refactor(tensorrt_yolox)!: fix namespace and directory structure

.github/CODEOWNERS

@@ -55,7 +55,7 @@
 control/autoware_pid_longitudinal_controller/** [email protected] [email protected] [email protected]
 control/autoware_pure_pursuit/** [email protected] [email protected]
 control/autoware_shift_decider/** [email protected] [email protected]
 control/autoware_smart_mpc_trajectory_follower/** [email protected] [email protected] [email protected] [email protected]
 control/autoware_trajectory_follower_base/** [email protected] [email protected]
 control/autoware_trajectory_follower_node/** [email protected] [email protected]
 control/autoware_vehicle_cmd_gate/** [email protected] [email protected]
@@ -135,7 +135,7 @@
 perception/autoware_shape_estimation/** [email protected] [email protected]
 perception/autoware_simple_object_merger/** [email protected] [email protected] [email protected]
 perception/autoware_tensorrt_classifier/** [email protected] [email protected]
-perception/tensorrt_yolox/** [email protected] [email protected]
+perception/autoware_tensorrt_yolox/** [email protected] [email protected]
 perception/traffic_light_arbiter/** [email protected] [email protected]
 perception/autoware_traffic_light_classifier/** [email protected] [email protected] [email protected]
 perception/autoware_traffic_light_fine_detector/** [email protected] [email protected] [email protected]

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -42,7 +42,7 @@
   <arg name="output/rule_detector/objects"/>
 
   <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
+  <!-- <include file="$(find-pkg-share autoware_tensorrt_yolox)/launch/multiple_yolox.launch.xml">
     <arg name="image_raw0" value="$(var input/camera0/image)"/>
     <arg name="image_raw1" value="$(var input/camera1/image)"/>
     <arg name="image_raw2" value="$(var input/camera2/image)"/>

perception/tensorrt_yolox/CMakeLists.txt → perception/autoware_tensorrt_yolox/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.17)
-project(tensorrt_yolox)
+project(autoware_tensorrt_yolox)
 
 find_package(tensorrt_common)
 if(NOT ${tensorrt_common_FOUND})
@@ -138,7 +138,7 @@ target_compile_definitions(yolox_single_image_inference_node PRIVATE
 )
 
 rclcpp_components_register_node(yolox_single_image_inference_node
-  PLUGIN "tensorrt_yolox::YoloXSingleImageInferenceNode"
+  PLUGIN "autoware::tensorrt_yolox::YoloXSingleImageInferenceNode"
   EXECUTABLE yolox_single_image_inference
 )
 
@@ -159,7 +159,7 @@ target_compile_definitions(${PROJECT_NAME}_node PRIVATE
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "tensorrt_yolox::TrtYoloXNode"
+  PLUGIN "autoware::tensorrt_yolox::TrtYoloXNode"
   EXECUTABLE ${PROJECT_NAME}_node_exe
 )
 

perception/tensorrt_yolox/README.md → perception/autoware_tensorrt_yolox/README.md

@@ -1,4 +1,4 @@
-# tensorrt_yolox
+# autoware_tensorrt_yolox
 
 ## Purpose
 

perception/tensorrt_yolox/config/yolox_tiny.param.yaml → perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml

@@ -1,9 +1,33 @@
+# cspell:ignore semseg
 /**:
   ros__parameters:
+
+    # refine segmentation mask by overlay roi class
+    # disable when sematic segmentation accuracy is good enough
+    is_roi_overlap_segment: true
+
+    # minimum existence_probability of detected roi considered to replace segmentation
+    overlap_roi_score_threshold: 0.3
+
+    # publish color mask for result visualization
+    is_publish_color_mask: false
+
+    roi_overlay_segment_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      MOTORCYCLE : true
+      BICYCLE : true
+      PEDESTRIAN : true
+      ANIMAL: true
+
     model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" # The onnx file name for YOLOX model.
     label_path: "$(var data_path)/tensorrt_yolox/label.txt" # The label file path for YOLOX model.
+    color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv"
     score_threshold: 0.35 # Objects with a score lower than this value will be ignored. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it.
     nms_threshold: 0.7 # Detection results will be ignored if IoU over this value. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it.
+
     precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
     calibration_algorithm: "MinMax" # 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.

perception/tensorrt_yolox/include/tensorrt_yolox/calibrator.hpp → perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp

@@ -34,8 +34,8 @@
  * DEALINGS IN THE SOFTWARE.
  */
 
-#ifndef TENSORRT_YOLOX__CALIBRATOR_HPP_
-#define TENSORRT_YOLOX__CALIBRATOR_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
 
 #include "cuda_utils/cuda_check_error.hpp"
 #include "cuda_utils/cuda_unique_ptr.hpp"
@@ -53,7 +53,7 @@
 #include <string>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 class ImageStream
 {
@@ -488,6 +488,6 @@ class Int8MinMaxCalibrator : public nvinfer1::IInt8MinMaxCalibrator
   std::vector<char> hist_cache_;
   double scale_;
 };
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
-#endif  // TENSORRT_YOLOX__CALIBRATOR_HPP_
+#endif  // AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_

perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp → perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_YOLOX__PREPROCESS_HPP_
-#define TENSORRT_YOLOX__PREPROCESS_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_
 
 #include <cublas_v2.h>
 #include <cuda.h>
 #include <cuda_runtime.h>
 #include <cuda_runtime_api.h>
 #include <curand.h>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 struct Roi
 {
@@ -195,5 +195,5 @@ extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu(
 extern void argmax_gpu(
   unsigned char * dst, float * src, int d_w, int d_h, int s_w, int s_h, int s_c, int batch,
   cudaStream_t stream);
-}  // namespace tensorrt_yolox
-#endif  // TENSORRT_YOLOX__PREPROCESS_HPP_
+}  // namespace autoware::tensorrt_yolox
+#endif  // AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_

perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp → perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp

@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
-#define TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
 
+#include <autoware/tensorrt_yolox/preprocess.hpp>
 #include <cuda_utils/cuda_unique_ptr.hpp>
 #include <cuda_utils/stream_unique_ptr.hpp>
 #include <opencv2/opencv.hpp>
 #include <tensorrt_common/tensorrt_common.hpp>
-#include <tensorrt_yolox/preprocess.hpp>
 
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 using cuda_utils::CudaUniquePtr;
 using cuda_utils::CudaUniquePtrHost;
@@ -312,6 +312,6 @@ class TrtYoloX
   std::vector<tensorrt_yolox::Colormap> sematic_color_map_;
 };
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
-#endif  // TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
+#endif  // AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_

perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp → perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp

@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
-#define TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
+#include <autoware/tensorrt_yolox/tensorrt_yolox.hpp>
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <image_transport/image_transport.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tensorrt_yolox/tensorrt_yolox.hpp>
 
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/header.hpp>
@@ -42,7 +42,7 @@
 #include <string>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 // cspell: ignore Semseg
 using LabelMap = std::map<int, std::string>;
@@ -110,6 +110,6 @@ class TrtYoloXNode : public rclcpp::Node
   std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
 };
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
-#endif  // TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
+#endif  // AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_

perception/tensorrt_yolox/launch/multiple_yolox.launch.xml → perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml

@@ -26,42 +26,42 @@
   <arg name="image_number" default="1"/>
   <arg name="output_topic" default="rois"/>
 
-  <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw0)"/>
     <arg name="output/objects" value="rois0"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw0)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw1)"/>
     <arg name="output/objects" value="rois1"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw1)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw2)"/>
     <arg name="output/objects" value="rois2"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw2)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw3)"/>
     <arg name="output/objects" value="rois3"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw3)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw4)"/>
     <arg name="output/objects" value="rois4"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw4)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw5)"/>
     <arg name="output/objects" value="rois5"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw5)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw6)"/>
     <arg name="output/objects" value="rois6"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw6)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw7)"/>
     <arg name="output/objects" value="rois7"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw7)"/>

perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml → perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml

@@ -10,7 +10,7 @@
     description="options `yolox-sPlus-T4-960x960-pseudo-finetune` if only detection is needed, `yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls` if sematic segmentation is also needed"
   />
   <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 tensorrt_yolox)/config/yolox_s_plus_opt.param.yaml"/>
+  <arg name="yolox_param_path" default="$(find-pkg-share autoware_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"/>
 
