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Feat/tensorrt #1

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8dfae0c
remove log
pusin819 Feb 25, 2024
8a397a7
add tensorrt launch file
pusin819 Feb 25, 2024
e18111e
Update README.md
pusin819 Feb 25, 2024
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4 changes: 4 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,10 @@ git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS
./YOLOX-ROS/weights/openvino/install.bash yolox_s
```

### BUILD
```
colcon build --cmake-args -DYOLOX_USE_TENSORRT=ON --packages-select ros_video_player bytetrack_cpp_node bytetrack_cpp bytetrack_viewer yolox_cpp bboxes_ex_msgs yolox_ros_cpp yolox_param --symlink-install
```
### RUN
```
cd ~/ros2_ws
Expand Down
160 changes: 160 additions & 0 deletions bytetrack_cpp_node/launch/bytetrack_tensorrt.launch.py
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@@ -0,0 +1,160 @@
import os
import sys
import launch
import launch_ros.actions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

def generate_launch_description():
launch_args = [
DeclareLaunchArgument(
"video_path",
default_value="/dev/video0",
description="input video file path."
),
DeclareLaunchArgument(
"video_fps",
default_value="30",
description="video fps."
),
DeclareLaunchArgument(
"model_path",
default_value="./weight/yolox_l.trt",
description="yolox model path."
),
DeclareLaunchArgument(
'p6',
default_value='false',
description='with p6.'
),
DeclareLaunchArgument(
"model_version",
default_value="0.1.1rc0",
description="yolox model version."
),
DeclareLaunchArgument(
"device",
default_value="GPU",
description="model device. CPU, GPU, MYRIAD, etc..."
),
DeclareLaunchArgument(
"conf",
default_value="0.3",
description="yolox confidence threshold."
),
DeclareLaunchArgument(
"nms",
default_value="0.45",
description="yolox nms threshold"
),
DeclareLaunchArgument(
"save_video",
default_value="true",
description="record video."
),
DeclareLaunchArgument(
"save_video_name",
default_value="output.mp4",
description="record video filename."
),
DeclareLaunchArgument(
"save_video_fps",
default_value="30",
description="record video fps."
),
DeclareLaunchArgument(
"save_video_codec",
default_value="MJPG",
description="record video codec."
),
DeclareLaunchArgument(
'num_classes',
default_value='80',
description='num classes.'
),
DeclareLaunchArgument(
'tensorrt/device',
default_value='0',
description='GPU index. Set in string type. ex 0'
),

]
container = ComposableNodeContainer(
name='bytetrack_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='ros_video_player',
plugin='ros_video_player::VideoPlayerNode',
name='ros_video_player',
parameters=[{
"publish_topic_name": "/image_raw",
"video_path": LaunchConfiguration("video_path"),
"frame_id": "map",
"loop": True,
"speed": 1.0,
"video_buffer_size": 1,
}]),
ComposableNode(
package='yolox_ros_cpp',
plugin='yolox_ros_cpp::YoloXNode',
name='yolox_ros_cpp',
parameters=[{
"model_path": LaunchConfiguration("model_path"),
"model_type": "tensorrt",
"model_version": LaunchConfiguration("model_version"),
"device": LaunchConfiguration("device"),
"conf": LaunchConfiguration("conf"),
"nms": LaunchConfiguration("nms"),
"imshow_isshow": True,
"src_image_topic_name": "/image_raw",
"publish_image_topic_name": "/yolox/image_raw",
"publish_boundingbox_topic_name": "/yolox/bounding_boxes",
"p6": LaunchConfiguration("p6"),
'num_classes': LaunchConfiguration('num_classes'),
'tensorrt/device': LaunchConfiguration('tensorrt/device'),
}],
),
ComposableNode(
package='bytetrack_cpp_node',
plugin='bytetrack_cpp_node::ByteTrackNode',
name='bytetrack_cpp_node',
parameters=[{
"video_fps": LaunchConfiguration("video_fps"),
"track_buffer": 30,
"sub_bboxes_topic_name": "/yolox/bounding_boxes",
"pub_bboxes_topic_name": "/bytetrack/bounding_boxes",
}],
),
ComposableNode(
package='bytetrack_viewer',
plugin='bytetrack_viewer::ByteTrackViewer',
name='bytetrack_viewer',
parameters=[{
"queue_size": 10,
"exact_sync": False,
"sub_image_topic_name": "/image_raw",
"sub_bboxes_topic_name": "/bytetrack/bounding_boxes",
"save_video": LaunchConfiguration("save_video"),
"save_video_name": LaunchConfiguration("save_video_name"),
"save_video_fps": LaunchConfiguration("save_video_fps"),
"save_video_codec": LaunchConfiguration("save_video_codec"),
}],
),
],
output='screen',
)

# rqt_graph = launch_ros.actions.Node(
# package="rqt_graph", executable="rqt_graph",
# )

return launch.LaunchDescription(
launch_args
+ [container]
# + [rqt_graph]
)
4 changes: 2 additions & 2 deletions bytetrack_viewer/src/bytetrack_viewer.cpp
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Expand Up @@ -72,7 +72,7 @@ namespace bytetrack_viewer{
ByteTrackViewer::~ByteTrackViewer(){
if(this->video_.isOpened()){
this->video_.release();
RCLCPP_INFO(this->get_logger(), "save as " + this->save_video_name_ + ".");
//RCLCPP_INFO(this->get_logger(), "save as " + this->save_video_name_ + ".");
}
}
void ByteTrackViewer::initializeParameter_()
Expand Down Expand Up @@ -138,4 +138,4 @@ int main(int argc, char * argv[])
}

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(bytetrack_viewer::ByteTrackViewer)
RCLCPP_COMPONENTS_REGISTER_NODE(bytetrack_viewer::ByteTrackViewer)