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feat(trtexec_vendor): add vendor package for trtexec (autowarefoundat…
…ion#1821) * feat(trtexec_vendor): add vendor package for trtexec Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * support the previous CUDA environemt Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * remove required for nvidia libraries Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * add sampleUtils.cpp if trt version is greater than 8.4 Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * do not install trt submodules Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>
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|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| cmake_minimum_required(VERSION 3.14) | ||
| project(trtexec_vendor) | ||
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| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
| set(CMAKE_CXX_EXTENSIONS OFF) | ||
| endif() | ||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
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| find_package(ament_cmake REQUIRED) | ||
| find_package(CUDA) | ||
| find_package(cudnn_cmake_module REQUIRED) | ||
| find_package(CUDNN) | ||
| find_package(tensorrt_cmake_module REQUIRED) | ||
| find_package(TENSORRT) | ||
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| if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND})) | ||
| message(WARNING "cuda, cudnn, tensorrt libraries are not found") | ||
| return() | ||
| endif() | ||
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| set(TRTEXEC_DEFAULT_BIN /usr/src/tensorrt/bin/trtexec) | ||
| if(NOT EXISTS TRTEXEC_DEFAULT_BIN) | ||
| include(FetchContent) | ||
| if(${TENSORRT_VERSION} VERSION_EQUAL 8.4.2) | ||
| set(TENSORRT_VERSION 8.4.1) | ||
| endif() | ||
| if(${TENSORRT_VERSION} VERSION_EQUAL 8.2.4) | ||
| set(TENSORRT_VERSION 8.2.1) | ||
| endif() | ||
| fetchcontent_declare(tensorrt | ||
| GIT_REPOSITORY https://github.com/NVIDIA/TensorRT | ||
| GIT_TAG ${TENSORRT_VERSION} | ||
| GIT_SUBMODULES "" | ||
| ) | ||
| fetchcontent_getproperties(tensorrt) | ||
| if(NOT tensorrt_POPULATED) | ||
| fetchcontent_populate(tensorrt) | ||
| endif() | ||
| set(TRTEXEC_SOURCES | ||
| ${tensorrt_SOURCE_DIR}/samples/trtexec/trtexec.cpp | ||
| ${tensorrt_SOURCE_DIR}/samples/common/sampleEngines.cpp | ||
| ${tensorrt_SOURCE_DIR}/samples/common/sampleInference.cpp | ||
| ${tensorrt_SOURCE_DIR}/samples/common/sampleOptions.cpp | ||
| ${tensorrt_SOURCE_DIR}/samples/common/sampleReporting.cpp | ||
| ${tensorrt_SOURCE_DIR}/samples/common/logger.cpp | ||
| ) | ||
| if(${TENSORRT_VERSION} VERSION_GREATER_EQUAL 8.4) | ||
| list(APPEND TRTEXEC_SOURCES | ||
| ${tensorrt_SOURCE_DIR}/samples/common/sampleUtils.cpp | ||
| ) | ||
| endif() | ||
| cuda_add_executable(${PROJECT_NAME} | ||
| ${TRTEXEC_SOURCES} | ||
| ) | ||
| target_link_libraries(${PROJECT_NAME} | ||
| ${TENSORRT_LIBRARIES} | ||
| ) | ||
| target_include_directories(${PROJECT_NAME} | ||
| PRIVATE ${tensorrt_SOURCE_DIR}/samples/common | ||
| ) | ||
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| set_target_properties(${PROJECT_NAME} | ||
| PROPERTIES OUTPUT_NAME trtexec | ||
| ) | ||
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| install(TARGETS ${PROJECT_NAME} | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
| endif() | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
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| ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in") | ||
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| ament_package() |
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| TRTEXEC_DEFAULT_BIN_DIR=/usr/src/tensorrt/bin | ||
| TRTEXEC_DEFAULT_BIN=$TRTEXEC_DEFAULT_BIN_DIR/trtexec | ||
| if [ -f $TRTEXEC_DEFAULT_BIN ]; then | ||
| ament_prepend_unique_value PATH $TRTEXEC_DEFAULT_BIN_DIR | ||
| fi |
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| <?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>trtexec_vendor</name> | ||
| <version>0.1.0</version> | ||
| <description>The vendor package of trtexec</description> | ||
| <maintainer email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</maintainer> | ||
| <license>Apache 2.0</license> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <buildtool_depend>cudnn_cmake_module</buildtool_depend> | ||
| <buildtool_depend>tensorrt_cmake_module</buildtool_depend> | ||
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>autoware_lint_common</test_depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |