cristhian aguilera
44eec29b83
Split the monolithic open_vocab engine into two focused engines: yolo_onnx (closed-vocabulary, any single-input YOLO ONNX) and yoloworld_onnx (open-vocabulary YOLO-World with CLIP encoder). Shared NMS/letterbox/fuse helpers extracted to yolo_helpers.h. Add export_yolo.py script and separate test binaries for each engine.
86 lines
2.3 KiB
CMake
86 lines
2.3 KiB
CMake
cmake_minimum_required(VERSION 3.21)
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project(dora_zed VERSION 0.1.0 LANGUAGES C CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_FLAGS "-fPIC")
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include(DoraTargets.cmake)
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set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the ZED SDK")
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set(ZED_PATH ${ZED_DIR})
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find_package(CUDAToolkit REQUIRED)
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find_package(zed REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(onnxruntime REQUIRED)
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set(ONNXRUNTIME_INCLUDE_DIRS "") # propagated via imported target
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set(ONNXRUNTIME_LIBRARIES onnxruntime::onnxruntime)
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link_directories(${dora_link_dirs})
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link_directories(${ZED_LIBRARY_DIR})
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add_executable(dora_zed
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src/main.cc
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src/zed/camera.cc
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src/engines/zed_native.cc
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src/engines/yolo_onnx.cc
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src/engines/yoloworld_onnx.cc
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${node_bridge}
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)
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add_dependencies(dora_zed Dora_cxx)
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target_include_directories(
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dora_zed
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${dora_cxx_include_dir}
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${dora_c_include_dir}
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${ZED_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${CUDAToolkit_INCLUDE_DIRS}
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${ONNXRUNTIME_INCLUDE_DIRS}
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)
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target_link_libraries(dora_zed dora_node_api_cxx ${ZED_LIBRARIES} ${OpenCV_LIBS} ${ONNXRUNTIME_LIBRARIES})
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install(TARGETS dora_zed DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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# Standalone detector tests — no dora, no live camera required
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add_executable(test_yolo_onnx
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src/test_yolo_onnx.cc
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src/engines/yolo_onnx.cc
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)
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target_include_directories(test_yolo_onnx PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${ZED_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${CUDAToolkit_INCLUDE_DIRS}
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${ONNXRUNTIME_INCLUDE_DIRS}
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)
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target_link_libraries(test_yolo_onnx PRIVATE
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${ZED_LIBRARIES}
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${OpenCV_LIBS}
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${ONNXRUNTIME_LIBRARIES}
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)
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install(TARGETS test_yolo_onnx DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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add_executable(test_yoloworld_onnx
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src/test_yoloworld_onnx.cc
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src/engines/yoloworld_onnx.cc
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)
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target_include_directories(test_yoloworld_onnx PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${ZED_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${CUDAToolkit_INCLUDE_DIRS}
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${ONNXRUNTIME_INCLUDE_DIRS}
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)
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target_link_libraries(test_yoloworld_onnx PRIVATE
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${ZED_LIBRARIES}
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${OpenCV_LIBS}
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${ONNXRUNTIME_LIBRARIES}
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)
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install(TARGETS test_yoloworld_onnx DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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