merged torch and multicam

Author: MoscowskyAnton

CMakeLists.txt

@@ -7,9 +7,9 @@ add_compile_options(-std=c++11)
 ## Optional parts of library
 set(opencv_contrib OFF)
 set(zbar_lib OFF)
-set(TensorFlow OFF)
 set(DLib OFF)
 set(igraph OFF)
+set(torch OFF)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -39,6 +39,15 @@ if(DLib)
     add_subdirectory(/home/anton/Lib/dlib dlib_build)
 endif(DLib)
 
+if(torch)
+    #set(CMAKE_PREFIX_PATH "${CMAKE_PREFIX_PATH}/home/anton/Libs/libtorch")
+    list(APPEND CMAKE_PREFIX_PATH "/home/anton/Lib/libtorch")
+    message(${CMAKE_PREFIX_PATH})
+    find_package(Torch REQUIRED)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")    
+endif(torch)
+
+
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -123,6 +132,7 @@ set( EOD_SRC
     src/lib/detectors/ExtractedInfoStringChecker.cpp
     src/lib/detectors/UnitTranslationExtracter.cpp
     src/lib/detectors/SquareObjectDistanceDetector.cpp
+    src/lib/detectors/TorchYOLOv7Detector.cpp
 
     # lib relations        
     src/lib/relations/ImageRangeRelation.cpp
@@ -148,9 +158,6 @@ add_executable(
     ${EOD_SRC}
 )
 
-if(TensorFlow)
-    target_compile_definitions(extended_object_detection_node PUBLIC USE_TF) 
-endif(TensorFlow)
 
 if(opencv_contrib)
     target_compile_definitions(extended_object_detection_node PUBLIC USE_OPENCV_CONTRIB)         
@@ -168,6 +175,10 @@ if(igraph)
     target_compile_definitions(extended_object_detection_node PUBLIC USE_IGRAPH)    
 endif(igraph)
 
+if(torch)
+    target_compile_definitions(extended_object_detection_node PUBLIC USE_TORCH) 
+endif(torch)
+
 #collect hsv color c++ utility
 add_executable(
     hsv_color_params_collector_node
@@ -499,11 +510,30 @@ if(igraph)
     )
 endif(igraph)
 
+if(torch)    
+    set_property(TARGET extended_object_detection_node PROPERTY CXX_STANDARD 14)
+    set_property(TARGET offline_video PROPERTY CXX_STANDARD 14)
+    set_property(TARGET offline_image PROPERTY CXX_STANDARD 14)
+
+    target_link_libraries(extended_object_detection_node  
+        ${TORCH_LIBRARIES}
+    )
+    
+    target_link_libraries(offline_video  
+        ${TORCH_LIBRARIES}
+    )
+    
+    target_link_libraries(offline_image  
+        ${TORCH_LIBRARIES}
+    )
+endif(torch)
+
 
 target_link_libraries(extended_object_detection_node  
   ${OpenCV_LIBRARIES}
   ${TinyXML_LIBRARIES}
   ${catkin_LIBRARIES}    
+  
 )
 
 target_link_libraries(hsv_color_params_collector_node  

src/extended_object_detection_node/eod_node.cpp

@@ -301,12 +301,6 @@ void EOD_ROS::rgbd_info_cb(const sensor_msgs::ImageConstPtr& rgb_image, const se
 
 
 void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std_msgs::Header header){
-    //ROS_INFO("Detecting...");
-    
-//     if( frame_sequence != 0 ){
-//         stats[header.frame_id].detect_rate_values->push_back((ros::Time::now() - stats[header.frame_id].prev_detected_time).toSec());
-//     }
-//  
     // store data for detect rate calculus
     if( stats[header.frame_id].proceeded_frames != 0){
         stats[header.frame_id].detect_rate_values->push_back((ros::Time::now() - stats[header.frame_id].prev_detected_time).toSec());