Merge pull request #17 from fateshelled/dev_cpp

Update node parameter

Author: Ar-Ray-code

weights/onnx/download.bash

@@ -8,15 +8,16 @@ if [ -z "$1" ]; then
     exit 1
 fi
 MODEL=$1
+MODEL_VERSION=0.1.1rc0
 SCRIPT_DIR=$(cd $(dirname $0); pwd)
 
 echo $MODEL
 if [ "$MODEL" = "all" ]; then
-    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.0/yolox_tiny.onnx -P $SCRIPT_DIR
-    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.0/yolox_nano.onnx -P $SCRIPT_DIR
-    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.0/yolox_s.onnx -P $SCRIPT_DIR
-    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.0/yolox_m.onnx -P $SCRIPT_DIR
-    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.0/yolox_l.onnx -P $SCRIPT_DIR
+    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_tiny.onnx -P $SCRIPT_DIR
+    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_nano.onnx -P $SCRIPT_DIR
+    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_s.onnx -P $SCRIPT_DIR
+    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_m.onnx -P $SCRIPT_DIR
+    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_l.onnx -P $SCRIPT_DIR
 else
-    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/0.1.0/$MODEL.onnx -P $SCRIPT_DIR
+    wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/$MODEL.onnx -P $SCRIPT_DIR
 fi

weights/pytorch/download.bash

@@ -4,14 +4,14 @@
 if [ -z "$1" ]; then
     echo "Usage: $0 <target-model> <workspace>"
     echo "Target-Models : yolox_tiny, yolox_nano, yolox_s, yolox_m, yolox_l"
-    echo "WORKSPACE : GPU memory workspace. Default 32."
+    echo "WORKSPACE : GPU memory workspace. Default 16."
     exit 1
 fi
 
 MODEL=$1
 TRT_WORKSPACE=$2
 if [ -z "$2" ]; then
-    TRT_WORKSPACE=32
+    TRT_WORKSPACE=16
 fi
 
 SCRIPT_DIR=$(cd $(dirname $0); pwd)
@@ -31,7 +31,7 @@ if [ ! -e $ONNX_MODEL_PATH ]; then
     exit 1
 fi
 
-trtexec \
+/usr/src/tensorrt/bin/trtexec \
     --onnx=$SCRIPT_DIR/../onnx/$MODEL.onnx \
     --saveEngine=$SCRIPT_DIR/$MODEL.trt \
     --fp16 --verbose --workspace=$((1<<$TRT_WORKSPACE))

weights/tensorrt/convert.bash

@@ -5,11 +5,13 @@
 ### Requirements
 - ROS2 Foxy
 - OpenCV 4.x
-- OpenVINO *
+- OpenVINO 2021.*
 - TensorRT 8.x *
 
 ※ Either one of OpenVINO or TensorRT is required.
 
+※ Model convert script is not supported OpenVINO 2022.*
+
 ※ YOLOX is not required.
 
 ※ Jetson + TensorRT docker support (Jetpack 4.6 r32.6.1). Tested with Jetson Nano 4GB.
@@ -112,6 +114,16 @@ cd ~/ros2_ws
 ./src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_nano 16
 ```
 
+#### PINTO_model_zoo
+- Support PINTO_model_zoo model
+- Download model using the following script.
+  - https://github.com/PINTO0309/PINTO_model_zoo/blob/main/132_YOLOX/download_nano.sh
+- ONNX model copy to weight dir
+  - `cp saved_model_yolox_nano_480x640/yolox_nano_480x640.onnx src/YOLOX-ROS/weight/onnx/`
+- Convert to TensorRT engine
+  - `./src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_nano_480x640`
+
+
 ### build packages
 ```bash
 # # If use openvino
@@ -131,8 +143,13 @@ ros2 launch yolox_ros_cpp yolox_openvino.launch.py
 
 # run other model
 ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
-    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_s.trt \
-    image_size/height:=640 image_size/width:=640
+    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/openvino/yolox_s.xml
+
+# run PINTO_model_zoo model
+# This model is converted from version 0.1.0.
+ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
+    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_nano_480x640.onnx \
+    model_version:="0.1.0"
 
 # run YOLOX-tiny with NCS2
 ros2 launch yolox_ros_cpp yolox_openvino_ncs2.launch.py
@@ -143,6 +160,13 @@ ros2 launch yolox_ros_cpp yolox_openvino_ncs2.launch.py
 ```bash
 # run YOLOX_nano
 ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py
+
+# run PINTO_model_zoo model
+# This model is converted from version 0.1.0.
+ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py \
+    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_nano_480x640.trt \
+    model_version:="0.1.0"
+
 ```
 
 #### Jetson + TensorRT
@@ -157,9 +181,8 @@ ros2 launch yolox_ros_cpp yolox_tensorrt_jetson.launch.py
 ### Parameter
 #### OpenVINO example
 - `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/openvino/yolox_nano.xml
+- `model_version`: 0.1.1rc0
 - `device`: CPU
-- `image_size/width`: 416
-- `image_size/height`: 416
 - `conf`: 0.3
 - `nms`: 0.45
 - `imshow_isshow`: true
@@ -170,9 +193,8 @@ ros2 launch yolox_ros_cpp yolox_tensorrt_jetson.launch.py
 
 #### TensorRT example.
 - `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_nano.trt
+- `model_version`: 0.1.1rc0
 - `device`: "0"
-- `image_size/width`: 416
-- `image_size/height`: 416
 - `conf`: 0.3
 - `nms`: 0.45
 - `imshow_isshow`: true