support tflite C++

yolox_ros_cpp/README.md

@@ -8,11 +8,16 @@
 - OpenVINO 2021.*
 - TensorRT 8.x *
 - ONNXRuntime *
+- Tensorflow Lite *
 
-※ Either one of OpenVINO or TensorRT or ONNXRuntime is required.
+※ Either one of OpenVINO or TensorRT or ONNXRuntime or Tensorflow Lite is required.
 
 ※ ONNXRuntime support CPU or CUDA execute provider.
 
+※ Tensorflow Lite support XNNPACK Delegate only.
+
+※ Tensorflow Lite support float model and does not support integer model.
+
 ※ Model convert script is not supported OpenVINO 2022.*
 
 ※ YOLOX is not required.
@@ -144,6 +149,15 @@ source /opt/ros/foxy/setup.bash
 ./src/YOLOX-ROS/weights/onnx/download.bash yolox_nano
 ```
 
+#### Tensorflow Lite
+```bash
+cd ~/ros2_ws
+
+# Download tflite Person Detection model
+# https://github.com/Kazuhito00/Person-Detection-using-RaspberryPi-CPU/
+./src/YOLOX-ROS/weights/tflite/download_model.bash
+```
+
 #### PINTO_model_zoo
 - Support PINTO_model_zoo model
 - Download model using the following script.
@@ -152,9 +166,12 @@ source /opt/ros/foxy/setup.bash
 
 - ONNX model copy to weight dir
   - `cp resouces_new/saved_model_yolox_nano_480x640/yolox_nano_480x640.onnx ./src/YOLOX-ROS/weights/onnx/`
+
 - Convert to TensorRT engine
   - `./src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_nano_480x640`
 
+- tflite model copy to weight dir
+  - `cp resouces_new/saved_model_yolox_nano_480x640/model_float32.tflite ./src/YOLOX-ROS/weights/tflite/`
 
 ### build packages
 ```bash
@@ -167,6 +184,46 @@ colcon build --symlink-install
 source ./install/setup.bash
 ```
 
+
+#### build yolox_ros_cpp with tflite
+
+##### build tflite
+https://www.tensorflow.org/lite/guide/build_cmake
+
+Below is an example build script.
+Please change `${workspace}` as appropriate for your environment.
+```bash
+cd ${workspace}
+git clone https://github.com/tensorflow/tensorflow.git tensorflow_src
+mkdir tflite_build
+cd tflite_build
+
+cmake ../tensorflow_src/tensorflow/lite \
+  -DBUILD_SHARED_LIBS=ON \
+  -DTFLITE_ENABLE_INSTALL=OFF \
+  -DTFLITE_ENABLE_XNNPACK=ON \
+  -DTFLITE_ENABLE_RUY=OFF \
+  -DCMAKE_BUILD_TYPE=Release
+
+make -j"$(nproc)"
+```
+
+##### build ros package with tflite
+
+This is build script when tflite built as above.
+
+```bash
+# build with tflite
+colcon build --symlink-install \
+  --packages-up-to yolox_ros_cpp \
+  --cmake-args \
+    -DYOLOX_USE_TFLITE=ON \
+    -DTFLITE_LIB_PATH=${workspace}/tflite_build/libtensorflow-lite.so \
+    -DTFLITE_INCLUDE_DIR=${workspace}/tensorflow_src \
+    -DABSEIL_CPP_ICLUDE_DIR=${workspace}/tflite_build/abseil-cpp \
+    -DFLATBUFFERS_INCLUDE_DIR=${workspace}/tflite_build/flatbuffers/include
+```
+
 ### Run
 
 #### OpenVINO
@@ -217,9 +274,26 @@ ros2 launch yolox_ros_cpp yolox_tensorrt_jetson.launch.py
 ros2 launch yolox_ros_cpp yolox_onnxruntime.launch.py
 ```
 
