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feat(tensorrt_yolox): add yolox launch #2598

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merged 6 commits into from
Jan 8, 2023
Merged

feat(tensorrt_yolox): add yolox launch #2598

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2ec5ef3
feat(tensorrt_yolox): add yolox launch
miursh Dec 28, 2022
1fe9cef
add use_decompress option
miursh Dec 28, 2022
fb80cfe
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 28, 2022
a4c589e
Apply suggestions from code review
miursh Jan 6, 2023
aff9a67
Merge branch 'main' into feature/add_yolox_launch
miursh Jan 6, 2023
e8ad864
Merge branch 'main' into feature/add_yolox_launch
miursh Jan 8, 2023
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1 change: 1 addition & 0 deletions perception/tensorrt_yolox/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -125,5 +125,6 @@ if(BUILD_TESTING)
endif()

ament_auto_package(INSTALL_TO_SHARE
launch
data
)
26 changes: 26 additions & 0 deletions perception/tensorrt_yolox/launch/yolox.launch.xml
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@@ -0,0 +1,26 @@
<?xml version="1.0"?>
<launch>
<arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
<arg name="model_name" default="yolox-tiny"/>
<arg name="model_path" default="$(find-pkg-share tensorrt_yolox)/data"/>
<arg name="score_threshold" default="0.35"/>
<arg name="nms_threshold" default="0.7"/>
<arg name="use_decompress" default="true" description="use image decompress"/>

<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
<remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
<remap from="~/output/raw_image" to="$(var input/image)"/>
</node>

<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<param name="score_threshold" value="$(var score_threshold)"/>
<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
<param name="label_path" value="$(var model_path)/label.txt"/>
<param name="trt_precision" value="fp16"/>
<param name="score_threshold" value="$(var score_threshold)"/>
<param name="nms_threshold" value="$(var nms_threshold)"/>
</node>
</launch>