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‎.github/workflows/ci_iron.yml

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name: ci_iron
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on:
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push:
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branches:
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- "iron"
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pull_request:
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types: [opened, synchronize, labeled]
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jobs:
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ci:
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runs-on: ${{ matrix.os }}
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container:
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image: osrf/ros:${{ matrix.ros_distribution }}-desktop
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timeout-minutes: 20
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-22.04]
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ros_distribution: [iron]
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steps:
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- name: Install OpenVINO
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run: |
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sudo apt-get update
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sudo apt-get install -y wget
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wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
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sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
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echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2024.list
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sudo apt-get update
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sudo apt install -y openvino-2024.3.0
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- uses: actions/checkout@v4
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- name: Build and Test
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uses: ros-tooling/action-ros-ci@v0.3
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with:
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target-ros2-distro: ${{ matrix.ros_distribution }}
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skip-tests: true
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extra-cmake-args: "-DYOLOX_USE_OPENVINO=True"

‎.github/workflows/ci_jazzy.yml

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name: ci_jazzy
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on:
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push:
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branches:
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- "jazzy"
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pull_request:
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types: [opened, synchronize, labeled]
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jobs:
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ci:
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runs-on: ${{ matrix.os }}
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container:
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image: osrf/ros:${{ matrix.ros_distribution }}-desktop
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timeout-minutes: 20
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-24.04]
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ros_distribution: [jazzy]
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steps:
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- name: Install OpenVINO
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run: |
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sudo apt-get update
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sudo apt-get install -y wget
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wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
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sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
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echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu24 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2024.list
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sudo apt-get update
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sudo apt install -y openvino-2024.3.0
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- uses: actions/checkout@v4
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- name: Build and Test
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uses: ros-tooling/action-ros-ci@v0.3
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with:
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target-ros2-distro: ${{ matrix.ros_distribution }}
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skip-tests: true
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extra-cmake-args: "-DYOLOX_USE_OPENVINO=True"

‎.github/workflows/ci_rolling.yml

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name: ci_rolling
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on:
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push:
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branches:
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- "rolling"
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pull_request:
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types: [opened, synchronize, labeled]
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jobs:
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ci:
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runs-on: ${{ matrix.os }}
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container:
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image: osrf/ros:${{ matrix.ros_distribution }}-desktop
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timeout-minutes: 20
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-24.04]
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ros_distribution: [rolling]
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steps:
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- name: Install OpenVINO
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run: |
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sudo apt-get update
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sudo apt-get install -y wget
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wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
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sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
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echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu24 main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2024.list
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sudo apt-get update
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sudo apt install -y openvino-2024.3.0
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- uses: actions/checkout@v4
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- name: Build and Test
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uses: ros-tooling/action-ros-ci@v0.3
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with:
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target-ros2-distro: ${{ matrix.ros_distribution }}
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skip-tests: true
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extra-cmake-args: "-DYOLOX_USE_OPENVINO=True"

‎README.md

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11
# YOLOX-ROS
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3-
[YOLOX](https://github.com/Megvii-BaseDetection/YOLOX) + ROS2 Humble demo
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![](https://img.shields.io/github/stars/Ar-Ray-code/YOLOX-ROS)
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[![iron](https://github.com/Ar-Ray-code/YOLOX-ROS/actions/workflows/ci_iron.yml/badge.svg?branch=iron)](https://github.com/Ar-Ray-code/YOLOX-ROS/actions/workflows/ci_iron.yml)
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[YOLOX](https://github.com/Megvii-BaseDetection/YOLOX) + ROS2 Iron demo
49

