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chore: use config
Signed-off-by: tzhong518 <sworgun@gmail.com>
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-74
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‎perception/tensorrt_yolox/CMakeLists.txt

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@@ -114,4 +114,5 @@ endif()
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ament_auto_package(INSTALL_TO_SHARE
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launch
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config
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)

‎perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml

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/**:
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ros__parameters:
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model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
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label_path: "$(var data_path)/tensorrt_yolox/label.txt"
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score_threshold: 0.35
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nms_threshold: 0.7
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precision: "int8"
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calibration_algorithm: "Entropy"
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dla_core_id: -1
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quantize_first_layer: false
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quantize_last_layer: false
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profile_per_layer: false
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clip_value: 6.0
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preprocess_on_gpu: true
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calibration_image_list_path: ""

‎perception/tensorrt_yolox/config/yolox_tiny.param.yaml

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/**:
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ros__parameters:
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model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
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label_path: "$(var data_path)/tensorrt_yolox/label.txt"
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score_threshold: 0.35
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nms_threshold: 0.7
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precision: "fp16"
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calibration_algorithm: "MinMax"
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dla_core_id: -1
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quantize_first_layer: false
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quantize_last_layer: false
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profile_per_layer: false
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clip_value: 0.0
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preprocess_on_gpu: true
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calibration_image_list_path: ""

‎perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

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@@ -5,30 +5,7 @@
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<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
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<arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
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<arg name="score_threshold" default="0.35"/>
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<arg name="nms_threshold" default="0.7"/>
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<arg name="precision" default="int8" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
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<arg
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name="calibration_algorithm"
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default="Entropy"
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description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
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/>
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<arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
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<arg name="quantize_first_layer" default="false" description="If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8"/>
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<arg name="quantize_last_layer" default="false" description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8"/>
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<arg
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name="profile_per_layer"
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default="false"
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description="If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
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/>
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<arg
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name="clip_value"
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default="6.0"
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description="If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
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/>
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<arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
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<arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
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<arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
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<arg name="use_decompress" default="true" description="use image decompress"/>
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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@@ -40,19 +17,7 @@
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<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var output/objects)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="nms_threshold" value="$(var nms_threshold)"/>
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<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
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<param name="label_path" value="$(var model_path)/label.txt"/>
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<param name="precision" value="$(var precision)"/>
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<param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
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<param name="dla_core_id" value="$(var dla_core_id)"/>
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<param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
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<param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
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<param name="profile_per_layer" value="$(var profile_per_layer)"/>
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<param name="clip_value" value="$(var clip_value)"/>
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<param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
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<param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
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<param from="$(var yolox_param_path)" allow_substs="true"/>
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<param name="build_only" value="$(var build_only)"/>
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</node>
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</launch>

‎perception/tensorrt_yolox/launch/yolox_tiny.launch.xml

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@@ -4,30 +4,7 @@
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<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
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<arg name="model_name" default="yolox-tiny"/>
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<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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<arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
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<arg name="score_threshold" default="0.35"/>
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<arg name="nms_threshold" default="0.7"/>
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<arg name="precision" default="fp16" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
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<arg
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name="calibration_algorithm"
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default="MinMax"
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description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
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/>
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<arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
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<arg name="quantize_first_layer" default="false" description="If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8"/>
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<arg name="quantize_last_layer" default="false" description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8"/>
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<arg
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name="profile_per_layer"
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default="false"
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description="If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose."
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/>
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<arg
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name="clip_value"
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default="0.0"
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description="If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration."
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/>
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<arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
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<arg name="calibration_image_list_path" default="" description="Path to a file which contains path to images. Those images will be used for int8 quantization."/>
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<arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
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<arg name="use_decompress" default="true" description="use image decompress"/>
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<arg name="build_only" default="false" description="exit after trt engine is built"/>
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@@ -39,19 +16,7 @@
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<node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
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<remap from="~/in/image" to="$(var input/image)"/>
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<remap from="~/out/objects" to="$(var output/objects)"/>
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<param name="score_threshold" value="$(var score_threshold)"/>
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<param name="nms_threshold" value="$(var nms_threshold)"/>
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<param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
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<param name="label_path" value="$(var model_path)/label.txt"/>
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<param name="precision" value="$(var precision)"/>
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<param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
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<param name="dla_core_id" value="$(var dla_core_id)"/>
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<param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
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<param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
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<param name="profile_per_layer" value="$(var profile_per_layer)"/>
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<param name="clip_value" value="$(var clip_value)"/>
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<param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
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<param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
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<param from="$(var yolox_param_path)" allow_substs="true"/>
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<param name="build_only" value="$(var build_only)"/>
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</node>
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</launch>

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