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Merge pull request #27 from NVIDIA-ISAAC-ROS/release-3.0
Isaac ROS 3.0.0
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isaac_ros_gxf_extensions/gxf_isaac_ros_segment_anything/CMakeLists.txt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES | ||
| # Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| # | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| cmake_minimum_required(VERSION 3.22.1) | ||
| project(gxf_isaac_ros_segment_anything LANGUAGES C CXX) | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-fPIC -w) | ||
| endif() | ||
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| # Dependencies | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
| find_package(CUDAToolkit) | ||
| find_package(yaml-cpp) | ||
| find_package(isaac_ros_nitros_detection2_d_array_type REQUIRED) | ||
| enable_language(CUDA) | ||
| # Create extension | ||
| ament_auto_add_library(${PROJECT_NAME} SHARED | ||
| gxf/segment_anything/segment_anything_ext.cpp | ||
| gxf/segment_anything/segment_anything_postprocessor.cpp | ||
| gxf/segment_anything/segment_anything_postprocessor.hpp | ||
| gxf/segment_anything/segment_anything_postprocessor.cu.cpp | ||
| gxf/segment_anything/segment_anything_postprocessor.cu.hpp | ||
| gxf/segment_anything/segment_anything_prompt_processor.cpp | ||
| gxf/segment_anything/segment_anything_prompt_processor.hpp | ||
| gxf/segment_anything/segment_anything_msg_compositor.cpp | ||
| gxf/segment_anything/segment_anything_msg_compositor.hpp | ||
| ) | ||
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| # Mark as CUDA files with non-standard extensions | ||
| set_source_files_properties( | ||
| gxf/segment_anything/segment_anything_postprocessor.cu.cpp | ||
| gxf/segment_anything/segment_anything_postprocessor.cu.hpp | ||
| PROPERTIES LANGUAGE CUDA | ||
| ) | ||
| target_link_libraries(${PROJECT_NAME} | ||
| CUDA::cudart | ||
| yaml-cpp | ||
| ) | ||
| target_include_directories(${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/gxf" | ||
| ${isaac_ros_nitros_detection2_d_array_type_INCLUDE_DIRS}) | ||
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| set_target_properties(${PROJECT_NAME} PROPERTIES | ||
| BUILD_WITH_INSTALL_RPATH TRUE | ||
| BUILD_RPATH_USE_ORIGIN TRUE | ||
| INSTALL_RPATH_USE_LINK_PATH TRUE | ||
| ) | ||
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| # Install the binary file | ||
| install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib) | ||
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| ament_auto_package(INSTALL_TO_SHARE) |
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...f_extensions/gxf_isaac_ros_segment_anything/gxf/segment_anything/segment_anything_ext.cpp
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| // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES | ||
| // Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // | ||
| // SPDX-License-Identifier: Apache-2.0 | ||
| #include "segment_anything_postprocessor.hpp" | ||
| #include "segment_anything_prompt_processor.hpp" | ||
| #include "segment_anything_msg_compositor.hpp" | ||
| #include "gxf/std/extension_factory_helper.hpp" | ||
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| GXF_EXT_FACTORY_BEGIN() | ||
| GXF_EXT_FACTORY_SET_INFO(0xa3ed574714ef4f11, 0xc127090d5b35a477, | ||
| "SegmentAnythingExtension", | ||
| "Isaac ROS Segmentation PostProcessor Extension", "NVIDIA", "0.0.1", | ||
| "LICENSE"); | ||
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| GXF_EXT_FACTORY_ADD(0xe9681b9e1b864123, 0x8fc86530f45f9ab2, | ||
| nvidia::isaac_ros::SegmentAnythingPostprocessor, nvidia::gxf::Codelet, | ||
| "Generates a raw segmentation mask from a tensor"); | ||
| GXF_EXT_FACTORY_ADD(0xe8211b9e1b864ab1, 0x2de86530f45f9cd3, | ||
| nvidia::isaac_ros::SegmentAnythingPromptProcessor, nvidia::gxf::Codelet, | ||
| "Transforms the input bboxes/points to SAM format."); | ||
| GXF_EXT_FACTORY_ADD(0xe12acb9e1b8642ba, 0x34c86170f32f9abc, | ||
| nvidia::isaac_ros::SegmentAnythingMsgCompositor, nvidia::gxf::Codelet, | ||
| "Composes a single msg with all the received tensors."); | ||
| GXF_EXT_FACTORY_ADD_0( | ||
| 0xa321601525594206, 0xbc12d9f22a134452, | ||
| std::vector<nvidia::isaac_ros::Detection2D>, | ||
| "Array of decoded 2D object detections in an image"); | ||
| GXF_EXT_FACTORY_END() |
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