@@ -21,7 +21,7 @@
     <param from="$(var param_file)"/>
   </node>
 
-  <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
+  <node pkg="autoware_tensorrt_yolox" exec="autoware_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)"/>
     <remap from="~/out/mask" to="$(var output/mask)"/>

perception/tensorrt_yolox/launch/yolox_tiny.launch.xml → perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml

@@ -4,16 +4,18 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-tiny"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
+  <arg name="yolox_param_path" default="$(find-pkg-share autoware_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"/>
 
+  <arg name="param_file" default="$(find-pkg-share image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(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="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
+  <node pkg="autoware_tensorrt_yolox" exec="autoware_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 from="$(var yolox_param_path)" allow_substs="true"/>

perception/tensorrt_yolox/package.xml → perception/autoware_tensorrt_yolox/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>tensorrt_yolox</name>
+  <name>autoware_tensorrt_yolox</name>
   <version>0.0.1</version>
   <description>tensorrt library implementation for yolox</description>
 

perception/tensorrt_yolox/src/preprocess.cu → perception/autoware_tensorrt_yolox/src/preprocess.cu

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <tensorrt_yolox/preprocess.hpp>
+#include <autoware/tensorrt_yolox/preprocess.hpp>
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -21,7 +21,7 @@
 
 #define MIN(x, y) x < y ? x : y
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 constexpr size_t block = 512;
 
@@ -629,4 +629,4 @@ void argmax_gpu(
     N, dst, src, d_h, d_w, s_c, s_h, s_w, batch);
 }
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox

perception/tensorrt_yolox/src/tensorrt_yolox.cpp → perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp

@@ -1,4 +1,4 @@
 // Copyright 2023 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,10 +15,10 @@
 #include "cuda_utils/cuda_check_error.hpp"
 #include "cuda_utils/cuda_unique_ptr.hpp"
 
+#include <autoware/tensorrt_yolox/calibrator.hpp>
+#include <autoware/tensorrt_yolox/preprocess.hpp>
+#include <autoware/tensorrt_yolox/tensorrt_yolox.hpp>
 #include <experimental/filesystem>
-#include <tensorrt_yolox/calibrator.hpp>
-#include <tensorrt_yolox/preprocess.hpp>
-#include <tensorrt_yolox/tensorrt_yolox.hpp>
 
 #include <assert.h>
 
@@ -104,9 +104,9 @@
   return fileList;
 }
 
-std::vector<tensorrt_yolox::Colormap> get_seg_colormap(const std::string & filename)
+std::vector<autoware::tensorrt_yolox::Colormap> get_seg_colormap(const std::string & filename)
 {
-  std::vector<tensorrt_yolox::Colormap> seg_cmap;
+  std::vector<autoware::tensorrt_yolox::Colormap> seg_cmap;
   if (filename != "not-specified") {
     std::vector<std::string> color_list = loadListFromTextFile(filename);
     for (int i = 0; i < static_cast<int>(color_list.size()); i++) {
@@ -115,7 +115,7 @@
         continue;
       }
       std::string colormapString = color_list[i];
-      tensorrt_yolox::Colormap cmap;
+      autoware::tensorrt_yolox::Colormap cmap;
       size_t npos = colormapString.find_first_of(',');
       assert(npos != std::string::npos);
       std::string substr = colormapString.substr(0, npos);
@@ -151,7 +151,7 @@
 
 }  // anonymous namespace
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 TrtYoloX::TrtYoloX(
   const std::string & model_path, const std::string & precision, const int num_class,
@@ -1247,7 +1247,8 @@
 }
 
 void TrtYoloX::getColorizedMask(
-  const std::vector<tensorrt_yolox::Colormap> & colormap, const cv::Mat & mask, cv::Mat & cmask)
+  const std::vector<autoware::tensorrt_yolox::Colormap> & colormap, const cv::Mat & mask,
+  cv::Mat & cmask)
 {
   int width = mask.cols;
   int height = mask.rows;
@@ -1264,4 +1265,4 @@
   }
 }
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox