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fix(autoware_tensorrt_yolox): modify tensorrt_yolox_node name #9156

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fix(autoware_tensorrt_yolox): modify tensorrt_yolox_node name #9156

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9e8b43b
fix(autoware_tensorrt_yolox): modify tensorrt_yolox_node name
cyn-liu Oct 25, 2024
af5f855
Merge branch 'main' into fix/issue9146-tensorrt_yolox_node
cyn-liu Nov 22, 2024
3c37dd8
add two parameters to set the node names for tensorrt_yolox and image…
cyn-liu Nov 22, 2024
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16 changes: 16 additions & 0 deletions perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,34 +11,50 @@
<arg name="output_topic" default="rois"/>

<include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox0"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node0"/>
<arg name="input/image" value="$(var image_raw0)"/>
<arg name="output/objects" value="rois0"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox1"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node1"/>
<arg name="input/image" value="$(var image_raw1)"/>
<arg name="output/objects" value="rois1"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox2"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node2"/>
<arg name="input/image" value="$(var image_raw2)"/>
<arg name="output/objects" value="rois2"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox3"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node3"/>
<arg name="input/image" value="$(var image_raw3)"/>
<arg name="output/objects" value="rois3"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox4"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node4"/>
<arg name="input/image" value="$(var image_raw4)"/>
<arg name="output/objects" value="rois4"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox5"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node5"/>
<arg name="input/image" value="$(var image_raw5)"/>
<arg name="output/objects" value="rois5"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox6"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node6"/>
<arg name="input/image" value="$(var image_raw6)"/>
<arg name="output/objects" value="rois6"/>
</include>
<include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="yolox_node_name" value="tensorrt_yolox7"/>
<arg name="image_transport_decompressor_node_name" value="image_transport_decompressor_node7"/>
<arg name="input/image" value="$(var image_raw7)"/>
<arg name="output/objects" value="rois7"/>
</include>
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6 changes: 4 additions & 2 deletions perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- cspell: ignore semseg, finetune -->
<arg name="yolox_node_name" default="tensorrt_yolox"/>
<arg name="image_transport_decompressor_node_name" default="image_transport_decompressor_node"/>
<arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
<arg name="output/mask" default="/perception/object_recognition/detection/mask0"/>
Expand All @@ -15,13 +17,13 @@
<arg name="build_only" default="false" description="exit after trt engine is built"/>

<arg name="param_file" default="$(find-pkg-share autoware_image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
<node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
<node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="$(var image_transport_decompressor_node_name)" if="$(var use_decompress)">
<remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
<remap from="~/output/raw_image" to="$(var input/image)"/>
<param from="$(var param_file)"/>
</node>

<node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
<node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="$(var yolox_node_name)" output="screen">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<remap from="~/out/mask" to="$(var output/mask)"/>
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