feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header #5553

badai-nguyen · 2023-11-10T12:55:30Z

Description

This PR is to add semantic segmentation mask output topic to solve the issue #5594

Tests performed

Test tensorrt_yolox output on internal rosbag:
ros2 launch tensorrt_yolox yolox_s_plus_opt.launch.xml
Screencast from 2024年05月30日 09時02分23秒.webm
Note that, adding semantic segmentation header causes increasing processing_time
- Tested reults on Embedded Robotic Controller Powered by NVIDIA® Jetson AGX Xavier ™ Module RQX-58G with preprocess_on_gpu: true:
- OS version:
- cat /etc/nv_tegra_release
- -> R32 (release), REVISION: 6.1, GCID: 27863751, BOARD: t186ref, EABI: aarch64, DATE: Mon Jul 26 19:36:31 UTC 2021

ros2 launch tensorrt_yolox yolox_s_plus_opt.launch.xml model_name:=yolox-sPlus-T4-960x960-pseudo-finetune	ros2 launch tensorrt_yolox yolox_s_plus_opt.launch.xml model_name:=yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls
Average 18.9983671 STD 0.3530808684	Average 51.28096922 STD ：0.6388894661

Notes for reviewers

Interface changes

Effects on system behavior

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github-actions · 2023-11-21T00:42:39Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5553/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-5553/perception/tensorrt_yolox/

badai-nguyen · 2023-12-08T02:08:30Z

Since @dan-dnn is still working on update the model so I convert this to draft and reopen when the new version of yolox is ready.

stale · 2024-02-06T03:35:32Z

This pull request has been automatically marked as stale because it has not had recent activity.

badai-nguyen · 2024-02-26T16:08:04Z

Since the utilized model is reconsidered so I close this for now and reopen it after the model is fixed.

Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]>

Signed-off-by: badai-nguyen <[email protected]>

Signed-off-by: Manato HIRABAYASHI <[email protected]>

perception/tensorrt_yolox/src/tensorrt_yolox.cpp

manato · 2024-06-21T10:38:05Z

@badai-nguyen
Thank you very much for your contribution. And I'm sorry for the delay in the review of this PR.
Overall, it looks good to me, but I added some suggestions to reduce unnecessary Device to Host memory copy. I'd appreciate it if you could consider them. Thank you!

dan-dnn · 2024-06-21T12:55:23Z

@badai-nguyen
Thank you for your contribution.
I apologize for the delay in reviewing this PR.

Overall, I think it looks good, butI have one suggestion regarding performance.
From the perspective of data transfer speed, it is better to publish the mask data before resizing and let the subscriber resize it.

Also, could you please add the following repository related to trt-YOLOXP in the README?

Co-authored-by: Manato Hirabayashi <[email protected]>

Signed-off-by: badai-nguyen <[email protected]>

badai-nguyen · 2024-06-24T00:21:26Z

@badai-nguyen Thank you very much for your contribution. And I'm sorry for the delay in the review of this PR. Overall, it looks good to me, but I added some suggestions to reduce unnecessary Device to Host memory copy. I'd appreciate it if you could consider them. Thank you!

@manato Thank you for your suggestion, I followed all of them.

badai-nguyen · 2024-06-24T00:24:17Z

@badai-nguyen Thank you for your contribution. I apologize for the delay in reviewing this PR.

Overall, I think it looks good, butI have one suggestion regarding performance. From the perspective of data transfer speed, it is better to publish the mask data before resizing and let the subscriber resize it.

Also, could you please add the following repository related to trt-YOLOXP in the README?

@dan-dnn

I updated README here d800691
I keep the small size of mask when publishing here a15ac04#diff-c07e477020c17e860704e7e466d42f493fc51a02ea27e8134c203b240079f80fR192-R193

Could you review this again?

codecov · 2024-06-24T00:26:39Z

Codecov Report

Attention: Patch coverage is 0% with 204 lines in your changes missing coverage. Please review.

Project coverage is 1.89%. Comparing base (507e3f4) to head (a15ac04).
Report is 109 commits behind head on main.

Files	Patch %	Lines
perception/tensorrt_yolox/src/tensorrt_yolox.cpp	0.00%	139 Missing ⚠️
...ception/tensorrt_yolox/src/tensorrt_yolox_node.cpp	0.00%	57 Missing ⚠️
...lox/include/tensorrt_yolox/tensorrt_yolox_node.hpp	0.00%	5 Missing ⚠️
...rt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp	0.00%	2 Missing ⚠️
...rt_yolox/src/yolox_single_image_inference_node.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #5553       +/-   ##
==========================================
- Coverage   14.84%   1.89%   -12.96%     
==========================================
  Files        1999     230     -1769     
  Lines      139163   14120   -125043     
  Branches    43716    2209    -41507     
==========================================
- Hits        20661     267    -20394     
+ Misses      95731   13797    -81934     
+ Partials    22771      56    -22715

Flag	Coverage Δ
differential	`1.89% <0.00%> (?)`
total	`?`

☔ View full report in Codecov by Sentry.
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dan-dnn · 2024-06-24T00:35:28Z

@badai-nguyen

Thank you for the update.
It looks good for me.

manato

@badai-nguyen
Thank you very much for your consideration. LGMT!

