updated CMake and small things to support onnx_runtime package

Author: IasonTheodorou

ed_sensor_integration/CMakeLists.txt

@@ -5,9 +5,9 @@ project(ed_sensor_integration)
 #add_compile_options(-Wall -Werror=all)
 #add_compile_options(-Wextra -Werror=extra)
 
-# -------------- ONNXRuntime Setup (define this early) ------------------#
-set(ONNXRUNTIME_VERSION 1.21.1)
-set(ONNXRUNTIME_ROOT "/home/amigo/Documents/repos/hero_sam.bak/onnxruntime-linux-x64-gpu-${ONNXRUNTIME_VERSION}")
+# # -------------- ONNXRuntime Setup (define this early) ------------------#
+# set(ONNXRUNTIME_VERSION 1.21.1)
+# set(ONNXRUNTIME_ROOT "/home/amigo/Documents/repos/hero_sam.bak/onnxruntime-linux-x64-gpu-${ONNXRUNTIME_VERSION}")
 
 # -------------- Neural Network Models ------------------#
 
@@ -43,6 +43,7 @@ find_package(catkin REQUIRED COMPONENTS
   tue_filesystem
   visualization_msgs
   # 2D -> 3D point cloud estimation
+  onnxruntime_ros
   yolo_onnx_ros
   sam_onnx_ros
   bmm_ros

ed_sensor_integration/include/ed_sensor_integration/kinect/segmodules/sam_seg_module.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <ros/ros.h>
-#include "yolo_inference.h"
+#include "yolo_onnx_ros/yolo_inference.hpp"
 #include "sam_onnx_ros/sam_inference.hpp"
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/PointCloud2.h>

ed_sensor_integration/package.xml

@@ -38,7 +38,8 @@
   <exec_depend>sensor_msgs</exec_depend>
   <build_depend>tue_filesystem</build_depend>
   <exec_depend>tue_filesystem</exec_depend>
-
+  <build_depend>onnxruntime_ros</build_depend>
+  <exec_depend>onnxruntime_ros</exec_depend>
   <!-- //For displaying SAM MASK -->
   <build_depend>cv_bridge</build_depend>
   <build_depend>image_transport</build_depend>

ed_sensor_integration/src/kinect/sam_seg_module.cpp

@@ -1,6 +1,6 @@
 #include "ed_sensor_integration/kinect/segmodules/sam_seg_module.h"
 #include "sam_onnx_ros/segmentation.hpp"
-#include "detection.h"
+#include "yolo_onnx_ros/detection.hpp"
 
 // Add required includes for types used in publishSegmentationResults
 #include <cv_bridge/cv_bridge.h>