[#58168] examples: launch: Updated launch scripts to use inference co…

…nfiguration Signed-off-by: Grzegorz Latosinski <[email protected]>
antmicro · Sep 13, 2024 · d0098b1 · d0098b1
1 parent 588f3de
commit d0098b1
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Showing 5 changed files with 29 additions and 7 deletions.
diff --git a/examples/mask_rcnn/launch/mask_rcnn_detectron_launch.py b/examples/mask_rcnn/launch/mask_rcnn_detectron_launch.py
@@ -62,6 +62,9 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     scenario, scenario_arg = optional_args["scenario"]
+    inference_configuration, inference_configuration_arg = optional_args[
+        "inference_configuration"
+    ]
     inference_timeout_ms, timeout_arg = optional_args["inference_timeout_ms"]
     preserve_output, preserve_arg = optional_args["preserve_output"]
     publish_visualizations, gui_arg = optional_args["publish_visualizations"]
@@ -70,6 +73,7 @@ def generate_launch_description() -> LaunchDescription:
     args.extend(
         [
             scenario_arg,
+            inference_configuration_arg,
             timeout_arg,
             preserve_arg,
             gui_arg,
@@ -91,7 +95,7 @@ def generate_launch_description() -> LaunchDescription:
         ],
     )
 
-    kenning_node = kenning_test_report_node(log_level)
+    kenning_node = kenning_test_report_node(log_level, inference_configuration)
     gui_node = cvnode_manager_gui_node(log_level)
     manager_node = cvnode_manager_node(
         log_level=log_level,

diff --git a/examples/mask_rcnn/launch/mask_rcnn_onnx_launch.py b/examples/mask_rcnn/launch/mask_rcnn_onnx_launch.py
@@ -5,7 +5,10 @@
 """Launches MaskRCNN node with ONNXRuntime backend."""
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.actions import (
+    DeclareLaunchArgument,
+    SetEnvironmentVariable,
+)
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
@@ -38,6 +41,9 @@ def generate_launch_description() -> LaunchDescription:
 
     # Arguments with default values
     scenario, scenario_arg = optional_args["scenario"]
+    inference_configuration, inference_configuration_arg = optional_args[
+        "inference_configuration"
+    ]
     inference_timeout_ms, timeout_arg = optional_args["inference_timeout_ms"]
     preserve_output, preserve_arg = optional_args["preserve_output"]
     publish_visualizations, gui_arg = optional_args["publish_visualizations"]
@@ -47,6 +53,7 @@ def generate_launch_description() -> LaunchDescription:
     args.extend(
         [
             scenario_arg,
+            inference_configuration_arg,
             timeout_arg,
             preserve_arg,
             gui_arg,
@@ -69,7 +76,7 @@ def generate_launch_description() -> LaunchDescription:
         ],
     )
 
-    kenning_node = kenning_test_report_node(log_level)
+    kenning_node = kenning_test_report_node(log_level, inference_configuration)
     gui_node = cvnode_manager_gui_node(log_level)
     manager_node = cvnode_manager_node(
         log_level=log_level,

diff --git a/examples/mask_rcnn/launch/mask_rcnn_tensorrt_launch.py b/examples/mask_rcnn/launch/mask_rcnn_tensorrt_launch.py
@@ -41,6 +41,9 @@ def generate_launch_description() -> LaunchDescription:
 
     # Arguments with default values
     scenario, scenario_arg = optional_args["scenario"]
+    inference_configuration, inference_configuration_arg = optional_args[
+        "inference_configuration"
+    ]
     inference_timeout_ms, timeout_arg = optional_args["inference_timeout_ms"]
     preserve_output, preserve_arg = optional_args["preserve_output"]
     publish_visualizations, gui_arg = optional_args["publish_visualizations"]
@@ -49,6 +52,7 @@ def generate_launch_description() -> LaunchDescription:
     args.extend(
         [
             scenario_arg,
+            inference_configuration_arg,
             timeout_arg,
             preserve_arg,
             gui_arg,
@@ -69,7 +73,7 @@ def generate_launch_description() -> LaunchDescription:
         ],
     )
 
-    kenning_node = kenning_test_report_node(log_level)
+    kenning_node = kenning_test_report_node(log_level, inference_configuration)
     gui_node = cvnode_manager_gui_node(log_level)
     manager_node = cvnode_manager_node(
         log_level=log_level,

diff --git a/examples/mask_rcnn/launch/mask_rcnn_torchscript_launch.py b/examples/mask_rcnn/launch/mask_rcnn_torchscript_launch.py
@@ -42,6 +42,9 @@ def generate_launch_description() -> LaunchDescription:
 
     # Arguments with default values
     scenario, scenario_arg = optional_args["scenario"]
+    inference_configuration, inference_configuration_arg = optional_args[
+        "inference_configuration"
+    ]
     inference_timeout_ms, timeout_arg = optional_args["inference_timeout_ms"]
     preserve_output, preserve_arg = optional_args["preserve_output"]
     publish_visualizations, gui_arg = optional_args["publish_visualizations"]
@@ -79,7 +82,7 @@ def generate_launch_description() -> LaunchDescription:
         ],
     )
 
-    kenning_node = kenning_test_report_node(log_level)
+    kenning_node = kenning_test_report_node(log_level, inference_configuration)
     gui_node = cvnode_manager_gui_node(log_level)
     manager_node = cvnode_manager_node(
         log_level=log_level,

diff --git a/examples/yolact/launch/yolact_tensorrt_launch.py b/examples/yolact/launch/yolact_tensorrt_launch.py
@@ -2,7 +2,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-"""Launches YOLACT node with TensorRT backend."""
+"""Launches YOLACT CVNode with TensorRT backend."""
 
 from launch import LaunchDescription
 from launch.actions import (
@@ -41,6 +41,9 @@ def generate_launch_description() -> LaunchDescription:
 
     # Arguments with default values
     scenario, scenario_arg = optional_args["scenario"]
+    inference_configuration, inference_configuration_arg = optional_args[
+        "inference_configuration"
+    ]
     inference_timeout_ms, timeout_arg = optional_args["inference_timeout_ms"]
     preserve_output, preserve_arg = optional_args["preserve_output"]
     publish_visualizations, gui_arg = optional_args["publish_visualizations"]
@@ -49,6 +52,7 @@ def generate_launch_description() -> LaunchDescription:
     args.extend(
         [
             scenario_arg,
+            inference_configuration_arg,
             timeout_arg,
             preserve_arg,
             gui_arg,
@@ -69,7 +73,7 @@ def generate_launch_description() -> LaunchDescription:
         ],
     )
 
-    kenning_node = kenning_test_report_node(log_level)
+    kenning_node = kenning_test_report_node(log_level, inference_configuration)
     gui_node = cvnode_manager_gui_node(log_level)
     manager_node = cvnode_manager_node(
         log_level=log_level,