+#### Tensorflow Lite
+```bash
+# add libtensorflow-lite.so directory path to `LD_LIBRARY_PATH`
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${workspace}/tflite_build
+
+# run Person Detection Model
+ros2 launch yolox_ros_cpp yolox_tflite.launch.py
+
+# run PINTO_model_zoo model
+ros2 launch yolox_ros_cpp yolox_tflite.launch.py \
+    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model_float32.tflite \
+    model_version:=0.1.0 \
+    num_classes:=80 \
+    is_nchw:=false
+```
+
 ### Parameter
 #### OpenVINO example
 - `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/openvino/yolox_nano.xml
+- `p6`: false
 - `class_labels_path`: ""
   - if not set, use coco_names.
   - See [here](https://github.com/fateshelled/YOLOX-ROS/blob/dev_cpp/yolox_ros_cpp/yolox_ros_cpp/labels/coco_names.txt) for label format.
@@ -229,27 +303,29 @@ ros2 launch yolox_ros_cpp yolox_onnxruntime.launch.py
 - `conf`: 0.3
 - `nms`: 0.45
 - `imshow_isshow`: true
-- `src_image_topic_name`: image_raw
-- `publish_image_topic_name`: yolox/image_raw
-- `publish_boundingbox_topic_name`: yolox/bounding_boxes
+- `src_image_topic_name`: /image_raw
+- `publish_image_topic_name`: /yolox/image_raw
+- `publish_boundingbox_topic_name`: /yolox/bounding_boxes
 
 
 #### TensorRT example.
 - `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_nano.trt
+- `p6`: false
 - `class_labels_path`: ""
 - `num_classes`: 80
 - `model_version`: 0.1.1rc0
 - `tensorrt/device`: 0
 - `conf`: 0.3
 - `nms`: 0.45
 - `imshow_isshow`: true
-- `src_image_topic_name`: image_raw
-- `publish_image_topic_name`: yolox/image_raw
-- `publish_boundingbox_topic_name`: yolox/bounding_boxes
+- `src_image_topic_name`: /image_raw
+- `publish_image_topic_name`: /yolox/image_raw
+- `publish_boundingbox_topic_name`: /yolox/bounding_boxes
 
 
 #### ONNXRuntime example.
 - `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_nano.onnx
+- `p6`: false
 - `class_labels_path`: ""
 - `num_classes`: 80
 - `model_version`: 0.1.1rc0
@@ -263,9 +339,24 @@ ros2 launch yolox_ros_cpp yolox_onnxruntime.launch.py
 - `conf`: 0.3
 - `nms`: 0.45
 - `imshow_isshow`: true
-- `src_image_topic_name`: image_raw
-- `publish_image_topic_name`: yolox/image_raw
-- `publish_boundingbox_topic_name`: yolox/bounding_boxes
+- `src_image_topic_name`: /image_raw
+- `publish_image_topic_name`: /yolox/image_raw
+- `publish_boundingbox_topic_name`: /yolox/bounding_boxes
+
+#### Tensorflow Lite example.
+- `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model.tflite
+- `p6`: false
+- `is_nchw`: true
+- `class_labels_path`: ""
+- `num_classes`: 1
+- `model_version`: 0.1.1rc0
+- `tflite/num_threads`: 1
+- `conf`: 0.3
+- `nms`: 0.45
+- `imshow_isshow`: true
+- `src_image_topic_name`: /image_raw
+- `publish_image_topic_name`: /yolox/image_raw
+- `publish_boundingbox_topic_name`: /yolox/bounding_boxes
 
 
 ### Reference

yolox_ros_cpp/yolox_cpp/CMakeLists.txt

@@ -21,10 +21,16 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 option(YOLOX_USE_OPENVINO    "Use OpenVINO"  ON)
 option(YOLOX_USE_TENSORRT    "Use TensorRT"  ON)
 option(YOLOX_USE_ONNXRUNTIME "Use ONNXRuntime"  ON)
+option(YOLOX_USE_TFLITE      "Use tflite"  OFF)
+set(TFLITE_LIB_PATH "" CACHE PATH "Path to libtensorflow-lite.so")
+set(TFLITE_INCLUDE_DIR "" CACHE PATH "Header directory of tflite")
+set(ABSEIL_CPP_ICLUDE_DIR "" CACHE PATH "Header directory of abseil-cpp")
+set(FLATBUFFERS_INCLUDE_DIR "" CACHE PATH "Header directory of flatbuffers")
 
