose_cpp)
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) 
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) 
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 
-add_subdirectory(deploy_core)
-add_subdirectory(inference_core)
+add_subdirectory(easy_deploy_tool)
 add_subdirectory(detection_6d_foundationpose)
 
-add_subdirectory(simple_tests)
+add_subdirectory(simple_tests)

README.md

@@ -48,7 +48,15 @@
 
 ### Enviroment Build
 
-1. 使用`docker`来构建运行环境
+1. 下载`foundationpose_cpp`repo
+```bash
+git clone [email protected]:zz990099/foundationpose_cpp.git
+cd foundationpose_cpp
+git submodule init
+git submodule update
+```
+
+2. 使用`docker`来构建运行环境
   ```bash
     cd ${foundationpose_cpp}/docker
     bash build_docker.sh --container_type=trt8 # trt10, jetson_trt8, jetson_trt10
@@ -71,7 +79,7 @@
   ```bash
     cd /workspace
     mkdir build && cd build
-    cmake ..
+    cmake -DENABLE_TENSORRT=ON ..
     make -j
   ```