Change CMake to be catkin package and small overall changes to run on ed_sensor_integration

Author: IasonTheodorou

CMakeLists.txt

@@ -1,81 +1,65 @@
-cmake_minimum_required(VERSION 3.14)  # FetchContent requires 3.14+
+cmake_minimum_required(VERSION 3.14)
 
-set(PROJECT_NAME Yolov8OnnxRuntimeCPPInference)
+set(PROJECT_NAME yolo_onnx_ros)
 project(${PROJECT_NAME} VERSION 0.0.1 LANGUAGES CXX)
 
-# -------------- Support C++17 for using filesystem  ------------------#
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS ON)
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
-# to show header files in Qt Creator
-file(GLOB_RECURSE HEADER_FILES include/*.h)
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
 
-# -------------- Google Test ------------------#
-include(FetchContent)
-FetchContent_Declare(
-  googletest
-  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
 )
-
-FetchContent_MakeAvailable(googletest)
-
-enable_testing()
-
-# -------------- OpenCV  ------------------#
 find_package(OpenCV REQUIRED)
-include_directories(${OpenCV_INCLUDE_DIRS})
 
-# -------------- ONNXRuntime  ------------------#
-set(ONNXRUNTIME_VERSION 1.21.0)
+# ONNX Runtime (adjust to your local path)
 set(ONNXRUNTIME_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../hero_sam.bak/onnxruntime-linux-x64-gpu-1.21.1")
 include_directories(${ONNXRUNTIME_ROOT}/include)
 
-# -------------- Cuda ------------------#
+# CUDA (optional)
 add_definitions(-DUSE_CUDA=1)
 include_directories(/usr/local/cuda/include)
 
-set(PROJECT_SOURCES
-        src/main.cpp
-        src/yolo_inference.cpp
-        src/detection.cpp)
-
-# Main executable (without tests)
-add_executable(${PROJECT_NAME} ${PROJECT_SOURCES})
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
-
-# Link libraries for main executable
-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${ONNXRUNTIME_ROOT}/lib/libonnxruntime.so)
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}_core
+  CATKIN_DEPENDS roscpp
+  DEPENDS OpenCV
+)
 
-# Test executable
-add_executable(${PROJECT_NAME}_test
-    test/yolo_test.cpp
-    src/yolo_inference.cpp  # Include only the source files needed for testing (not main.cpp)
-    src/detection.cpp
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
 )
 
-target_include_directories(${PROJECT_NAME}_test PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+# Core library (to be linked by other packages)
+add_library(${PROJECT_NAME}_core
+  src/yolo_inference.cpp
+  src/detection.cpp
+)
+target_link_libraries(${PROJECT_NAME}_core
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+  ${ONNXRUNTIME_ROOT}/lib/libonnxruntime.so
+)
 
-# Link libraries for test executable
-target_link_libraries(${PROJECT_NAME}_test
-    gtest_main
-    gmock_main
-    ${OpenCV_LIBS}
-    ${ONNXRUNTIME_ROOT}/lib/libonnxruntime.so
+# Node executable
+add_executable(${PROJECT_NAME}
+  src/main.cpp
+)
+target_link_libraries(${PROJECT_NAME}
+  ${PROJECT_NAME}_core
 )
 
-# Add test to CTest
-add_test(NAME yolo_tests COMMAND ${PROJECT_NAME}_test)
+# Install headers, library, and node so other packages can depend/link
+install(TARGETS ${PROJECT_NAME}_core ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-# Download https://raw.githubusercontent.com/ultralytics/ultralytics/main/ultralytics/cfg/datasets/coco.yaml
-# and put it in the same folder of the executable file
+# Runtime assets (# Download https://raw.githubusercontent.com/ultralytics/ultralytics/main/ultralytics/cfg/datasets/coco.yaml)
 configure_file(/home/amigo/Documents/repos/hero_sam.bak/yolo_inference/data/coco.yaml ${CMAKE_CURRENT_BINARY_DIR}/coco.yaml COPYONLY)
-
-# Copy yolov8n.onnx file to the same folder of the executable file
-configure_file(/home/amigo/Documents/repos/hero_sam.bak/yolo_inference/model/yolo11m.onnx ${CMAKE_CURRENT_BINARY_DIR}/yolo11m.onnx COPYONLY)
-
-# Create folder name images in the same folder of the executable file
-add_custom_command(TARGET ${PROJECT_NAME} POST_BUILD
-    COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/images
-)
+configure_file(/home/amigo/Documents/repos/hero_sam.bak/yolo_inference/model/yolo11m.onnx ${CMAKE_CURRENT_BINARY_DIR}/yolo11m.onnx COPYONLY)

package.xml

@@ -10,6 +10,7 @@
   <maintainer email="iasonth95@gmail.com">Iason Theodorou</maintainer>
 
   <license>ToDo</license>
+  <depend>roscpp</depend>
 
   <buildtool_depend>catkin</buildtool_depend>
 

src/detection.cpp

@@ -5,11 +5,12 @@
 #include <fstream>
 #include <random>
 #include "yolo_inference.h"
+//#define LOGGING
 std::vector<DL_RESULT> Detector(std::unique_ptr<YOLO_V8>& p, const cv::Mat& img) {
 
             std::vector<DL_RESULT> res;
             p->RunSession(img, res);
-
+        #ifdef LOGGING
             for (auto& re : res)
             {
                 cv::RNG rng(cv::getTickCount());
@@ -39,13 +40,12 @@ std::vector<DL_RESULT> Detector(std::unique_ptr<YOLO_V8>& p, const cv::Mat& img)
                     cv::Scalar(0, 0, 0),
                     2
                 );
-
-
-            }
+                }
             std::cout << "Press any key to exit" << std::endl;
             cv::imshow("Result of Detection", img);
             cv::waitKey(0);
             cv::destroyAllWindows();
+        #endif
             return std::move(res);
 
 }
@@ -92,7 +92,7 @@ std::vector<DL_RESULT> Detector(std::unique_ptr<YOLO_V8>& p, const cv::Mat& img)
 
 int ReadCocoYaml(std::unique_ptr<YOLO_V8>& p) {
     // Open the YAML file
-    std::ifstream file("coco.yaml");
+    std::ifstream file("/home/amigo/Documents/repos/hero_sam.bak/yolo_inference/data/coco.yaml");
     if (!file.is_open())
     {
         std::cerr << "Failed to open file" << std::endl;
@@ -146,7 +146,7 @@ std::tuple<std::unique_ptr<YOLO_V8>, DL_INIT_PARAM> Initialize()
         params.rectConfidenceThreshold = 0.1;
         params.iouThreshold = 0.5;
         // Mayve change the model from V11 to V8
-        params.modelPath = "yolo11m.onnx";
+        params.modelPath = "/home/amigo/Documents/repos/yolo_onnx_ros/build/yolo11m.onnx";
         params.imgSize = { 640, 640 };
     #ifdef USE_CUDA
         params.cudaEnable = true;