…el with semantic segmentation header (autowarefoundation#5553) * add segmentation model Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]> * fix: publish mask Signed-off-by: badai-nguyen <[email protected]> * feat: publish colorized mask Signed-off-by: badai-nguyen <[email protected]> * fix: resize yolox mask Signed-off-by: badai-nguyen <[email protected]> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <[email protected]> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <[email protected]> * fix: roi overlay segment Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * fix: update model name Signed-off-by: badai-nguyen <[email protected]> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <[email protected]> * chore: fix yaml file Signed-off-by: badai-nguyen <[email protected]> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <[email protected]> * fix: semantic class Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * chore: update default param Signed-off-by: badai-nguyen <[email protected]> * fix: add processing time topic Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <[email protected]> * fix: yolox default param Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * docs: update model description Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <[email protected]> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <[email protected]> Signed-off-by: Simon Eisenmann <[email protected]>

…el with semantic segmentation header (autowarefoundation#5553) * add segmentation model Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]> * fix: publish mask Signed-off-by: badai-nguyen <[email protected]> * feat: publish colorized mask Signed-off-by: badai-nguyen <[email protected]> * fix: resize yolox mask Signed-off-by: badai-nguyen <[email protected]> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <[email protected]> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <[email protected]> * fix: roi overlay segment Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * fix: update model name Signed-off-by: badai-nguyen <[email protected]> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <[email protected]> * chore: fix yaml file Signed-off-by: badai-nguyen <[email protected]> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <[email protected]> * fix: semantic class Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * chore: update default param Signed-off-by: badai-nguyen <[email protected]> * fix: add processing time topic Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <[email protected]> * fix: yolox default param Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * docs: update model description Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <[email protected]> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <[email protected]>

…el with semantic segmentation header (#5553) * add segmentation model Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]> * fix: publish mask Signed-off-by: badai-nguyen <[email protected]> * feat: publish colorized mask Signed-off-by: badai-nguyen <[email protected]> * fix: resize yolox mask Signed-off-by: badai-nguyen <[email protected]> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <[email protected]> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <[email protected]> * fix: roi overlay segment Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * fix: update model name Signed-off-by: badai-nguyen <[email protected]> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <[email protected]> * chore: fix yaml file Signed-off-by: badai-nguyen <[email protected]> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <[email protected]> * fix: semantic class Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * chore: update default param Signed-off-by: badai-nguyen <[email protected]> * fix: add processing time topic Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <[email protected]> * fix: yolox default param Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * docs: update model description Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <[email protected]> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <[email protected]>

…el with semantic segmentation header (autowarefoundation#5553) * add segmentation model Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]> * fix: publish mask Signed-off-by: badai-nguyen <[email protected]> * feat: publish colorized mask Signed-off-by: badai-nguyen <[email protected]> * fix: resize yolox mask Signed-off-by: badai-nguyen <[email protected]> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <[email protected]> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <[email protected]> * fix: roi overlay segment Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * fix: update model name Signed-off-by: badai-nguyen <[email protected]> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <[email protected]> * chore: fix yaml file Signed-off-by: badai-nguyen <[email protected]> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <[email protected]> * fix: semantic class Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * chore: update default param Signed-off-by: badai-nguyen <[email protected]> * fix: add processing time topic Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <[email protected]> * fix: yolox default param Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * docs: update model description Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <[email protected]> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <[email protected]>