 set(ENABLE_OPENVINO OFF)
 set(ENABLE_TENSORRT OFF)
 set(ENABLE_ONNXRUNTIME OFF)
+set(ENABLE_TFLITE OFF)
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
@@ -46,43 +52,60 @@ if(YOLOX_USE_TENSORRT)
   find_library(NVONNXPARSER NAMES nvonnxparser)
   find_library(NVONNXPARSERRUNTIME NAMES nvonnxparser_runtime)
   if(NOT CUDA_FOUND)
-    message(WARNING " CUDA ${CUDA_FOUND}")
+    message(WARNING " CUDA not found")
   endif()
   if(NOT NVINFER)
-    message(WARNING " NVINFER ${NVINFER}")
+    message(WARNING " NVINFER not found")
   endif()
   if(NOT NVINFERPLUGIN)
-    message(WARNING " NVINFERPLUGIN ${NVINFERPLUGIN}")
+    message(WARNING " NVINFERPLUGIN not found")
   endif()
   if(NOT NVPARSERS)
-    message(WARNING " NVPARSERS ${NVPARSERS}")
+    message(WARNING " NVPARSERS not found")
   endif()
   if(NOT NVONNXPARSER)
-    message(WARNING " NVONNXPARSER ${NVONNXPARSER}")
+    message(WARNING " NVONNXPARSER not found")
   endif()
   # message(WARNING " NVONNXPARSERRUNTIME ${NVONNXPARSERRUNTIME}") #not use
   if( CUDA_FOUND AND NVINFER AND NVINFERPLUGIN AND NVPARSERS AND NVONNXPARSER )
+    message(STATUS " CUDA ${CUDA_FOUND}")
+    message(STATUS " NVINFER ${NVINFER}")
+    message(STATUS " NVINFERPLUGIN ${NVINFERPLUGIN}")
+    message(STATUS " NVPARSERS ${NVPARSERS}")
+    message(STATUS " NVONNXPARSER ${NVONNXPARSER}")
     set(ENABLE_TENSORRT ON)
     set(SRC ${SRC} src/yolox_tensorrt.cpp)
   endif()
 endif()
 if(YOLOX_USE_ONNXRUNTIME)
   find_library(ONNXRUNTIME NAMES onnxruntime)
   if(NOT ONNXRUNTIME)
-    message(WARNING " ONNXRUNTIME ${ONNXRUNTIME}")
-  endif()
-  if(ONNXRUNTIME)
+    message(WARNING " ONNXRUNTIME not found")
+  else()
+    message(STATUS " ONNXRUNTIME ${ONNXRUNTIME}")
     set(ENABLE_ONNXRUNTIME ON)
     set(SRC ${SRC} src/yolox_onnxruntime.cpp)
   endif()
 endif()
+if(YOLOX_USE_TFLITE)
+  if(NOT ${TFLITE_LIB_PATH})
+    set(ENABLE_TFLITE ON)
+    set(SRC ${SRC} src/yolox_tflite.cpp)
+    set(INCLUDES ${INCLUDES} ${TFLITE_INCLUDE_DIR})
+    set(INCLUDES ${INCLUDES} ${ABSEIL_CPP_ICLUDE_DIR})
+    set(INCLUDES ${INCLUDES} ${FLATBUFFERS_INCLUDE_DIR})
+  else()
+    message(WARNING "TFLITE_LIB_PATH is not set")
+  endif()
+endif()
 
 message(STATUS " ENABLE_OPENVINO: ${ENABLE_OPENVINO}")
 message(STATUS " ENABLE_TENSORRT: ${ENABLE_TENSORRT}")
 message(STATUS " ENABLE_ONNXRUNTIME: ${ENABLE_ONNXRUNTIME}")
+message(STATUS " ENABLE_TFLITE: ${ENABLE_TFLITE}")
 
-if(NOT ENABLE_OPENVINO AND NOT ENABLE_TENSORRT AND NOT ENABLE_ONNXRUNTIME)
-  message(WARNING "skip building yolox_cpp, no OpenVINO, TensorRT and ONNXRuntime found")
+if(NOT ENABLE_OPENVINO AND NOT ENABLE_TENSORRT AND NOT ENABLE_ONNXRUNTIME AND NOT ENABLE_TFLITE)
+  message(WARNING "skip building yolox_cpp, no OpenVINO, TensorRT, ONNXRuntime and tflite found")
   return()
 endif()
 
@@ -91,6 +114,8 @@ configure_file(
   "${PROJECT_SOURCE_DIR}/include/yolox_cpp/config.h"
 )
 
