add tflite support

Author: Ar-Ray-code

yolox_ros_cpp/README.md

@@ -10,11 +10,11 @@
 
 ※ Either one of OpenVINO or TensorRT or ONNXRuntime or Tensorflow Lite is required.
 
-<!-- ※ ONNXRuntime support CPU or CUDA execute provider.
+<!-- ※ ONNXRuntime support CPU or CUDA execute provider. -->
 
 ※ Tensorflow Lite support XNNPACK Delegate only.
 
-※ Tensorflow Lite support float model and does not support integer model. -->
+※ Tensorflow Lite support float model and does not support integer model.
 
 ※ Model convert script is not supported OpenVINO 2022.*
 
@@ -144,12 +144,11 @@ cd ~/ros2_ws
 ./src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_tiny 16
 ```
 
-<!-- #### Tensorflow Lite
+#### Tensorflow Lite
 ```bash
 cd ~/ros2_ws
 
-# Download tflite Person Detection model
-# https://github.com/Kazuhito00/Person-Detection-using-RaspberryPi-CPU/
+# Download tflite Person Detection model: https://github.com/Kazuhito00/Person-Detection-using-RaspberryPi-CPU/
 ./src/YOLOX-ROS/weights/tflite/download_model.bash
 ```
 
@@ -166,20 +165,42 @@ cd ~/ros2_ws
   - `./src/YOLOX-ROS/weights/tensorrt/convert.bash yolox_tiny_480x640`
 
 - tflite model copy to weight dir
-  - `cp resouces_new/saved_model_yolox_tiny_480x640/model_float32.tflite ./src/YOLOX-ROS/weights/tflite/` -->
+  - `cp resouces_new/saved_model_yolox_tiny_480x640/model_float32.tflite ./src/YOLOX-ROS/weights/tflite/`
 
 
+<br>
 
+## Build
+
+### OpenVINO
+
+```bash
+# 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
+```
 
-<!-- #### build yolox_ros_cpp with tflite
+### TensorRT
+
+```bash
+# build with tensorrt
+source /opt/ros/humble/setup.bash
+colcon build --cmake-args -DYOLOX_USE_TENSORRT=ON
+```
+
+### TFLite
+
+**TFLite build**
 
-##### build tflite
 https://www.tensorflow.org/lite/guide/build_cmake
 
 Below is an example build script.
-Please change `${workspace}` as appropriate for your environment.
+Please change `${WORKSPACE}` as appropriate for your environment.
 ```bash
-cd ${workspace}
+export WORKSPACE=${HOME}/ws_tflite
+mkdir -p ${WORKSPACE}
+cd ${WORKSPACE}
 git clone https://github.com/tensorflow/tensorflow.git tensorflow_src
 mkdir tflite_build
 cd tflite_build
@@ -192,42 +213,18 @@ cmake ../tensorflow_src/tensorflow/lite \
   -DCMAKE_BUILD_TYPE=Release
 
 make -j"$(nproc)"
-``` -->
-
-## Build
-
-### OpenVINO
-
-```bash
-# 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
 ```
 
-### TensorRT
-
 ```bash
-# build with tensorrt
-source /opt/ros/humble/setup.bash
-colcon build --cmake-args -DYOLOX_USE_TENSORRT=ON
+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
 ```
 
-<!-- ##### build ros package with tflite
-
-This is build script when tflite built as above.
-
-```bash
-# build with tflite
-colcon build --symlink-install \
-  --packages-up-to yolox_ros_cpp \
-  --cmake-args \
-    -DYOLOX_USE_TFLITE=ON \
-    -DTFLITE_LIB_PATH=${workspace}/tflite_build/libtensorflow-lite.so \
-    -DTFLITE_INCLUDE_DIR=${workspace}/tensorflow_src \
-    -DABSEIL_CPP_ICLUDE_DIR=${workspace}/tflite_build/abseil-cpp \
-    -DFLATBUFFERS_INCLUDE_DIR=${workspace}/tflite_build/flatbuffers/include
-``` -->
+<br>
 
 ## Run
 
@@ -272,28 +269,24 @@ If you want to show image with bounding box drawn, subscribe from host jetson or
 # 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
-# add libtensorflow-lite.so directory path to `LD_LIBRARY_PATH`
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${workspace}/tflite_build
-
-# run Person Detection Model
 ros2 launch yolox_ros_cpp yolox_tflite.launch.py
 
-# run PINTO_model_zoo model
-ros2 launch yolox_ros_cpp yolox_tflite.launch.py \
-    model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model_float32.tflite \
-    model_version:=0.1.0 \
-    num_classes:=80 \
-    is_nchw:=false
-``` -->
+# # run PINTO_model_zoo model
+# ros2 launch yolox_ros_cpp yolox_tflite.launch.py \
+#     model_path:=install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model_float32.tflite \
+#     model_version:=0.1.0 \
+#     num_classes:=80 \
+#     is_nchw:=false
+```
 
 ### Parameter
 

yolox_ros_cpp/yolox_cpp/CMakeLists.txt

@@ -53,6 +53,14 @@ if(YOLOX_USE_TENSORRT)
   set(TARGET_DPENDENCIES CUDA)
 endif()
 
+# tflite
+if(YOLOX_USE_TFLITE)
+  set(ENABLE_TFLITE ON)
+  set(TARGET_SRC src/yolox_tflite.cpp)
+  set(INCLUDES ${INCLUDES} ${TFLITE_INCLUDE_DIR})
+  set(INCLUDES ${INCLUDES} ${ABSEIL_CPP_ICLUDE_DIR})
+  set(INCLUDES ${INCLUDES} ${FLATBUFFERS_INCLUDE_DIR})
+endif()
 
 configure_file(
   "${PROJECT_SOURCE_DIR}/include/yolox_cpp/config.h.in"
@@ -65,12 +73,14 @@ ament_export_dependencies(${TARGET_DPENDENCIES})
 
 
 if (YOLOX_USE_TENSORRT)
-  target_link_libraries(yolox_cpp
-    nvinfer
-    nvinfer_plugin
-    nvparsers
-    nvonnxparser
-  )
+  target_link_libraries(yolox_cpp ${TARGET_LIBS})
+endif()
+
+if (YOLOX_USE_TFLITE)
+  target_include_directories(yolox_cpp PUBLIC ${INCLUDES})
+  target_link_libraries(yolox_cpp ${TFLITE_LIB_PATH}/libtensorflow-lite.so)
+  ament_export_include_directories(${INCLUDES})
+  install(DIRECTORY ${TFLITE_LIB_PATH}/ DESTINATION lib)
 endif()
 
 

yolox_ros_cpp/yolox_param/src/yolox_parameters.yaml

@@ -6,7 +6,7 @@ yolox_parameters:
   model_path:
     type: string
     description: "Path to the model file."
-    default_value: "./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model.tflite"
+    default_value: "./src/YOLOX-ROS/weights/tflite/model.tflite"
   class_labels_path:
     type: string
     description: "Path to the class labels file."

yolox_ros_cpp/yolox_ros_cpp/launch/yolox_tflite.launch.py

@@ -16,7 +16,7 @@ def generate_launch_description():
         ),
         DeclareLaunchArgument(
             "model_path",
-            default_value="./install/yolox_ros_cpp/share/yolox_ros_cpp/weights/tflite/model.tflite",
+            default_value="./src/YOLOX-ROS/weights/tflite/model.tflite",
             description="yolox model path."
         ),
         DeclareLaunchArgument(

yolox_ros_cpp/yolox_ros_cpp/src/yolox_ros_cpp.cpp

@@ -81,7 +81,7 @@ 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_.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