chore(tensorrt_yolox): rework parameters

perception/tensorrt_yolox/CMakeLists.txt

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

perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+    label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+    score_threshold: 0.35
+    nms_threshold: 0.7
+    precision: "int8" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+    calibration_algorithm: "Entropy" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+    dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+    quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8.
+    quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8.
+    profile_per_layer: false # 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.
+    clip_value: 6.0 # 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.
+    preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+    calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.

perception/tensorrt_yolox/config/yolox_tiny.param.yaml

@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+    label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+    score_threshold: 0.35
+    nms_threshold: 0.7
+    precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
+    calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
+    dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
+    quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8.
+    quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8.
+    profile_per_layer: false # 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.
+    clip_value: 0.0 # 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.
+    preprocess_on_gpu: true # If true, pre-processing is performed on GPU.
+    calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.

perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

@@ -5,30 +5,7 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="nms_threshold" default="0.7"/>
-  <arg name="precision" default="int8" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
-  <arg
-    name="calibration_algorithm"
-    default="Entropy"
-    description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
-  />
-  <arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
-  <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"/>
-  <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"/>
-  <arg
-    name="profile_per_layer"
-    default="false"
-    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."
-  />
-  <arg
-    name="clip_value"
-    default="6.0"
-    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."
-  />
-  <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
-  <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."/>
+  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
@@ -40,19 +17,7 @@
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
-    <param name="score_threshold" value="$(var score_threshold)"/>
-    <param name="nms_threshold" value="$(var nms_threshold)"/>
-    <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
-    <param name="label_path" value="$(var model_path)/label.txt"/>
-    <param name="precision" value="$(var precision)"/>
-    <param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
-    <param name="dla_core_id" value="$(var dla_core_id)"/>
-    <param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
-    <param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
-    <param name="profile_per_layer" value="$(var profile_per_layer)"/>
-    <param name="clip_value" value="$(var clip_value)"/>
-    <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
-    <param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
+    <param from="$(var yolox_param_path)" allow_substs="true"/>
     <param name="build_only" value="$(var build_only)"/>
   </node>
 </launch>

perception/tensorrt_yolox/launch/yolox_tiny.launch.xml

@@ -4,30 +4,7 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-tiny"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="model_path" default="$(var data_path)/tensorrt_yolox"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="nms_threshold" default="0.7"/>
-  <arg name="precision" default="fp16" description="operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]"/>
-  <arg
-    name="calibration_algorithm"
-    default="MinMax"
-    description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]"
-  />
-  <arg name="dla_core_id" default="-1" description="If positive ID value is specified, the node assign inference task to the DLA core"/>
-  <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"/>
-  <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"/>
-  <arg
-    name="profile_per_layer"
-    default="false"
-    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."
-  />
-  <arg
-    name="clip_value"
-    default="0.0"
-    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."
-  />
-  <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU"/>
-  <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."/>
+  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
@@ -39,19 +16,7 @@
   <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
-    <param name="score_threshold" value="$(var score_threshold)"/>
-    <param name="nms_threshold" value="$(var nms_threshold)"/>
-    <param name="model_path" value="$(var model_path)/$(var model_name).onnx"/>
-    <param name="label_path" value="$(var model_path)/label.txt"/>
-    <param name="precision" value="$(var precision)"/>
-    <param name="calibration_algorithm" value="$(var calibration_algorithm)"/>
-    <param name="dla_core_id" value="$(var dla_core_id)"/>
-    <param name="quantize_first_layer" value="$(var quantize_first_layer)"/>
-    <param name="quantize_last_layer" value="$(var quantize_last_layer)"/>
-    <param name="profile_per_layer" value="$(var profile_per_layer)"/>
-    <param name="clip_value" value="$(var clip_value)"/>
-    <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)"/>
-    <param name="calibration_image_list_path" value="$(var calibration_image_list_path)"/>
+    <param from="$(var yolox_param_path)" allow_substs="true"/>
     <param name="build_only" value="$(var build_only)"/>
   </node>
 </launch>

perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json

@@ -0,0 +1,107 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for tensorrt_yolox_s_plus_opt Nodes",
+  "type": "object",
+  "definitions": {
+    "yolox_s_plus_opt": {
+      "type": "object",
+      "properties": {
+        "model_path": {
+          "type": "string",
+          "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
+          "description": "Path to onnx model."
+        },
+        "label_path": {
+          "type": "string",
+          "default": "$(var data_path)/tensorrt_yolox/label.txt",
+          "description": "Path to label file."
+        },
+        "score_threshold": {
+          "type": "number",
+          "default": 0.35,
+          "minimum": 0.0,
+          "maximum": 1.0,
+          "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
+        },
+        "nms_threshold": {
+          "type": "number",
+          "default": 0.7,
+          "minimum": 0.0,
+          "maximum": 1.0,
+          "description": "A threshold value of NMS."
+        },
+        "precision": {
+          "type": "string",
+          "default": "int8",
+          "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
+        },
+        "calibration_algorithm": {
+          "type": "string",
+          "default": "Entropy",
+          "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
+        },
+        "dla_core_id": {
+          "type": "number",
+          "default": -1,
+          "description": "If positive ID value is specified, the node assign inference task to the DLA core."
+        },
+        "quantize_first_layer": {
+          "type": "boolean",
+          "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."
+        },
+        "quantize_last_layer": {
+          "type": "boolean",
+          "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."
+        },
+        "profile_per_layer": {
+          "type": "boolean",
+          "default": false,
+          "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."
+        },
+        "clip_value": {
+          "type": "number",
+          "default": 6.0,
+          "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."
+        },
+        "preprocess_on_gpu": {
+          "type": "boolean",
+          "default": true,
+          "description": "If true, pre-processing is performed on GPU."
+        },
+        "calibration_image_list_path": {
+          "type": "string",
+          "default": "",
+          "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
+        }
+      },
+      "required": [
+        "model_path",
+        "label_path",
+        "score_threshold",
+        "nms_threshold",
+        "precision",
+        "calibration_algorithm",
+        "dla_core_id",
+        "quantize_first_layer",
+        "quantize_last_layer",
+        "profile_per_layer",
+        "clip_value",
+        "preprocess_on_gpu"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/yolox_s_plus_opt"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

perception/tensorrt_yolox/schema/yolox_tiny.schema.json

@@ -0,0 +1,107 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for tensorrt_yolox_tiny Nodes",
+  "type": "object",
+  "definitions": {
+    "yolox_tiny": {
+      "type": "object",
+      "properties": {
+        "model_path": {
+          "type": "string",
+          "default": "$(var data_path)/tensorrt_yolox/$(var model_name).onnx",
+          "description": "Path to onnx model."
+        },
+        "label_path": {
+          "type": "string",
+          "default": "$(var data_path)/tensorrt_yolox/label.txt",
+          "description": "Path to label file."
+        },
+        "score_threshold": {
+          "type": "number",
+          "default": 0.35,
+          "minimum": 0.0,
+          "maximum": 1.0,
+          "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored."
+        },
+        "nms_threshold": {
+          "type": "number",
+          "default": 0.7,
+          "minimum": 0.0,
+          "maximum": 1.0,
+          "description": "A threshold value of NMS."
+        },
+        "precision": {
+          "type": "string",
+          "default": "fp16",
+          "description": "Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]."
+        },
+        "calibration_algorithm": {
+          "type": "string",
+          "default": "MinMax",
+          "description": "Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]."
+        },
+        "dla_core_id": {
+          "type": "number",
+          "default": -1,
+          "description": "If positive ID value is specified, the node assign inference task to the DLA core."
+        },
+        "quantize_first_layer": {
+          "type": "boolean",
+          "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."
+        },
+        "quantize_last_layer": {
+          "type": "boolean",
+          "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."
+        },
+        "profile_per_layer": {
+          "type": "boolean",
+          "default": false,
+          "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."
+        },
+        "clip_value": {
+          "type": "number",
+          "default": 0.0,
+          "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."
+        },
+        "preprocess_on_gpu": {
+          "type": "boolean",
+          "default": true,
+          "description": "If true, pre-processing is performed on GPU."
+        },
+        "calibration_image_list_path": {
+          "type": "string",
+          "default": "",
+          "description": "Path to a file which contains path to images. Those images will be used for int8 quantization."
+        }
+      },
+      "required": [
+        "model_path",
+        "label_path",
+        "score_threshold",
+        "nms_threshold",
+        "precision",
+        "calibration_algorithm",
+        "dla_core_id",
+        "quantize_first_layer",
+        "quantize_last_layer",
+        "profile_per_layer",
+        "clip_value",
+        "preprocess_on_gpu"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/yolox_tiny"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}