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feat(lidar_apollo_instance_segmentation, tensorrt_common): use onnx instead of caffe for apollo cnnseg #3320

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merged 10 commits into from
Apr 12, 2023
Merged

feat(lidar_apollo_instance_segmentation, tensorrt_common): use onnx instead of caffe for apollo cnnseg #3320

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bfafed6
feat: use onnx instead of caffe for apollo cnnseg
wep21 Apr 8, 2023
ac21247
style(pre-commit): autofix
pre-commit-ci[bot] Apr 8, 2023
873fa1e
diable some lint
wep21 Apr 8, 2023
099ec6a
add include guard
wep21 Apr 8, 2023
6544584
style(pre-commit): autofix
pre-commit-ci[bot] Apr 8, 2023
3b4cb35
fix company name in license
wep21 Apr 8, 2023
0501e4b
remove unrelated file
wep21 Apr 8, 2023
98d8fe3
change find order
wep21 Apr 8, 2023
55e5308
update year in license
wep21 Apr 10, 2023
3966df6
fix year in license
wep21 Apr 10, 2023
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70 changes: 47 additions & 23 deletions common/tensorrt_common/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,57 +1,81 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.17)
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project(tensorrt_common)

find_package(autoware_cmake REQUIRED)
autoware_package()

# TODO(tensorrt_common): Remove once upgrading to TensorRT 8.5 is complete
add_compile_options(-Wno-deprecated-declarations)
find_package(ament_cmake REQUIRED)
find_package(cudnn_cmake_module REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tensorrt_cmake_module REQUIRED)

find_package(CUDA)
find_package(CUDAToolkit)
find_package(CUDNN)
find_package(TENSORRT)

if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND}))
if(NOT (CUDAToolkit_FOUND AND CUDNN_FOUND AND TENSORRT_FOUND))
message(WARNING "cuda, cudnn, tensorrt libraries are not found")
return()
endif()

cuda_add_library(${PROJECT_NAME} SHARED
add_library(${PROJECT_NAME} SHARED
src/tensorrt_common.cpp
)

ament_target_dependencies(${PROJECT_NAME}
rclcpp
target_link_libraries(${PROJECT_NAME}
CUDA::cudart
rclcpp::rclcpp
stdc++fs
${TENSORRT_LIBRARIES}
)

target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
${TENSORRT_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
${TENSORRT_LIBRARIES}
stdc++fs
set_target_properties(${PROJECT_NAME}
PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
CXX_EXTENSIONS NO
)

# TODO(tensorrt_common): Remove -Wno-deprecated-declarations once upgrading to TensorRT 8.5 is complete
target_compile_options(${PROJECT_NAME} PRIVATE
-Wall -Wextra -Wpedantic -Werror -Wno-deprecated-declarations
)

target_compile_definitions(${PROJECT_NAME} PRIVATE
TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR}
)

list(APPEND ${PROJECT_NAME}_LIBRARIES "${PROJECT_NAME}")

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)

# These don't pass yet, disable them for now
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_flake8_FOUND TRUE)
set(ament_cmake_pep257_FOUND TRUE)
set(ament_cmake_uncrustify_FOUND TRUE)

ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_dependencies(CUDA)
ament_export_dependencies(cudnn_cmake_module)
ament_export_dependencies(CUDNN)
ament_export_dependencies(tensorrt_cmake_module)
ament_export_dependencies(TENSORRT)
install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME})
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_targets(export_${PROJECT_NAME})

ament_export_dependencies(
"CUDA"
"CUDAToolkit"
"cudnn_cmake_module"
"CUDNN"
"rclcpp"
"tensorrt_cmake_module"
"TENSORRT"
)

ament_auto_package()
ament_package()
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6 changes: 2 additions & 4 deletions common/tensorrt_common/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,16 +11,14 @@

<license>Apache License 2.0</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>cudnn_cmake_module</buildtool_depend>
<buildtool_depend>tensorrt_cmake_module</buildtool_depend>

<build_depend>autoware_cmake</build_depend>

<depend>rclcpp</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<test_depend>ament_lint_common</test_depend>
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<export>
<build_type>ament_cmake</build_type>
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2 changes: 1 addition & 1 deletion perception/lidar_apollo_instance_segmentation/.gitignore
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Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
data/*.caffemodel
data/*.onnx
data/*.engine
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