add yolox_param

Ar-Ray-code · Ar-Ray-code · commit 52b35cdda8e1 · 2023-07-09T17:08:47.000+09:00
diff --git a/yolox_ros_cpp/yolox_param/CMakeLists.txt b/yolox_ros_cpp/yolox_param/CMakeLists.txt
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+project(yolox_param)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(generate_parameter_library REQUIRED)
+
+generate_parameter_library(${PROJECT_NAME}
+  src/yolox_parameters.yaml
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_auto_package()
diff --git a/yolox_ros_cpp/yolox_param/package.xml b/yolox_ros_cpp/yolox_param/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>yolox_param</name>
+  <version>0.3.2</version>
+  <description>YOLOX-ROS Parameter Package</description>
+  <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>generate_parameter_library</depend>
+  <depend>parameter_traits</depend>
+  <depend>rclcpp_lifecycle</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml b/yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml
@@ -0,0 +1,85 @@
+yolox_parameters:
+  imshow_isshow:
+    type: bool
+    description: "Enable or disable imshow."
+    default_value: false
+  model_path:
+    type: string
+    description: "Path to the model file."
+    default_value: "./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model.tflite"
+  class_labels_path:
+    type: string
+    description: "Path to the class labels file."
+    default_value: ""
+  num_classes:
+    type: int
+    description: "Number of classes."
+    default_value: 1
+  is_nchw:
+    type: bool
+    description: "Enable or disable NCHW."
+    default_value: true
+  p6:
+    type: bool
+    description: "Enable or disable P6."
+    default_value: false
+  conf:
+    type: double
+    description: "Confidence threshold."
+    default_value: 0.3
+  nms:
+    type: double
+    description: "NMS threshold."
+    default_value: 0.45
+  tensorrt_device:
+    type: int
+    description: "TensorRT device."
+    default_value: 0
+  openvino_device:
+    type: string
+    description: "OpenVINO device."
+    default_value: "CPU"
+  onnxruntime_use_cuda:
+    type: bool
+    description: "Enable or disable CUDA."
+    default_value: true
+  onnxruntime_device_id:
+    type: int
+    description: "ONNXRuntime device ID."
+    default_value: 0
+  onnxruntime_use_parallel:
+    type: bool
+    description: "Enable or disable parallel."
+    default_value: false
+  onnxruntime_inter_op_num_threads:
+    type: int
+    description: "ONNXRuntime inter op num threads."
+    default_value: 1
+  onnxruntime_intra_op_num_threads:
+    type: int
+    description: "ONNXRuntime intra op num threads."
+    default_value: 1
+  tflite_num_threads:
+    type: int
+    description: "TFLite num threads."
+    default_value: 1
+  model_type:
+    type: string
+    description: "Model type."
+    default_value: "tflite"
+  model_version:
+    type: string
+    description: "Model version."
+    default_value: "0.1.1rc0"
+  src_image_topic_name:
+    type: string
+    description: "Source image topic name."
+    default_value: "image_raw"
+  publish_image_topic_name:
+    type: string
+    description: "Publish image topic name."
+    default_value: "yolox/image_raw"
+  publish_boundingbox_topic_name:
+    type: string
+    description: "Publish bounding box topic name."
+    default_value: "yolox/bounding_boxes"
diff --git a/yolox_ros_cpp/yolox_ros_cpp/include/yolox_ros_cpp/yolox_ros_cpp.hpp b/yolox_ros_cpp/yolox_ros_cpp/include/yolox_ros_cpp/yolox_ros_cpp.hpp
@@ -5,7 +5,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
-// #include <ament_index_cpp/get_package_share_directory.hpp>
+
+#include "yolox_param/yolox_param.hpp"
 
 #include <cv_bridge/cv_bridge.h>
 #include <image_transport/image_transport.hpp>
@@ -22,33 +23,16 @@ namespace yolox_ros_cpp{
     {
     public:
         YoloXNode(const rclcpp::NodeOptions& options);
-        YoloXNode(const std::string &node_name, const rclcpp::NodeOptions& options);
 
+    protected:
+        std::shared_ptr<yolox_parameters::ParamListener> param_listener_;
+        yolox_parameters::Params params_;
     private:
-        void initializeParameter();
+        void onInit();
+        rclcpp::TimerBase::SharedPtr init_timer_;
+
         std::unique_ptr<yolox_cpp::AbcYoloX> yolox_;
-        std::string model_path_;
-        std::string model_type_;
-        std::string model_version_;
-        int tensorrt_device_;
-        std::string openvino_device_;
-        bool onnxruntime_use_cuda_;
-        int onnxruntime_device_id_;
-        bool onnxruntime_use_parallel_;
-        int onnxruntime_intra_op_num_threads_;
-        int onnxruntime_inter_op_num_threads_;
-        int tflite_num_threads_;
-        float conf_th_;
-        float nms_th_;
-        int num_classes_;
-        bool is_nchw_;
-        bool p6_;
         std::vector<std::string> class_names_;
-        std::string class_labels_path_;
-
-        std::string src_image_topic_name_;
-        std::string publish_image_topic_name_;
-        std::string publish_boundingbox_topic_name_;
 
         image_transport::Subscriber sub_image_;
         void colorImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& ptr);
@@ -57,9 +41,6 @@ namespace yolox_ros_cpp{
         image_transport::Publisher pub_image_;
 
         bboxes_ex_msgs::msg::BoundingBoxes objects_to_bboxes(cv::Mat frame, std::vector<yolox_cpp::Object> objects, std_msgs::msg::Header header);
-
-        std::string WINDOW_NAME_ = "YOLOX";
-        bool imshow_ = true;
     };
 }
 #endif
diff --git a/yolox_ros_cpp/yolox_ros_cpp/package.xml b/yolox_ros_cpp/yolox_ros_cpp/package.xml
@@ -19,6 +19,7 @@
   <depend>sensor_msgs</depend>
   <depend>bboxes_ex_msgs</depend>
   <depend>yolox_cpp</depend>
+  <depend>yolox_param</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp b/yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp
