From 51e55aa6607892b5e5860d94daa6bad33c924c9c Mon Sep 17 00:00:00 2001
From: tzhong518 <sworgun@gmail.com>
Date: Tue, 30 Jan 2024 22:31:01 +0900
Subject: [PATCH] chore: use config

Signed-off-by: tzhong518 <sworgun@gmail.com>
---
 perception/tensorrt_yolox/CMakeLists.txt      |  1 +
 .../config/yolox_s_plus_opt.yaml              | 15 +++++++
 .../config/yolox_tiny.param.yaml              | 15 +++++++
 .../launch/yolox_s_plus_opt.launch.xml        | 39 +------------------
 .../launch/yolox_tiny.launch.xml              | 39 +------------------
 5 files changed, 35 insertions(+), 74 deletions(-)
 create mode 100644 perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
 create mode 100644 perception/tensorrt_yolox/config/yolox_tiny.param.yaml

diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/tensorrt_yolox/CMakeLists.txt
index 21860854ccd5f..a5498a845e62e 100644
--- a/perception/tensorrt_yolox/CMakeLists.txt
+++ b/perception/tensorrt_yolox/CMakeLists.txt
@@ -114,4 +114,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml b/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
new file mode 100644
index 0000000000000..d88eadd9a6c98
--- /dev/null
+++ b/perception/tensorrt_yolox/config/yolox_s_plus_opt.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx"
+    label_path: "$(var data_path)/tensorrt_yolox/label.txt"
+    score_threshold: 0.35
+    nms_threshold: 0.7
+    precision: "int8"
+    calibration_algorithm: "Entropy"
+    dla_core_id: -1
+    quantize_first_layer: false
+    quantize_last_layer: false
+    profile_per_layer: false
+    clip_value: 6.0
+    preprocess_on_gpu: true
+    calibration_image_list_path: ""
\ No newline at end of file
diff --git a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
new file mode 100644
index 0000000000000..ea9faa5575d34
--- /dev/null
+++ b/perception/tensorrt_yolox/config/yolox_tiny.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    model_path: "$(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"
+    calibration_algorithm: "MinMax"
+    dla_core_id: -1
+    quantize_first_layer: false
+    quantize_last_layer: false
+    profile_per_layer: false
+    clip_value: 0.0
+    preprocess_on_gpu: true
+    calibration_image_list_path: ""
\ No newline at end of file
diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
index 3f8d7897ab5d3..dd15eda2913ce 100644
--- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
+++ b/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>
diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
index 2f08031ea159f..9e5d1c371b13b 100644
--- a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
+++ b/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>