update yolox_ros_cpp

Author: Ar-Ray-code

yolox_ros_cpp/yolox_ros_cpp/include/yolox_ros_cpp/yolox_ros_cpp.hpp

@@ -21,7 +21,7 @@ namespace yolox_ros_cpp{
     class YoloXNode : public rclcpp::Node
     {
     public:
-        YoloXNode(const rclcpp::NodeOptions& options);
+        YoloXNode(const rclcpp::NodeOptions&);
 
     protected:
         std::shared_ptr<yolox_parameters::ParamListener> param_listener_;
@@ -34,11 +34,11 @@ namespace yolox_ros_cpp{
         std::vector<std::string> class_names_;
 
         image_transport::Subscriber sub_image_;
-        void colorImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& ptr);
+        void colorImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr&);
 
         rclcpp::Publisher<bboxes_ex_msgs::msg::BoundingBoxes>::SharedPtr pub_bboxes_;
         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);
+        bboxes_ex_msgs::msg::BoundingBoxes objects_to_bboxes(cv::Mat, std::vector<yolox_cpp::Object>, std_msgs::msg::Header);
     };
 }

yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp

@@ -37,9 +37,10 @@ namespace yolox_ros_cpp
         {
 #ifdef ENABLE_TENSORRT
             RCLCPP_INFO(this->get_logger(), "Model Type is TensorRT");
-            this->yolox_ = std::make_unique<yolox_cpp::YoloXTensorRT>(this->params_.model_path, this->params_.tensorrt_device,
-                                                                      this->params_.nms, this->params_.conf, this->params_.model_version,
-                                                                      this->params_.num_classes, this->params_.p6);
+            this->yolox_ = std::make_unique<yolox_cpp::YoloXTensorRT>(
+                this->params_.model_path, this->params_.tensorrt_device,
+                this->params_.nms, this->params_.conf, this->params_.model_version,
+                this->params_.num_classes, this->params_.p6);
 #else
             RCLCPP_ERROR(this->get_logger(), "yolox_cpp is not built with TensorRT");
             rclcpp::shutdown();
@@ -49,9 +50,10 @@ namespace yolox_ros_cpp
         {
 #ifdef ENABLE_OPENVINO
             RCLCPP_INFO(this->get_logger(), "Model Type is OpenVINO");
-            this->yolox_ = std::make_unique<yolox_cpp::YoloXOpenVINO>(this->params_.model_path, this->params_.openvino_device,
-                                                                      this->params_.nms, this->params_.conf, this->params_.model_version,
-                                                                      this->params_.num_classes, this->params_.p6);
+            this->yolox_ = std::make_unique<yolox_cpp::YoloXOpenVINO>(
+                this->params_.model_path, this->params_.openvino_device,
+                this->params_.nms, this->params_.conf, this->params_.model_version,
+                this->params_.num_classes, this->params_.p6);
 #else
             RCLCPP_ERROR(this->get_logger(), "yolox_cpp is not built with OpenVINO");
             rclcpp::shutdown();
@@ -61,13 +63,14 @@ namespace yolox_ros_cpp
         {
 #ifdef ENABLE_ONNXRUNTIME
             RCLCPP_INFO(this->get_logger(), "Model Type is ONNXRuntime");
-            this->yolox_ = std::make_unique<yolox_cpp::YoloXONNXRuntime>(this->params_.model_path,
-                                                                         this->params_.onnxruntime_intra_op_num_threads_,
-                                                                         this->params_.onnxruntime_inter_op_num_threads_,
-                                                                         this->params_.onnxruntime_use_cuda_, this->params_.onnxruntime_device_id,
-                                                                         this->params_.onnxruntime_use_parallel,
-                                                                         this->params_.nms, this->params_.conf, this->params_.model_version,
-                                                                         this->params_.num_classes, this->params_.p6);
+            this->yolox_ = std::make_unique<yolox_cpp::YoloXONNXRuntime>(
+                this->params_.model_path,
+                this->params_.onnxruntime_intra_op_num_threads_,
+                this->params_.onnxruntime_inter_op_num_threads_,
+                this->params_.onnxruntime_use_cuda_, this->params_.onnxruntime_device_id,
+                this->params_.onnxruntime_use_parallel,
+                this->params_.nms, this->params_.conf, this->params_.model_version,
+                this->params_.num_classes, this->params_.p6);
 #else
             RCLCPP_ERROR(this->get_logger(), "yolox_cpp is not built with ONNXRuntime");
             rclcpp::shutdown();
@@ -77,9 +80,10 @@ namespace yolox_ros_cpp
         {
 #ifdef ENABLE_TFLITE
             RCLCPP_INFO(this->get_logger(), "Model Type is tflite");
-            this->yolox_ = std::make_unique<yolox_cpp::YoloXTflite>(this->params_.model_path, this->params_.tflite_num_threads_,
-                                                                    this->params_.nms, this->params_.conf, this->params_.model_version,
-                                                                    this->params_.num_classes, this->params_.p6, this->params_.is_nchw);
+            this->yolox_ = std::make_unique<yolox_cpp::YoloXTflite>(
+                this->params_.model_path, this->params_.tflite_num_threads_,
+                this->params_.nms, this->params_.conf, this->params_.model_version,
+                this->params_.num_classes, this->params_.p6, this->params_.is_nchw);
 #else
             RCLCPP_ERROR(this->get_logger(), "yolox_cpp is not built with tflite");
             rclcpp::shutdown();