From 589c7ec6fbc0540d79ee2d00f20127ba3428e3bc Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 6 Jan 2025 15:26:57 +0900
Subject: [PATCH 1/2] feat(tensorrt_yolox): add launch for tlr model

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../yolox_traffic_light_detector.param.yaml   | 35 +++++++++++++++++++
 .../yolox_traffic_light_detector.launch.xml   | 24 +++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml
 create mode 100644 perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml

diff --git a/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml
new file mode 100644
index 0000000000000..3063e6fd2c18d
--- /dev/null
+++ b/perception/autoware_tensorrt_yolox/config/yolox_traffic_light_detector.param.yaml
@@ -0,0 +1,35 @@
+# cspell: ignore semseg
+/**:
+  ros__parameters:
+
+    model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+    label_path: "$(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt"
+    color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv"
+    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: "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.
+    gpu_id: 0 # GPU ID to select CUDA Device
+    calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization.
+
+
+    # default params, effective only for semseg model
+    is_roi_overlap_segment: false
+    overlap_roi_score_threshold: 0.3
+    is_publish_color_mask: false
+    roi_overlay_segment_label:
+      UNKNOWN : false
+      CAR : false
+      TRUCK : false
+      BUS : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+      ANIMAL: false
diff --git a/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml
new file mode 100644
index 0000000000000..203cef27199fc
--- /dev/null
+++ b/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="input/image" default="/sensing/camera/camera6/image_raw"/>
+  <arg name="output/objects" default="/perception/traffic_light_recognition/camera6/detection/rois"/>
+  <arg name="model_name" default="yolox_s_car_ped_tl_detector_960_960_batch_1" description="model name for traffic light detectioin"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="yolox_param_path" default="$(find-pkg-share autoware_tensorrt_yolox)/config/yolox_traffic_light_detector.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"/>
+
+  <arg name="param_file" default="$(find-pkg-share autoware_image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
+  <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
+    <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
+    <remap from="~/output/raw_image" to="$(var input/image)"/>
+    <param from="$(var param_file)"/>
+  </node>
+
+  <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_traffic_light_detector" output="screen">
+    <remap from="~/in/image" to="$(var input/image)"/>
+    <remap from="~/out/objects" to="$(var output/objects)"/>
+    <param from="$(var yolox_param_path)" allow_substs="true"/>
+    <param name="build_only" value="$(var build_only)"/>
+  </node>
+</launch>

From c69dffce002a96e25619d4d49d605671cddb9041 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Mon, 6 Jan 2025 16:51:53 +0900
Subject: [PATCH 2/2] chore: typo

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../launch/yolox_traffic_light_detector.launch.xml              | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml
index 203cef27199fc..67aae61b54376 100644
--- a/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml
+++ b/perception/autoware_tensorrt_yolox/launch/yolox_traffic_light_detector.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="input/image" default="/sensing/camera/camera6/image_raw"/>
   <arg name="output/objects" default="/perception/traffic_light_recognition/camera6/detection/rois"/>
-  <arg name="model_name" default="yolox_s_car_ped_tl_detector_960_960_batch_1" description="model name for traffic light detectioin"/>
+  <arg name="model_name" default="yolox_s_car_ped_tl_detector_960_960_batch_1" description="model name for traffic light detection"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="yolox_param_path" default="$(find-pkg-share autoware_tensorrt_yolox)/config/yolox_traffic_light_detector.param.yaml"/>
   <arg name="use_decompress" default="true" description="use image decompress"/>