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15 | 15 | #ifndef TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
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16 | 16 | #define TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
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17 | 17 |
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| 18 | +#include "object_recognition_utils/object_recognition_utils.hpp" |
| 19 | +#include "utils/utils.hpp" |
| 20 | + |
18 | 21 | #include <image_transport/image_transport.hpp>
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19 | 22 | #include <opencv2/opencv.hpp>
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20 | 23 | #include <rclcpp/rclcpp.hpp>
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@@ -68,6 +71,18 @@ class TrtYoloXNode : public rclcpp::Node
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68 | 71 | bool is_roi_overlap_segment_;
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69 | 72 | bool is_publish_color_mask_;
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70 | 73 | float overlap_roi_score_threshold_;
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| 74 | + // TODO(badai-nguyen): change to function |
| 75 | + std::map<std::string, int> remap_roi_to_semantic_ = { |
| 76 | + {"UNKNOWN", 19}, // other |
| 77 | + {"ANIMAL", 19}, // other |
| 78 | + {"PEDESTRIAN", 11}, // person |
| 79 | + {"CAR", 13}, // car |
| 80 | + {"TRUCK", 14}, // truck |
| 81 | + {"BUS", 15}, // bus |
| 82 | + {"BICYCLE", 18}, // bicycle |
| 83 | + {"MOTORBIKE", 17}, // motorcycle |
| 84 | + }; |
| 85 | + utils::FilterTargetLabel roi_overlay_segment_labels_; |
71 | 86 | };
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72 | 87 |
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73 | 88 | } // namespace tensorrt_yolox
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