diff --git a/README.md b/README.md index 38434df..7302fdd 100644 --- a/README.md +++ b/README.md @@ -15,10 +15,11 @@ | Base | ROS2 C++ | | --------------- | -------- | -| TensorRT (CUDA) | ✅ | -| OpenVINO | ✅ | -| ONNX Runtime | ✅ | -| TFLite | ✅ | +| TensorRT | ✅ | +| OpenVINO | ✅ | +| ONNRuntime CUDA | ✅ | +| ONNRuntime MIGraphX | ✅ | +| TFLite | ✅ | ## Installation & Demo (C++) @@ -45,7 +46,6 @@ Check [this URL](./yolox_ros_cpp/README.md).
-## ## Reference diff --git a/yolox_ros_cpp/MIGraphX.md b/yolox_ros_cpp/MIGraphX.md new file mode 100644 index 0000000..1d9b673 --- /dev/null +++ b/yolox_ros_cpp/MIGraphX.md @@ -0,0 +1,110 @@ +# MIGraphX + ONNX Runtime (ROCm) build notes + +This workspace uses ONNX Runtime built with the MIGraphX execution provider. +ROCm EP is not present in `/opt/onnxruntime-migraphx`, so MIGraphX is used as the GPU backend. + +## Key findings + +- `libyolox_cpp.so` links against `/opt/onnxruntime-migraphx/lib/libonnxruntime.so.1`. +- That onnxruntime build exposes `MIGraphXExecutionProvider` (not `ROCMExecutionProvider`). +- MIGraphX tries to save compiled models; if a cache path is not set, it can fail with: + - `migraphx_save: ... Failure opening file: ""/....mxr` +- To avoid this, ensure `ORT_MIGRAPHX_MODEL_CACHE_PATH` (and/or `ORT_MIGRAPHX_CACHE_PATH`) is set. + +## Prerequisites (Ubuntu 24.04 + ROCm) + +### Install Radeon driver + ROCm + +If you already installed `amdgpu-install_7.1.x`, install the ROCm usecase: + +```bash +sudo amdgpu-install --list-usecase +sudo amdgpu-install -y --usecase=graphics,rocm +sudo reboot +``` + +After reboot, allow GPU compute access and reboot again: + +```bash +sudo usermod -a -G render,video $USER +sudo reboot +``` + +Verify ROCm is visible: + +```bash +/opt/rocm/bin/rocminfo | less +hipcc --version +``` + +### Install MIGraphX packages + +```bash +sudo apt update +sudo apt install -y migraphx migraphx-dev half +dpkg -l | egrep 'migraphx|half' +``` + +Check the MIGraphX install path (used as `--migraphx_home` below): + +```bash +dpkg -L migraphx-dev | head -n 50 +``` + +## Build and install ONNX Runtime (MIGraphX EP) + +### Build + +ROCm EP was removed in onnxruntime 1.23+, so use MIGraphX EP. + +```bash +git clone --recursive https://github.com/microsoft/onnxruntime +cd onnxruntime +./build.sh --config Release --build_shared_lib --parallel \ + --use_migraphx --migraphx_home /opt/rocm \ + --update --build --skip_tests +``` + +### Install + +```bash +cd build/Linux/Release +sudo cmake --install . --prefix /opt/onnxruntime-migraphx +echo /opt/onnxruntime-migraphx/lib | sudo tee /etc/ld.so.conf.d/onnxruntime.conf +sudo ldconfig +ldconfig -p | grep onnxruntime +``` + +## Build (colcon) + +Example build command (matches local setup with `/opt/onnxruntime-migraphx`): + +``` +colcon build --symlink-install \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release \ + -DYOLOX_USE_ONNXRUNTIME=ON \ + -DONNXRUNTIME_MIGRAPHX=ON \ + -DCMAKE_CXX_FLAGS="-I/opt/onnxruntime-migraphx/include" \ + -DCMAKE_EXE_LINKER_FLAGS="-L/opt/onnxruntime-migraphx/lib -lonnxruntime" \ + -DCMAKE_SHARED_LINKER_FLAGS="-L/opt/onnxruntime-migraphx/lib -lonnxruntime" +``` + +## Runtime cache path + +Set a writable cache directory before running: + +``` +export ORT_MIGRAPHX_MODEL_CACHE_PATH=/tmp/onnxruntime-migraphx-cache +export ORT_MIGRAPHX_CACHE_PATH=/tmp/onnxruntime-migraphx-cache +``` + +## Run example + +``` +source install/setup.bash +ros2 run yolox_ros_cpp yolox_ros_cpp_node --ros-args \ + -p model_path:=./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx \ + -p model_type:=onnxruntime \ + -p use_gpu:=true +``` diff --git a/yolox_ros_cpp/README.md b/yolox_ros_cpp/README.md index 11a0133..3858c85 100644 --- a/yolox_ros_cpp/README.md +++ b/yolox_ros_cpp/README.md @@ -232,7 +232,7 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py - `class_labels_path`: "" - `num_classes`: 80 - `model_version`: 0.1.1rc0 -- `onnxruntime_use_cuda`: true +- `onnxruntime_use_gpu`: true - `onnxruntime_use_parallel`: false - `onnxruntime_device_id`: 0 - `onnxruntime_inter_op_num_threads`: 1 diff --git a/yolox_ros_cpp/docker/onnxruntime-mIgraphx/docker-compose.yaml b/yolox_ros_cpp/docker/onnxruntime-mIgraphx/docker-compose.yaml new file mode 100644 index 0000000..7f3c272 --- /dev/null +++ b/yolox_ros_cpp/docker/onnxruntime-mIgraphx/docker-compose.yaml @@ -0,0 +1,22 @@ +version: '3.4' +services: + yolox_ros_onnxruntime_migraphx: + container_name: yolox_onnxruntime_migraphx + build: + context: . + args: + - BASE_TAB=latest + network_mode: host + devices: + - "/dev/kfd:/dev/kfd" + - "/dev/dri:/dev/dri" + # - "/dev/video0:/dev/video0" + + environment: + - DISPLAY=$DISPLAY + volumes: + - $HOME/ros2_ws:/root/ros2_ws + - /tmp/.X11-unix:/tmp/.X11-unix + working_dir: /root/ros2_ws + tty: true + command: bash diff --git a/yolox_ros_cpp/docker/onnxruntime-mIgraphx/dockerfile b/yolox_ros_cpp/docker/onnxruntime-mIgraphx/dockerfile new file mode 100644 index 0000000..e26a5cb --- /dev/null +++ b/yolox_ros_cpp/docker/onnxruntime-mIgraphx/dockerfile @@ -0,0 +1,46 @@ +ARG BASE_TAG=latest +FROM rocm/dev-ubuntu-24.04:${BASE_TAG} + +ENV TZ=Asia/Tokyo +RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone +ENV DEBIAN_FRONTEND=noninteractive + +RUN apt update && apt install -y locales git cmake wget curl gnupg2 lsb-release python3-numpy python3-setuptools python3-wheel && \ + locale-gen en_US en_US.UTF-8 && \ + update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 +ENV LANG=en_US.UTF-8 + + +RUN apt update && apt install -y build-essential ca-certificates python3-dev \ + migraphx migraphx-dev half && \ + rm -rf /var/lib/apt/lists/* + +RUN git clone --recursive https://github.com/microsoft/onnxruntime /tmp/onnxruntime && \ + cd /tmp/onnxruntime && \ + ./build.sh --config Release --build_shared_lib --parallel \ + --use_migraphx --migraphx_home /opt/rocm \ + --update --build --skip_tests --allow_running_as_root && \ + cd build/Linux/Release && \ + cmake --install . --prefix /opt/onnxruntime-migraphx && \ + echo /opt/onnxruntime-migraphx/lib > /etc/ld.so.conf.d/onnxruntime.conf && \ + ldconfig && \ + rm -rf /tmp/onnxruntime + +RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \ + sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list && \ + apt update && \ + apt install -y ros-dev-tools \ + ros-jazzy-cv-bridge \ + ros-jazzy-generate-parameter-library \ + ros-jazzy-parameter-traits \ + ros-jazzy-ros-base \ + ros-jazzy-rqt-image-view \ + ros-jazzy-usb-cam \ + ros-jazzy-vision-msgs && \ + apt -y clean && \ + rm -rf /var/lib/apt/lists/* + +WORKDIR /workspace +COPY ./ros_entrypoint.sh /ros_entrypoint.sh +RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc diff --git a/yolox_ros_cpp/docker/onnxruntime-mIgraphx/ros_entrypoint.sh b/yolox_ros_cpp/docker/onnxruntime-mIgraphx/ros_entrypoint.sh new file mode 100755 index 0000000..aa7d4f2 --- /dev/null +++ b/yolox_ros_cpp/docker/onnxruntime-mIgraphx/ros_entrypoint.sh @@ -0,0 +1,2 @@ +#!