Merge pull request #52 from Ar-Ray-code/feat/update_params_and_interface

Feat/update params and interface
Ar-Ray-code · Aug 12, 2024 · 9576428 · 9576428
2 parents 9184a21 + 6a43456
commit 9576428
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diff --git a/yolox_ros_cpp/README.md b/yolox_ros_cpp/README.md
@@ -195,8 +195,7 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py
   - See [here](https://github.com/fateshelled/YOLOX-ROS/blob/dev_cpp/yolox_ros_cpp/yolox_ros_cpp/labels/coco_names.txt) for label format.
 - `num_classes`: 80
 - `model_version`: 0.1.1rc0
-- `openvino/device`: CPU
-- `conf`: 0.3
+- `openvino/device`: AUTO
 - `nms`: 0.45
 - `imshow_isshow`: true
 - `src_image_topic_name`: /image_raw

diff --git a/yolox_ros_cpp/yolox_cpp/package.xml b/yolox_ros_cpp/yolox_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_cpp</name>
-  <version>0.3.3</version>
+  <version>0.4.0</version>
   <description>The yolox_cpp package</description>
   <maintainer email="53618876+fateshelled@users.noreply.github.com">fateshelled</maintainer>
   <license>Apache-2.0 License</license>

diff --git a/yolox_ros_cpp/yolox_cpp/src/yolox_openvino.cpp b/yolox_ros_cpp/yolox_cpp/src/yolox_openvino.cpp
@@ -17,6 +17,12 @@ namespace yolox_cpp{
         const auto network = ie.read_model(path_to_model);
 
         //  Step 3. Loading a model to the device
+        std::vector<std::string> available_devices = ie.get_available_devices();
+        std::cout << "======= AVAILABLE DEVICES FOR OPENVINO =======" << std::endl;
+        for (auto device : available_devices) {
+            std::cout << "- " << device << std::endl;
+        }
+        std::cout << "==============================================" << std::endl;
         std::cout << "Loading a model to the device: " << device_name_ << std::endl;
         auto compiled_model = ie.compile_model(network, device_name);
 

diff --git a/yolox_ros_cpp/yolox_param/package.xml b/yolox_ros_cpp/yolox_param/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_param</name>
-  <version>0.3.2</version>
+  <version>0.4.0</version>
   <description>YOLOX-ROS Parameter Package</description>
   <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
   <license>Apache-2.0</license>

diff --git a/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml b/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml
@@ -6,7 +6,7 @@ yolox_parameters:
   model_path:
     type: string
     description: "Path to the model file."
-    default_value: "./src/YOLOX-ROS/weights/tflite/model.tflite"
+    default_value: "example.onnx"
   class_labels_path:
     type: string
     description: "Path to the class labels file."
@@ -38,9 +38,9 @@ yolox_parameters:
   openvino_device:
     type: string
     description: "OpenVINO device."
-    default_value: "CPU"
+    default_value: "AUTO"
     validation: {
-      one_of<>: [["CPU", "GPU", "MYRIAD"]]
+      one_of<>: [["AUTO", "CPU", "GPU", "NPU", "MYRIAD"]]
     }
   onnxruntime_use_cuda:
     type: bool
@@ -86,3 +86,11 @@ yolox_parameters:
     type: string
     description: "Publish bounding box topic name."
     default_value: "yolox/bounding_boxes"
+  use_bbox_ex_msgs:
+    type: bool
+    description: "Enable or disable bbox_ex_msgs. If true, disable vision_msgs::Detection2DArray."
+    default_value: false
+  publish_resized_image:
+    type: bool
+    description: "Enable or disable resized image."
+    default_value: false
diff --git a/yolox_ros_cpp/yolox_ros_cpp/include/yolox_ros_cpp/yolox_ros_cpp.hpp b/yolox_ros_cpp/yolox_ros_cpp/include/yolox_ros_cpp/yolox_ros_cpp.hpp
@@ -3,11 +3,13 @@
 #include <cmath>
 #include <chrono>
 
-#include <image_transport/image_transport.hpp>
 #include <cv_bridge/cv_bridge.hpp>
+#include <image_transport/image_transport.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
-
+#include <sensor_msgs/msg/image.hpp>
+#include <std_msgs/msg/header.hpp>
+#include <vision_msgs/msg/detection2_d_array.hpp>
 
