cristhian aguilera
fd6993e294
- Add OpenVocab engine: YOLO-World ONNX detection with runtime vocabulary via CLIP text embeddings (two-input model support) - Add header-only C++ CLIP BPE tokenizer (no external deps) - Add detect(cv::Mat) overload to OpenVocab for camera-free testing - Add standalone test binary (test_open_vocab) using test/assets images - Add export scripts for YOLO-World and CLIP text encoder (uv/PEP 723) - Add installation scripts for Linux x64, ARM (Jetson), and Windows - Update CMakeLists to use find_package(onnxruntime) instead of FetchContent - Update README and AGENTS with env vars, setup workflow, and test usage
66 lines
1.7 KiB
CMake
66 lines
1.7 KiB
CMake
cmake_minimum_required(VERSION 3.21)
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project(dora_zed 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(${ZED_LIBRARY_DIR})
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add_executable(dora_zed
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src/main.cc
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src/zed/camera.cc
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src/engines/zed_native.cc
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src/engines/open_vocab.cc
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${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 ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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# Standalone detector test — no dora, no live camera required
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add_executable(test_open_vocab
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src/test_open_vocab.cc
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src/engines/open_vocab.cc
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)
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target_include_directories(test_open_vocab PRIVATE
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${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_open_vocab 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_open_vocab DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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