feat: add yolov10 node

perception/autoware_tensorrt_yolov10/CMakeLists.txt

@@ -0,0 +1,175 @@
+cmake_minimum_required(VERSION 3.17)
+project(autoware_tensorrt_yolov10)
+
+find_package(tensorrt_common)
+if(NOT ${tensorrt_common_FOUND})
+  message(WARNING "The tensorrt_common package is not found. Please check its dependencies.")
+  return()
+endif()
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(OpenCV REQUIRED)
+
+option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF)
+
+# set flags for CUDA availability
+option(CUDA_AVAIL "CUDA available" OFF)
+find_package(CUDA)
+if(CUDA_FOUND)
+  find_library(CUBLAS_LIBRARIES cublas HINTS
+    ${CUDA_TOOLKIT_ROOT_DIR}/lib64
+    ${CUDA_TOOLKIT_ROOT_DIR}/lib
+  )
+  if(CUDA_VERBOSE)
+    message("CUDA is available!")
+    message("CUDA Libs: ${CUDA_LIBRARIES}")
+    message("CUDA Headers: ${CUDA_INCLUDE_DIRS}")
+  endif()
+  # Note: cublas_device was depreciated in CUDA version 9.2
+  #       https://forums.developer.nvidia.com/t/where-can-i-find-libcublas-device-so-or-libcublas-device-a/67251/4
+  #       In LibTorch, CUDA_cublas_device_LIBRARY is used.
+  unset(CUDA_cublas_device_LIBRARY CACHE)
+  set(CUDA_AVAIL ON)
+else()
+  message("CUDA NOT FOUND")
+  set(CUDA_AVAIL OFF)
+endif()
+
+# set flags for TensorRT availability
+option(TRT_AVAIL "TensorRT available" OFF)
+# try to find the tensorRT modules
+find_library(NVINFER nvinfer)
+find_library(NVONNXPARSER nvonnxparser)
+if(NVINFER AND NVONNXPARSER)
+  if(CUDA_VERBOSE)
+    message("TensorRT is available!")
+    message("NVINFER: ${NVINFER}")
+    message("NVONNXPARSER: ${NVONNXPARSER}")
+  endif()
+  set(TRT_AVAIL ON)
+else()
+  message("TensorRT is NOT Available")
+  set(TRT_AVAIL OFF)
+endif()
+
+# set flags for CUDNN availability
+option(CUDNN_AVAIL "CUDNN available" OFF)
+# try to find the CUDNN module
+find_library(CUDNN_LIBRARY
+NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name}
+PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX}
+PATH_SUFFIXES lib lib64 bin
+DOC "CUDNN library."
+)
+if(CUDNN_LIBRARY)
+  if(CUDA_VERBOSE)
+    message(STATUS "CUDNN is available!")
+    message(STATUS "CUDNN_LIBRARY: ${CUDNN_LIBRARY}")
+  endif()
+  set(CUDNN_AVAIL ON)
+else()
+  message("CUDNN is NOT Available")
+  set(CUDNN_AVAIL OFF)
+endif()
+
+find_package(OpenMP)
+if(OpenMP_FOUND)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
+##########
+# tensorrt_yolov10
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/tensorrt_yolov10.cpp
+  src/tensorrt_yolov10_node.cpp
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  OpenCV
+)
+
+if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
+  # Officially, add_library supports .cu file compilation.
+  # However, as of cmake 3.22.1, it seems to fail compilation because compiler flags for
+  # C++ are directly passed to nvcc (they are originally space separated
+  # but nvcc assume comma separated as argument of `-Xcompiler` option).
+  # That is why `cuda_add_library` is used here.
+#   cuda_add_library(${PROJECT_NAME}_gpu_preprocess
+#     SHARED
+#     src/preprocess.cu
+#   )
+
+#   target_include_directories(${PROJECT_NAME}_gpu_preprocess PUBLIC
+#     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+#     $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+#   )
+
+#   target_link_libraries(${PROJECT_NAME}
+#     ${tensorrt_common_LIBRARIES}
+#     ${PROJECT_NAME}_gpu_preprocess
+#   )
+else()
+  target_link_libraries(${PROJECT_NAME}
+    ${tensorrt_common_LIBRARIES}
+  )
+endif()
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE
+  TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR}
+)
+
+ament_auto_add_library(yolov10_single_image_inference_node SHARED
+  src/yolov10_single_image_inference_node.cpp
+)
+
+ament_target_dependencies(yolov10_single_image_inference_node
+  OpenCV
+)
+
+target_link_libraries(yolov10_single_image_inference_node
+  ${PROJECT_NAME}
+  stdc++fs
+)
+
+target_compile_definitions(yolov10_single_image_inference_node PRIVATE
+  TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR}
+)
+
+rclcpp_components_register_node(yolov10_single_image_inference_node
+  PLUGIN "autoware::tensorrt_yolov10::Yolov10SingleImageInferenceNode"
+  EXECUTABLE yolov10_single_image_inference
+)
+
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+  src/tensorrt_yolov10_node.cpp
+)
+
+ament_target_dependencies(${PROJECT_NAME}_node
+  OpenCV
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+)
+
+target_compile_definitions(${PROJECT_NAME}_node PRIVATE
+  TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR}
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_node
+  PLUGIN "autoware::tensorrt_yolov10::TrtYolov10Node"
+  EXECUTABLE ${PROJECT_NAME}_node_exe
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)

perception/autoware_tensorrt_yolov10/README.md

@@ -0,0 +1 @@
+# autoware_tensorrt_yolov10