+set(INCLUDES ${INCLUDES} $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+set(INCLUDES ${INCLUDES} $<INSTALL_INTERFACE:include>)
 
 add_library(yolox_cpp SHARED
   ${SRC}
@@ -102,8 +127,7 @@ target_compile_definitions(yolox_cpp
 target_compile_options(yolox_cpp PUBLIC -Wall)
 
 target_include_directories(yolox_cpp PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
+  ${INCLUDES}
 )
 
 ament_target_dependencies(yolox_cpp
@@ -132,6 +156,11 @@ if(ENABLE_ONNXRUNTIME)
     onnxruntime
   )
 endif()
+if(ENABLE_TFLITE)
+  target_link_libraries(yolox_cpp
+    ${TFLITE_LIB_PATH}
+  )
+endif()
 
 
 

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/config.h.in

@@ -4,5 +4,6 @@
 #cmakedefine ENABLE_OPENVINO
 #cmakedefine ENABLE_TENSORRT
 #cmakedefine ENABLE_ONNXRUNTIME
+#cmakedefine ENABLE_TFLITE
 
 #endif // _YOLOX_CPP_CONFIG_H_

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/core.hpp

@@ -30,9 +30,9 @@ namespace yolox_cpp{
             AbcYoloX(){}
             AbcYoloX(float nms_th=0.45, float conf_th=0.3,
                      std::string model_version="0.1.1rc0",
-                     int num_classes=80)
+                     int num_classes=80, bool p6=false)
             :nms_thresh_(nms_th), bbox_conf_thresh_(conf_th),
-             model_version_(model_version), num_classes_(num_classes)
+             model_version_(model_version), num_classes_(num_classes), p6_(p6)
             {
             }
             virtual std::vector<Object> inference(const cv::Mat& frame) = 0;
@@ -42,10 +42,12 @@ namespace yolox_cpp{
             float nms_thresh_;
             float bbox_conf_thresh_;
             int num_classes_;
+            bool p6_;
             std::string model_version_;
             const std::vector<float> mean_ = {0.485, 0.456, 0.406};
             const std::vector<float> std_ = {0.229, 0.224, 0.225};
             const std::vector<int> strides_ = {8, 16, 32};
+            const std::vector<int> strides_p6_ = {8, 16, 32, 64};
             std::vector<GridAndStride> grid_strides_;
 
             cv::Mat static_resize(const cv::Mat& img)
@@ -61,11 +63,12 @@ namespace yolox_cpp{
                 return out;
             }
 
+            // for NCHW
             void blobFromImage(const cv::Mat& img, float *blob_data)
             {
-                int channels = 3;
-                int img_h = img.rows;
-                int img_w = img.cols;
+                size_t channels = 3;
+                size_t img_h = img.rows;
+                size_t img_w = img.cols;
                 if(this->model_version_=="0.1.0"){
                     for (size_t c = 0; c < channels; ++c)
                     {
@@ -92,6 +95,32 @@ namespace yolox_cpp{
                 }
             }
 
+            // for NHWC
+            void blobFromImage_nhwc(const cv::Mat& img, float *blob_data)
+            {
+                size_t channels = 3;
+                size_t img_h = img.rows;
+                size_t img_w = img.cols;
+                if(this->model_version_=="0.1.0"){
+                    for (size_t i = 0; i < img_h * img_w; ++i)
+                    {
+                        for (size_t c = 0; c < channels; ++c)
+                        {
+                            blob_data[i * channels + c] =
+                                ((float)img.data[i * channels + c] / 255.0 - this->mean_[c]) / this->std_[c];
+                        }
+                    }
+                }else{
+                    for (size_t i = 0; i < img_h * img_w; ++i)
+                    {
+                        for (size_t c = 0; c < channels; ++c)
+                        {
+                            blob_data[i * channels + c] = (float)img.data[i * channels + c]; // 0.1.1rc0 or later
+                        }
+                    }
+                }
+            }
+
             void generate_grids_and_stride(const int target_w, const int target_h, const std::vector<int>& strides, std::vector<GridAndStride>& grid_strides)
             {
                 for (auto stride : strides)

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox.hpp

@@ -15,5 +15,9 @@
     #include "yolox_onnxruntime.hpp"
 #endif
 
+#ifdef ENABLE_TFLITE
+    #include "yolox_tflite.hpp"
+#endif
+
 
 #endif