First version

.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 }}

CMakeLists.txt

@@ -1,37 +1,61 @@
 cmake_minimum_required(VERSION 3.5)
+project(yolo_onnx_ros)
 
-set(PROJECT_NAME Yolov8OnnxRuntimeCPPInference)
-project(${PROJECT_NAME} VERSION 0.0.1 LANGUAGES CXX)
+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_CXX_EXTENSIONS ON)
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
+#set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 # -------------- OpenCV  ------------------#
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
 
+find_package(catkin REQUIRED
+  COMPONENTS
+  onnxruntime_ros
+)
+
+
+# ------------------------------------------------------------------------------------------------
+#                                        CATKIN EXPORT
+# ------------------------------------------------------------------------------------------------
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  DEPENDS OpenCV
+)
+
+# ------------------------------------------------------------------------------------------------
+#                                           BUILD
+# ------------------------------------------------------------------------------------------------
+
+include_directories(
+  include
+  SYSTEM
+  ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
 # -------------- ONNXRuntime  ------------------#
-set(ONNXRUNTIME_VERSION 1.21.0)
-set(ONNXRUNTIME_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../onnxruntime-linux-x64-gpu-1.21.1")
-include_directories(${ONNXRUNTIME_ROOT}/include)
 
 # -------------- Cuda ------------------#
 add_definitions(-DUSE_CUDA=1)
-include_directories(/usr/local/cuda/include)
 
-set(PROJECT_SOURCES
-        src/main.cpp
-        src/yolo_inference.cpp
+add_library(${PROJECT_NAME}
+  src/yolo_inference.cpp
 )
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
 
-add_executable(${PROJECT_NAME} ${PROJECT_SOURCES})
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/inc)
-
-# Link OpenCV libraries along with ONNX Runtime
-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${ONNXRUNTIME_ROOT}/lib/libonnxruntime.so)
+add_executable(test_${PROJECT_NAME}
+  src/main.cpp
+)
+target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
 
 # For Windows system, copy onnxruntime.dll to the same folder of the executable file
 if (WIN32)
@@ -46,9 +70,9 @@ endif ()
 configure_file(data/coco.yaml ${CMAKE_CURRENT_BINARY_DIR}/coco.yaml COPYONLY)
 
 # Copy yolov8n.onnx file to the same folder of the executable file
-configure_file(model/yolo11m.onnx ${CMAKE_CURRENT_BINARY_DIR}/yolo11m.onnx COPYONLY)
+# configure_file(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
-)
+# # 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
+# )

inc/yolo_inference.h → include/yolo_onnx_ros/yolo_inference.h

@@ -12,7 +12,7 @@
 #include <vector>
 #include <cstdio>
 #include <opencv2/opencv.hpp>
-#include "onnxruntime_cxx_api.h"
+#include <onnxruntime_cxx_api.h>
 
 #ifdef USE_CUDA
 #include <cuda_fp16.h>
@@ -92,4 +92,4 @@ class YOLO_V8
     float rectConfidenceThreshold;
     float iouThreshold;
     float resizeScales;//letterbox scale
-};
+};

package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>yolo_onnx_ros</name>
+  <version>0.0.0</version>
+  <description>Yolo inference</description>
+
+  <maintainer email="[email protected]">Iason Theodorou</maintainer>
+
+  <license>ToDo</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>libopencv-dev</build_depend>
+  <exec_depend>libopencv-dev</exec_depend>
+  <build_depend>onnxruntime_ros</build_depend>
+  <exec_depend>onnxruntime_ros</exec_depend>
+
+  <test_depend>catkin_lint_cmake</test_depend>
+
+  <doc_depend>doxygen</doc_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml" />
+  </export>
+
+</package>

src/main.cpp

@@ -1,6 +1,6 @@
 #include <iostream>
 #include <iomanip>
-#include "yolo_inference.h"
+#include "yolo_onnx_ros/yolo_inference.h"
 #include <filesystem>
 #include <fstream>
 #include <random>
@@ -192,4 +192,4 @@ int main()
 {
     DetectTest();
     //ClsTest();
-}
+}

src/yolo_inference.cpp

@@ -1,4 +1,4 @@
-#include "yolo_inference.h"
+#include "yolo_onnx_ros/yolo_inference.h"
 #include <regex>
 
 #define benchmark
@@ -383,4 +383,4 @@ char* YOLO_V8::WarmUpSession() {
 #endif
     }
     return RET_OK;
-}
+}