/bin/bash +source /opt/ros/jazzy/setup.bash diff --git a/yolox_ros_cpp/docker/onnxruntime/dockerfile b/yolox_ros_cpp/docker/onnxruntime/dockerfile index 643e2fe..e8574ec 100644 --- a/yolox_ros_cpp/docker/onnxruntime/dockerfile +++ b/yolox_ros_cpp/docker/onnxruntime/dockerfile @@ -18,7 +18,7 @@ RUN git clone --depth 1 --recursive https://github.com/microsoft/onnxruntime -b cd onnxruntime && \ ./build.sh --cudnn_home /usr/lib/x86_64-linux-gnu/ \ --cuda_home /usr/local/cuda \ - --use_cuda \ + --use_gpu \ --config RelWithDebInfo \ --build_shared_lib \ --allow_running_as_root \ diff --git a/yolox_ros_cpp/yolox_cpp/CMakeLists.txt b/yolox_ros_cpp/yolox_cpp/CMakeLists.txt index db849f4..93d1ead 100644 --- a/yolox_ros_cpp/yolox_cpp/CMakeLists.txt +++ b/yolox_ros_cpp/yolox_cpp/CMakeLists.txt @@ -17,6 +17,8 @@ ament_auto_find_build_dependencies() option(YOLOX_USE_OPENVINO "Use OpenVINO" OFF) option(YOLOX_USE_TENSORRT "Use TensorRT" OFF) option(YOLOX_USE_ONNXRUNTIME "Use ONNXRuntime" OFF) +option(ONNXRUNTIME_CUDA "Use ONNXRuntime CUDA Execution Provider" OFF) +option(ONNXRUNTIME_MIGRAPHX "Use ONNXRuntime MIGraphX Execution Provider" OFF) option(YOLOX_USE_TFLITE "Use tflite" OFF) option(JETSON "Use Jetson" OFF) @@ -33,6 +35,8 @@ endif() set(ENABLE_OPENVINO OFF) set(ENABLE_TENSORRT OFF) set(ENABLE_ONNXRUNTIME OFF) +set(ENABLE_ONNXRUNTIME_CUDA OFF) +set(ENABLE_ONNXRUNTIME_MIGRAPHX OFF) set(ENABLE_TFLITE OFF) if(YOLOX_USE_OPENVINO) @@ -74,7 +78,18 @@ endif() # onnxruntime if(YOLOX_USE_ONNXRUNTIME) find_library(ONNXRUNTIME NAMES onnxruntime) + if(ONNXRUNTIME_CUDA AND ONNXRUNTIME_MIGRAPHX) + message(FATAL_ERROR "ONNXRUNTIME_CUDA and ONNXRUNTIME_MIGRAPHX cannot both be ON") + endif() set(ENABLE_ONNXRUNTIME ON) + if(ONNXRUNTIME_CUDA) + set(ENABLE_ONNXRUNTIME_CUDA ON) + set(TARGET_DEFINITIONS ${TARGET_DEFINITIONS} ONNXRUNTIME_CUDA) + endif() + if(ONNXRUNTIME_MIGRAPHX) + set(ENABLE_ONNXRUNTIME_MIGRAPHX ON) + set(TARGET_DEFINITIONS ${TARGET_DEFINITIONS} ONNXRUNTIME_MIGRAPHX) + endif() set(TARGET_SRC ${TARGET_SRC} src/yolox_onnxruntime.cpp) set(TARGET_LIBS ${TARGET_LIBS} onnxruntime) endif() @@ -88,6 +103,7 @@ ament_auto_add_library(yolox_cpp SHARED ${TARGET_SRC}) ament_target_dependencies(yolox_cpp ${TARGET_DPENDENCIES}) ament_export_dependencies(${TARGET_DPENDENCIES}) target_link_libraries(yolox_cpp ${TARGET_LIBS}) +target_compile_definitions(yolox_cpp PUBLIC ${TARGET_DEFINITIONS}) if (YOLOX_USE_TFLITE) target_include_directories(yolox_cpp PUBLIC ${TFLITE_INCLUDES}) diff --git a/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/config.h.in b/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/config.h.in index 72f4411..2253e68 100644 --- a/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/config.h.in +++ b/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/config.h.in @@ -4,6 +4,8 @@ #cmakedefine ENABLE_OPENVINO #cmakedefine ENABLE_TENSORRT #cmakedefine ENABLE_ONNXRUNTIME +#cmakedefine ENABLE_ONNXRUNTIME_CUDA +#cmakedefine ENABLE_ONNXRUNTIME_MIGRAPHX #cmakedefine ENABLE_TFLITE #endif // _YOLOX_CPP_CONFIG_H_ diff --git a/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_onnxruntime.hpp