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Custom Object Detection #1

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Custom Object Detection #1

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427a969
Custom Object Detection
ugackMiner53 Aug 12, 2023
ac69137
Fixed an error with the model number not existing and edited .yaml fi…
ugackMiner53 Aug 12, 2023
88dccd6
More sensible defaults for normal use cases and more checks for custo…
ugackMiner53 Aug 14, 2023
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17 changes: 15 additions & 2 deletions zed_components/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -75,14 +75,15 @@ endif()

#############################################
# Dependencies
find_package(ZED 3 REQUIRED)
find_package(ZED 4 REQUIRED)

exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)
if(CMAKE_SYSTEM_NAME2 MATCHES "aarch64") # Jetson TX
set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
endif()

find_package(CUDA REQUIRED)
find_package(OpenCV REQUIRED)

set(DEPENDENCIES
rclcpp
Expand Down Expand Up @@ -150,6 +151,7 @@ add_custom_target(all_${PROJECT_NAME}_files SOURCES ${all_files})
###############################################################################
# INCLUDES and LIBS
include_directories(
${OpenCV_INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS}
${ZED_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/src/include
Expand All @@ -160,6 +162,7 @@ include_directories(
# create ament index resource which references the libraries in the binary dir
set(node_plugins "")

link_directories(${OpenCV_LIBRARY_DIRS})
link_directories(${ZED_LIBRARY_DIR})
link_directories(${CUDA_LIBRARY_DIRS})

Expand All @@ -184,13 +187,21 @@ set(SL_TOOLS_SRC
set(ZED_CAMERA_INC
${CMAKE_CURRENT_SOURCE_DIR}/src/include/visibility_control.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/sl_types.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/zed_camera_component.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/zed_camera_component.hpp

${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/yolo.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/cuda_utils.h
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/logging.h
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/include/utils.h
)

set(ZED_CAMERA_SRC
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/src/zed_camera_component.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/zed_camera/src/yolo.cpp
)

SET(TRT_LIBS nvinfer nvonnxparser)

###############################################################################
# Bin and Install

Expand All @@ -204,6 +215,8 @@ target_compile_definitions(zed_camera_component
PRIVATE "COMPOSITION_BUILDING_DLL"
)
target_link_libraries(zed_camera_component
${TRT_LIBS}
${OpenCV_LIBS}
${ZED_LIBS}
)
ament_target_dependencies(zed_camera_component
Expand Down
17 changes: 17 additions & 0 deletions zed_components/src/zed_camera/include/cuda_utils.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
#ifndef TRTX_CUDA_UTILS_H_
#define TRTX_CUDA_UTILS_H_

#include <cuda_runtime_api.h>

#ifndef CUDA_CHECK
#define CUDA_CHECK(callstr)\
{\
cudaError_t error_code = callstr;\
if (error_code != cudaSuccess) {\
std::cerr << "CUDA error " << error_code << " at " << __FILE__ << ":" << __LINE__;\
assert(0);\
}\
}
#endif // CUDA_CHECK

#endif // TRTX_CUDA_UTILS_H_
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