update README.md

Author: fateshelled

README.md

@@ -37,9 +37,9 @@ Check [this URL](./yolox_ros_cpp/README.md).
 
 <!-- - yolox/image_raw : Resized image (`sensor_msgs/Image`) -->
 
-- bounding_boxes: Output BoundingBoxes like darknet_ros_msgs (`bboxes_ex_msgs/BoundingBoxes`)
-
-  ※ If you want to use `darknet_ros_msgs` , replace `bboxes_ex_msgs` with `darknet_ros_msgs`.
+- bounding_boxes (`bboxes_ex_msgs/BoundingBoxes` or `vision_msgs/Detection2DArray`)
+  - `bboxes_ex_msgs/BoundingBoxes`: Output BoundingBoxes like darknet_ros_msgs
+  - ※ If you want to use `darknet_ros_msgs` , replace `bboxes_ex_msgs` with `darknet_ros_msgs`.
 
 <!-- ![yolox_topic](images_for_readme/yolox_topic.png) -->
 

yolox_ros_cpp/README.md

@@ -3,6 +3,8 @@
 ## Requirements
 - ROS2 Iron
   - ros-iron-generate-parameter-library
+  - ros-iron-vision-msgs
+  - ros-iron-usb-cam
 - OpenCV 4.x
 - OpenVINO 2024.*
 - TensorRT 10.x *
@@ -30,28 +32,26 @@ git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS -b iron
 cd ~/ros2_ws
 
 ./src/YOLOX-ROS/weights/onnx/download.bash yolox_tiny
-# Download onnx file and convert to IR format.
-# ./src/YOLOX-ROS/weights/openvino/download.bash yolox_tiny
 ```
 
 ### TensorRT
 ```bash
 cd ~/ros2_ws
 
 # Download onnx model and convert to TensorRT engine.
-# 1st arg is model name. 2nd is workspace size.
+# argument is model name. set yolox_tiny, yolox_nano, yolox_s, yolox_m or yolox_l.
 ./src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_tiny
 ```
 
-#### Tensorflow Lite
+### Tensorflow Lite
 ```bash
 cd ~/ros2_ws
 
 # Download tflite Person Detection model: https://github.com/Kazuhito00/Person-Detection-using-RaspberryPi-CPU/
 ./src/YOLOX-ROS/weights/tflite/download_model.bash
 ```
 
-#### PINTO_model_zoo
+### PINTO_model_zoo
 - Support PINTO_model_zoo model
 - Download model using the following script.
   - https://github.com/PINTO0309/PINTO_model_zoo/blob/main/132_YOLOX/download_nano.sh
@@ -77,15 +77,15 @@ cd ~/ros2_ws
 # build with openvino
 source /opt/ros/humble/setup.bash
 source /opt/intel/openvino_2021/bin/setupvars.sh
-colcon build --cmake-args -DYOLOX_USE_OPENVINO=ON
+colcon build --symlink-install --cmake-args -DYOLOX_USE_OPENVINO=ON
 ```
 
 ### TensorRT
 
 ```bash
 # build with tensorrt
-source /opt/ros/humble/setup.bash
-colcon build --cmake-args -DYOLOX_USE_TENSORRT=ON
+source /opt/ros/iron/setup.bash
+colcon build --symlink-install --cmake-args -DYOLOX_USE_TENSORRT=ON
 ```
 
 ### TFLite
@@ -115,12 +115,13 @@ make -j"$(nproc)"
 ```
 
 ```bash
-colcon build --cmake-args \
-  -DYOLOX_USE_TFLITE=ON \
-  -DTFLITE_LIB_PATH=${WORKSPACE}/tflite_build \
-  -DTFLITE_INCLUDE_DIR=${WORKSPACE}/tensorflow_src/ \
-  -DABSEIL_CPP_ICLUDE_DIR=${WORKSPACE}/tflite_build/abseil-cpp \
-  -DFLATBUFFERS_INCLUDE_DIR=${WORKSPACE}/tflite_build/flatbuffers/include
+colcon build --symlink-install \
+   --cmake-args \
+    -DYOLOX_USE_TFLITE=ON \
+    -DTFLITE_LIB_PATH=${WORKSPACE}/tflite_build \
+    -DTFLITE_INCLUDE_DIR=${WORKSPACE}/tensorflow_src/ \
+    -DABSEIL_CPP_ICLUDE_DIR=${WORKSPACE}/tflite_build/abseil-cpp \
+    -DFLATBUFFERS_INCLUDE_DIR=${WORKSPACE}/tflite_build/flatbuffers/include
 ```
 
 <br>
@@ -139,10 +140,6 @@ ros2 launch yolox_ros_cpp yolox_openvino.launch.py
 # ros2 launch yolox_ros_cpp yolox_openvino.launch.py \
 #     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_tiny_480x640.onnx \
 #     model_version:="0.1.0"
-
-## run YOLOX-tiny with NCS2
-# ros2 launch yolox_ros_cpp yolox_openvino_ncs2.launch.py
-
 ```
 
 ### TensorRT
@@ -156,20 +153,20 @@ ros2 launch yolox_ros_cpp yolox_tensorrt.launch.py
 
 ```
 
-### Jetson + TensorRT
+<!-- ### Jetson + TensorRT
 Jetson docker container cannot display GUI.
 If you want to show image with bounding box drawn, subscribe from host jetson or other PC.
 