….29.0 (#1526) * feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header (autowarefoundation#5553) * add segmentation model Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]> * fix: publish mask Signed-off-by: badai-nguyen <[email protected]> * feat: publish colorized mask Signed-off-by: badai-nguyen <[email protected]> * fix: resize yolox mask Signed-off-by: badai-nguyen <[email protected]> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <[email protected]> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <[email protected]> * fix: roi overlay segment Signed-off-by: badai-nguyen <[email protected]> * chore: refactor Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * fix: update model name Signed-off-by: badai-nguyen <[email protected]> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <[email protected]> * fix: launch file Signed-off-by: badai-nguyen <[email protected]> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <[email protected]> * chore: fix yaml file Signed-off-by: badai-nguyen <[email protected]> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <[email protected]> * fix: semantic class Signed-off-by: badai-nguyen <[email protected]> * docs: update readme Signed-off-by: badai-nguyen <[email protected]> * chore: update default param Signed-off-by: badai-nguyen <[email protected]> * fix: add processing time topic Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <[email protected]> * fix: yolox default param Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * chore: rename debug topics Signed-off-by: badai-nguyen <[email protected]> * docs: update model description Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <[email protected]> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <[email protected]> * fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (autowarefoundation#7905) * fix: add rle compress Signed-off-by: badai-nguyen <[email protected]> * fix: rle compress Signed-off-by: badai-nguyen <[email protected]> * fix: move rle into utils Signed-off-by: badai-nguyen <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * Update perception/autoware_tensorrt_yolox/src/utils.cpp Co-authored-by: Yukihiro Saito <[email protected]> * fix: remove unused variable Signed-off-by: badai-nguyen <[email protected]> * Update perception/autoware_tensorrt_yolox/src/utils.cpp Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * feat: add unit test for utils Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: unit test Signed-off-by: badai-nguyen <[email protected]> * chore: change to explicit index Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: cuda cmake Signed-off-by: badai-nguyen <[email protected]> * fix: separate unit test into different PR Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: Manato Hirabayashi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * refactor(tensorrt_yolox): move utils into perception_utils (autowarefoundation#8435) * chore(tensorrt_yolo): refactor utils Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: tensorrt_yolox Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(perception_utils): install library after build (autowarefoundation#8501) Signed-off-by: Manato HIRABAYASHI <[email protected]> * fix(image_projection_based_fusion): resize sematic segmentation mask as input image size (autowarefoundation#7635) Signed-off-by: badai-nguyen <[email protected]> * fix(image_projection_based_fusion): segmentation pointcloud fusion param update (autowarefoundation#7858) * fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion (autowarefoundation#7909) * fix: add rle decompress Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: use rld in tensorrt utils Signed-off-by: badai-nguyen <[email protected]> * fix: rebase error Signed-off-by: badai-nguyen <[email protected]> * fix: dependency Signed-off-by: badai-nguyen <[email protected]> * fix: skip publish debug mask Signed-off-by: badai-nguyen <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp Co-authored-by: kminoda <[email protected]> * style(pre-commit): autofix * Revert "fix: skip publish debug mask" This reverts commit 30fa9ae. --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <[email protected]> * feat(tier4_perception_launch): add image segmentation based pointcloud filter (autowarefoundation#7225) * feat(tier4_perception_launch): add image segmentation based pointcloud filter Signed-off-by: badai-nguyen <[email protected]> * chore: typo Signed-off-by: badai-nguyen <[email protected]> * fix: detection launch Signed-off-by: badai-nguyen <[email protected]> * chore: add maintainer Signed-off-by: badai-nguyen <[email protected]> * Revert "chore: add maintainer" This reverts commit 5adfef6. --------- Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix(autoware_image_projection_based_fusion): resolve issue with segmentation pointcloud fusion node failing with multiple mask inputs (autowarefoundation#8769) --------- Signed-off-by: badai-nguyen <[email protected]> Signed-off-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: Manato HIRABAYASHI <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Yi-Hsiang Fang (Vivid) <[email protected]>

github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Nov 10, 2023

badai-nguyen mentioned this pull request Nov 13, 2023

feat(image_projection_based_fusion): add image segmentation_pointcloud_fusion for pointcloud filter #5562

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badai-nguyen force-pushed the feat/tensorrt_yolox/add_semantic_segmentation branch 3 times, most recently from 16e5aa1 to e301a20 Compare November 20, 2023 12:49

badai-nguyen mentioned this pull request Nov 21, 2023

fix: add download url of yolox with semantic segmentation header autowarefoundation/autoware#4012

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badai-nguyen force-pushed the feat/tensorrt_yolox/add_semantic_segmentation branch from e301a20 to 8b787e3 Compare November 21, 2023 00:37

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badai-nguyen and others added 6 commits May 22, 2024 19:24

add segmentation model

767a936

Signed-off-by: badai-nguyen <[email protected]> fix: add multitask for segment Signed-off-by: badai-nguyen <[email protected]>

fix: publish mask

8356196

Signed-off-by: badai-nguyen <[email protected]>

feat: publish colorized mask

297528e

Signed-off-by: badai-nguyen <[email protected]>

fix: resize yolox mask

6dbbe77

Signed-off-by: badai-nguyen <[email protected]>

fix: add memory allocate operations

f648980

Signed-off-by: Manato HIRABAYASHI <[email protected]>

refactor: remove underscore for a local variable

3ab80e9

Signed-off-by: Manato HIRABAYASHI <[email protected]>

manato reviewed Jun 21, 2024

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badai-nguyen and others added 7 commits June 24, 2024 08:18

Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp

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Co-authored-by: Manato Hirabayashi <[email protected]>

Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp

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Co-authored-by: Manato Hirabayashi <[email protected]>

Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp

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Co-authored-by: Manato Hirabayashi <[email protected]>

style(pre-commit): autofix

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docs: update reamde

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Signed-off-by: badai-nguyen <[email protected]>

style(pre-commit): autofix

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fix: skip mask size as yolox output

a15ac04

Signed-off-by: badai-nguyen <[email protected]>

dan-dnn approved these changes Jun 24, 2024

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badai-nguyen merged commit 2ca276f into autowarefoundation:main Jun 24, 2024
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fix(image_projection_based_fusion): resize sematic segmentation mask as input image size #7635

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feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header #5553

feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header #5553

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feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header #5553

feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header #5553

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