b/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_onnxruntime.hpp index 413356a..7fee97b 100644 --- a/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_onnxruntime.hpp +++ b/yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_onnxruntime.hpp @@ -1,12 +1,16 @@ #ifndef _YOLOX_CPP_YOLOX_ONNX_HPP #define _YOLOX_CPP_YOLOX_ONNX_HPP +#include +#include +#include +#include #include #include +#include +#include #include #include -#include -#include #include @@ -18,7 +22,7 @@ namespace yolox_cpp{ public: YoloXONNXRuntime(const file_name_t &path_to_model, int intra_op_num_threads, int inter_op_num_threads=1, - bool use_cuda=true, int device_id=0, bool use_parallel=false, + bool use_gpu=true, int device_id=0, bool use_parallel=false, float nms_th=0.45, float conf_th=0.3, const std::string &model_version="0.1.1rc0", int num_classes=80, bool p6=false); std::vector inference(const cv::Mat& frame) override; @@ -26,7 +30,7 @@ namespace yolox_cpp{ private: int intra_op_num_threads_ = 1; int inter_op_num_threads_ = 1; - bool use_cuda_ = true; + bool use_gpu_ = true; int device_id_ = 0; bool use_parallel_ = false; diff --git a/yolox_ros_cpp/yolox_cpp/src/yolox_onnxruntime.cpp b/yolox_ros_cpp/yolox_cpp/src/yolox_onnxruntime.cpp index d3f97a0..d60c57e 100644 --- a/yolox_ros_cpp/yolox_cpp/src/yolox_onnxruntime.cpp +++ b/yolox_ros_cpp/yolox_cpp/src/yolox_onnxruntime.cpp @@ -4,12 +4,12 @@ namespace yolox_cpp{ YoloXONNXRuntime::YoloXONNXRuntime(const file_name_t &path_to_model, int intra_op_num_threads, int inter_op_num_threads, - bool use_cuda, int device_id, bool use_parallel, + bool use_gpu, int device_id, bool use_parallel, float nms_th, float conf_th, const std::string &model_version, int num_classes, bool p6) :AbcYoloX(nms_th, conf_th, model_version, num_classes, p6), intra_op_num_threads_(intra_op_num_threads), inter_op_num_threads_(inter_op_num_threads), - use_cuda_(use_cuda), device_id_(device_id), use_parallel_(use_parallel) + use_gpu_(use_gpu), device_id_(device_id), use_parallel_(use_parallel) { try { @@ -27,11 +27,44 @@ namespace yolox_cpp{ } session_options.SetIntraOpNumThreads(this->intra_op_num_threads_); - if(this->use_cuda_) + if(this->use_gpu_) { - OrtCUDAProviderOptions cuda_option; +#if defined(ONNXRUNTIME_CUDA) + const auto providers = Ort::GetAvailableProviders(); + if (std::find(providers.begin(), providers.end(), "CUDAExecutionProvider") == providers.end()) + { + throw std::runtime_error("CUDAExecutionProvider is not enabled in this ONNXRuntime build."); + } + OrtCUDAProviderOptions cuda_option{}; cuda_option.device_id = this->device_id_; session_options.AppendExecutionProvider_CUDA(cuda_option); +#elif defined(ONNXRUNTIME_MIGRAPHX) + const char* cache_path_env = std::getenv("ORT_MIGRAPHX_MODEL_CACHE_PATH"); + if (cache_path_env == nullptr || cache_path_env[0] == '\0') + { + std::filesystem::path cache_dir = std::filesystem::temp_directory_path() / "onnxruntime-migraphx-cache"; + std::error_code ec; + std::filesystem::create_directories(cache_dir, ec); + const std::string cache_dir_str = cache_dir.string(); + setenv("ORT_MIGRAPHX_MODEL_CACHE_PATH", cache_dir_str.c_str(), 0); + setenv("ORT_MIGRAPHX_CACHE_PATH", cache_dir_str.c_str(), 0); + } + + const auto providers = Ort::GetAvailableProviders(); + if (std::find(providers.begin(), providers.end(), "MIGraphXExecutionProvider") == providers.end()) + { + throw std::runtime_error("MIGraphXExecutionProvider is not enabled in this ONNXRuntime build."); + } + OrtMIGraphXProviderOptions migraphx_option{}; + migraphx_option.device_id = this->device_id_; + migraphx_option.migraphx_save_compiled_model = 0; + migraphx_option.migraphx_load_compiled_model = 0; + migraphx_option.migraphx_save_model_path = nullptr; + migraphx_option.migraphx_load_model_path = nullptr; + session_options.AppendExecutionProvider_MIGraphX(migraphx_option); +#else + std::cerr << "use_gpu is true but no ONNXRuntime GPU provider was enabled at build time." << std::endl; +#endif } this->session_ = Ort::Session(this->env_, @@ -41,7 +74,7 @@ namespace yolox_cpp{ catch (std::exception &e) { std::cerr << e.what() << std::endl; - throw e; + throw; } Ort::AllocatorWithDefaultOptions ort_alloc; diff --git a/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml b/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml index bb71c40..c445afb 100644 --- a/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml +++ b/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml @@ -14,7 +14,7 @@ yolox_parameters: num_classes: type: int description: "Number of classes." - default_value: 1 + default_value: 80 is_nchw: type: bool description: "Enable or disable NCHW." @@ -42,7 +42,7 @@ yolox_parameters: validation: { one_of<>: [["AUTO", "CPU", "GPU", "NPU", "MYRIAD"]] } - onnxruntime_use_cuda: + onnxruntime_use_gpu: type: bool description: "Enable or disable CUDA." default_value: true diff --git a/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py b/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py index 61d0802..225336b 100644 --- a/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py +++ b/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_onnxruntime.launch.py @@ -52,7 +52,7 @@ def generate_launch_description(): description='yolox model version.' ), DeclareLaunchArgument( - 'onnxruntime_use_cuda', + 'onnxruntime_use_gpu', default_value='true', description='onnxruntime use cuda.' ), @@ -141,7 +141,7 @@ def generate_launch_description(): 'num_classes': LaunchConfiguration('num_classes'), 'model_type': 'onnxruntime', 'model_version': LaunchConfiguration('model_version'), - 'onnxruntime_use_cuda': LaunchConfiguration('onnxruntime_use_cuda'), + 'onnxruntime_use_gpu': LaunchConfiguration('onnxruntime_use_gpu'), 'onnxruntime_device_id': LaunchConfiguration('onnxruntime_device_id'), 'onnxruntime_use_parallel': LaunchConfiguration('onnxruntime_use_parallel'), 'onnxruntime_inter_op_num_threads': LaunchConfiguration('onnxruntime_inter_op_num_threads'), diff --git a/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp b/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp index a5f5bcf..857a780 100644 --- a/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp +++ b/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp @@ -67,7 +67,7 @@ namespace yolox_ros_cpp this->params_.model_path, this->params_.onnxruntime_intra_op_num_threads, this->params_.onnxruntime_inter_op_num_threads, - this->params_.onnxruntime_use_cuda, this->params_.onnxruntime_device_id, + this->params_.onnxruntime_use_gpu, this->params_.onnxruntime_device_id, this->params_.onnxruntime_use_parallel, this->params_.nms, this->params_.conf, this->params_.model_version, this->params_.num_classes, this->params_.p6);