 #include "bboxes_ex_msgs/msg/bounding_box.hpp"
 #include "bboxes_ex_msgs/msg/bounding_boxes.hpp"
@@ -17,28 +19,29 @@
 #include "yolox_param/yolox_param.hpp"
 
 namespace yolox_ros_cpp{
-
     class YoloXNode : public rclcpp::Node
     {
     public:
-        YoloXNode(const rclcpp::NodeOptions&);
+        YoloXNode(const rclcpp::NodeOptions &);
+    private:
+        void onInit();
+        void colorImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &);
+
+        static bboxes_ex_msgs::msg::BoundingBoxes objects_to_bboxes(const cv::Mat &, const std::vector<yolox_cpp::Object> &, const std_msgs::msg::Header &);
+        static vision_msgs::msg::Detection2DArray objects_to_detection2d(const std::vector<yolox_cpp::Object> &, const std_msgs::msg::Header &);
 
     protected:
         std::shared_ptr<yolox_parameters::ParamListener> param_listener_;
         yolox_parameters::Params params_;
     private:
-        void onInit();
-        rclcpp::TimerBase::SharedPtr init_timer_;
-
         std::unique_ptr<yolox_cpp::AbcYoloX> yolox_;
         std::vector<std::string> class_names_;
 
+        rclcpp::TimerBase::SharedPtr init_timer_;
         image_transport::Subscriber sub_image_;
-        void colorImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr&);
 
         rclcpp::Publisher<bboxes_ex_msgs::msg::BoundingBoxes>::SharedPtr pub_bboxes_;
+        rclcpp::Publisher<vision_msgs::msg::Detection2DArray>::SharedPtr pub_detection2d_;
         image_transport::Publisher pub_image_;
-
-        bboxes_ex_msgs::msg::BoundingBoxes objects_to_bboxes(const cv::Mat&, const std::vector<yolox_cpp::Object>&, const std_msgs::msg::Header&);
     };
 }
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
@@ -105,6 +105,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -113,12 +123,12 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
+                    'brightness': 100
                 }]),
             ComposableNode(
                 package='yolox_ros_cpp',
@@ -142,6 +152,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
                 ),
         ],

diff --git a/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_openvino.launch.py b/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_openvino.launch.py
@@ -71,6 +71,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -79,12 +89,12 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
+                    'brightness': 100
                 }]),
             ComposableNode(
                 package='yolox_ros_cpp',
@@ -104,6 +114,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
                 ),
         ],

diff --git a/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tensorrt.launch.py b/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tensorrt.launch.py
@@ -72,6 +72,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -80,14 +90,13 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
-                }]
-            ),
+                    'brightness': 100
+                }]),
             ComposableNode(
                 package='yolox_ros_cpp',
                 plugin='yolox_ros_cpp::YoloXNode',
@@ -106,6 +115,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
             ),
         ],

diff --git a/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tflite.launch.py b/yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tflite.launch.py
@@ -77,6 +77,16 @@ def generate_launch_description():
             default_value='/yolox/bounding_boxes',
             description='topic name for publishing bounding box message.'
         ),
+        DeclareLaunchArgument(
+            'use_bbox_ex_msgs',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
+        DeclareLaunchArgument(
+            'publish_resized_image',
+            default_value='false',
+            description='use BoundingBoxArray message type.'
+        ),
     ]
     container = ComposableNodeContainer(
         name='yolox_container',
@@ -85,12 +95,12 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='v4l2_camera',
-                plugin='v4l2_camera::V4L2Camera',
-                name='v4l2_camera',
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam_node',
                 parameters=[{
                     'video_device': LaunchConfiguration('video_device'),
-                    'image_size': [640, 480]
+                    'brightness': 100
                 }]),
             ComposableNode(
                 package='yolox_ros_cpp',
@@ -111,6 +121,8 @@ def generate_launch_description():
                     'src_image_topic_name': LaunchConfiguration('src_image_topic_name'),
                     'publish_image_topic_name': LaunchConfiguration('publish_image_topic_name'),
                     'publish_boundingbox_topic_name': LaunchConfiguration('publish_boundingbox_topic_name'),
+                    'publish_resized_image': LaunchConfiguration('publish_resized_image'),
+                    'use_bbox_ex_msgs': LaunchConfiguration('use_bbox_ex_msgs'),
                 }],
             ),
         ],

diff --git a/yolox_ros_cpp/yolox_ros_cpp/package.xml b/yolox_ros_cpp/yolox_ros_cpp/package.xml
@@ -2,25 +2,28 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_ros_cpp</name>
-  <version>0.3.2</version>
+  <version>0.4.0</version>
   <description>The yolox_ros_cpp package</description>
   <maintainer email="53618876+fateshelled@users.noreply.github.com">fateshelled</maintainer>
   <license>Apache-2.0 License</license>
   <author email="53618876+fateshelled@users.noreply.github.com">fateshelled</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>OpenCV</depend>
+  <depend>bboxes_ex_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
-  <depend>std_msgs</depend>
+  <depend>libopencv-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>bboxes_ex_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>vision_msgs</depend>
   <depend>yolox_cpp</depend>
   <depend>yolox_param</depend>
 
+  <exec_depend>usb_cam</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>