 ```bash
 # run yolox_tiny
 ros2 launch yolox_ros_cpp yolox_tensorrt_jetson.launch.py
-```
+``` -->
 
-<!-- ### ONNXRuntime
+### ONNXRuntime
 ```bash
 # run yolox_tiny
 ros2 launch yolox_ros_cpp yolox_onnxruntime.launch.py
-``` -->
+```
 
 ### Tensorflow Lite
 ```bash
@@ -188,7 +185,7 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 <details>
 <summary>OpenVINO example</summary>
 
-- `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/openvino/yolox_tiny.xml
+- `model_path`: ./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx
 - `p6`: false
 - `class_labels_path`: ""
   - if not set, use coco_names.
@@ -201,14 +198,16 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 - `src_image_topic_name`: /image_raw
 - `publish_image_topic_name`: /yolox/image_raw
 - `publish_boundingbox_topic_name`: /yolox/bounding_boxes
+- `use_bbox_ex_msgs`: false
+- `publish_resized_image`: false
 
 </details>
 
 
 <details>
 <summary>TensorRT example</summary>
 
-- `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tensorrt/yolox_tiny.trt
+- `model_path`: ../src/YOLOX-ROS/weights/tensorrt/yolox_tiny.trt
 - `p6`: false
 - `class_labels_path`: ""
 - `num_classes`: 80
@@ -220,14 +219,16 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 - `src_image_topic_name`: /image_raw
 - `publish_image_topic_name`: /yolox/image_raw
 - `publish_boundingbox_topic_name`: /yolox/bounding_boxes
+- `use_bbox_ex_msgs`: false
+- `publish_resized_image`: false
 
 </details>
 
 <details>
 <summary>ONNXRuntime example</summary>
 
 
-- `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/onnx/yolox_tiny.onnx
+- `model_path`: ./src/YOLOX-ROS/weights/onnx/yolox_tiny.onnx
 - `p6`: false
 - `class_labels_path`: ""
 - `num_classes`: 80
@@ -245,13 +246,15 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 - `src_image_topic_name`: /image_raw
 - `publish_image_topic_name`: /yolox/image_raw
 - `publish_boundingbox_topic_name`: /yolox/bounding_boxes
+- `use_bbox_ex_msgs`: false
+- `publish_resized_image`: false
 
 </details>
 
 <details>
 <summary>Tensorflow Lite example</summary>
 
-- `model_path`: ./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model.tflite
+- `model_path`: ./src/YOLOX-ROS/weights/tflite/model.tflite
 - `p6`: false
 - `is_nchw`: true
 - `class_labels_path`: ""
@@ -264,6 +267,8 @@ ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 - `src_image_topic_name`: /image_raw
 - `publish_image_topic_name`: /yolox/image_raw
 - `publish_boundingbox_topic_name`: /yolox/bounding_boxes
+- `use_bbox_ex_msgs`: false
+- `publish_resized_image`: false
 
 </details>
 

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/.gitignore

@@ -1 +1 @@
-config.h
+config.h

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/coco_names.hpp

@@ -96,4 +96,4 @@ namespace yolox_cpp{
         {0.500, 0.500, 0.000}
     };
 }
-#endif
+#endif

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox.hpp

@@ -19,5 +19,4 @@
     #include "yolox_tflite.hpp"
 #endif
 
-
 #endif

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_tflite.hpp

@@ -50,4 +50,4 @@ namespace yolox_cpp{
     };
 } // namespace yolox_cpp
 
-#endif
+#endif

yolox_ros_cpp/yolox_cpp/src/yolox_onnxruntime.cpp

@@ -137,7 +137,7 @@ namespace yolox_cpp{
 
         float* net_pred = (float *)this->output_buffer_[0].get();
 
-        // post process
+        // postprocess
         const float scale = std::min(
             static_cast<float>(this->input_w_) / static_cast<float>(frame.cols),
             static_cast<float>(this->input_h_) / static_cast<float>(frame.rows)

yolox_ros_cpp/yolox_param/package.xml

@@ -19,4 +19,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml

@@ -93,4 +93,4 @@ yolox_parameters:
   publish_resized_image:
     type: bool
     description: "Enable or disable resized image."
-    default_value: false
+    default_value: false