510
![yolox_s_result](https://github.com/Ar-Ray-code/RenderTexture2ROS2Image/blob/main/images_for_readme/unity-demo.gif?raw=true)
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<div align="center">🔼 Unity + YOLOX-ROS Demo</div>
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## Supported List
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> rclcpp is recommended due to its extended support.
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| Base | ROS2 C++ |
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| --------------- | -------- |
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| TensorRT (CUDA) | ✅ |
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| OpenVINO | ✅ |
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| ONNX Runtime | ✅ |
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| TFLite | ✅ |
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<!-- ### Raspberry Pi4 🍓 + NCS2 + YOLOX-ROS
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Good news for studets❗🍓
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Check [GitHub Wiki](https://github.com/Ar-Ray-code/YOLOX-ROS/wiki/YOLOX-ROS---Raspbian-(NCS2)) to try YOLOX-ROS. -->
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## Installation & Demo (C++)
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<!-- - yolox/image_raw : Resized image (`sensor_msgs/Image`) -->
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- bounding_boxes: Output BoundingBoxes like darknet_ros_msgs (`bboxes_ex_msgs/BoundingBoxes`)
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※ If you want to use `darknet_ros_msgs` , replace `bboxes_ex_msgs` with `darknet_ros_msgs`.
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![yolox_topic](images_for_readme/yolox_topic.png)
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<br>
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## Parameters
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- bounding_boxes (`bboxes_ex_msgs/BoundingBoxes` or `vision_msgs/Detection2DArray`)
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- `bboxes_ex_msgs/BoundingBoxes`: Output BoundingBoxes like darknet_ros_msgs
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- ※ If you want to use `darknet_ros_msgs` , replace `bboxes_ex_msgs` with `darknet_ros_msgs`.
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52-
- Check launch files.
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<!-- ![yolox_topic](images_for_readme/yolox_topic.png) -->
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5446
<br>
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## Composition
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- Supports C++ only.
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<br>
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<!--
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## YOLOX-ROS + ?
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<details>
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<summary>Examples</summary>
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### Web Camera (v4l2-camera)
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- [yolox_nano_onnx.launch.py](./yolox_ros_py/launch/yolox_nano_onnx_camera.launch.py)
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```bash
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ros2 launch yolox_ros_py yolox_nano_onnx.launch.py video_device:=/dev/video0
74-
```
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76-
![](./images_for_readme/yolox_webcam.png)
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78-
### Unity
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- [Ar-Ray-code/RenderTexture2ROS2Image](https://github.com/Ar-Ray-code/RenderTexture2ROS2Image)
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![yolox_s_result](https://github.com/Ar-Ray-code/RenderTexture2ROS2Image/blob/main/images_for_readme/unity-demo.gif?raw=true)
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### Gazebo
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- [yolox_nano_onnx_gazebo.launch.py](./yolox_ros_py/launch/yolox_nano_onnx_gazebo.launch.py)
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```bash
89-
ros2 launch yolox_ros_py yolox_nano_onnx_gazebo.launch.py
90-
```
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![](./images_for_readme/gazebo.png)
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### YouTube
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- [yolox_nano_onnx_youtube.launch.py](./yolox_ros_py/launch/yolox_nano_onnx_youtube.launch.py)
97-
- [Ar-Ray-code/YouTube-publisher-ROS2](https://github.com/Ar-Ray-code/YouTube-publisher-ROS2)
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```bash
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# git clone https://github.com/Ar-Ray-code/YOLOX-ROS.git --recursive
101-
vcs import . < YOLOX-ROS/youtube-publisher.repos
102-
pip3 install -r YOLOX-ROS/requirements.txt
103-
pip3 install -r YouTube-publisher-ROS2/requirements.txt
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cd ..
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colcon build --symlink-install --pacakges-select yolox_ros_py bboxes_ex_msgs youtube_publisher
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source install/setup.bash
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# run launch.py
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ros2 launch yolox_ros_py yolox_nano_onnx_youtube.launch.py
110-
```
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![](./images_for_readme/yolox_ydl.png)
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</details> -->
115-
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<br>
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##
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## Reference
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<br>
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## Contributors
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- [Ar-Ray](https://github.com/Ar-Ray-code)
137-
- [fateshelled](https://github.com/fateshelled)
138-
- [Kazuhito00](https://github.com/Kazuhito00)
139-
- [swiftfile](https://github.com/swiftfile)
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<br>
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<a href="https://github.com/Ar-Ray-code/YOLOX-ROS/graphs/contributors">
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<img src="https://contrib.rocks/image?repo=Ar-Ray-code/YOLOX-ROS" />
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</a>
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## About writer
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- Ar-Ray : Japanese student.
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- Blog (Japanese) : https://ar-ray.hatenablog.com/
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- Twitter : https://twitter.com/Ray255Ar
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<br>

‎requirements.txt

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‎weights/onnx/download.bash

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#!/bin/bash
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# if $1 is empty
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if [ -z "$1" ]; then
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echo "Usage: $0 <target-model>"
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echo "Target-Models :"
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echo "yolox_tiny, yolox_nano, yolox_s, yolox_m, yolox_l, all"
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exit 1
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fi
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MODEL=$1
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MODEL_VERSION=0.1.1rc0
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SCRIPT_DIR=$(cd $(dirname $0); pwd)
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function download {
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# if $1 is empty
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if [ -z "$1" ]; then
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echo "Usage: $0 <target-model>"
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echo "Target-Models :"
8+
echo "yolox_tiny, yolox_nano, yolox_s, yolox_m, yolox_l, all"
9+
return
10+
fi
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MODEL=$1
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MODEL_VERSION=0.1.1rc0
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SCRIPT_DIR=$(cd $(dirname ${BASH_SOURCE:-$0}); pwd)
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echo $MODEL
15-
if [ "$MODEL" = "all" ]; then
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_tiny.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_nano.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_s.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_m.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_l.onnx -P $SCRIPT_DIR
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else
22-
wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/$MODEL.onnx -P $SCRIPT_DIR
23-
fi
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echo $MODEL
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if [ "$MODEL" = "all" ]; then
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_tiny.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_nano.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_s.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_m.onnx -P $SCRIPT_DIR
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/yolox_l.onnx -P $SCRIPT_DIR
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else
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wget https://github.com/Megvii-BaseDetection/YOLOX/releases/download/$MODEL_VERSION/$MODEL.onnx -P $SCRIPT_DIR
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fi
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}
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download $1

‎weights/tensorrt/convert.bash

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#!/bin/bash
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# if $1 is empty
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if [ -z "$1" ]; then
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echo "Usage: $0 <target-model> <workspace>"
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echo "Target-Models : yolox_tiny, yolox_nano, yolox_s, yolox_m, yolox_l"
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echo "WORKSPACE : GPU memory workspace. Default 16."
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exit 1
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fi
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function convert {
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# if $1 is empty
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if [ -z "$1" ]; then
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echo "Usage: $0 <target-model>"
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echo "Target-Models : yolox_tiny, yolox_nano, yolox_s, yolox_m, yolox_l"
8+
return
9+
fi
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11-
MODEL=$1
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TRT_WORKSPACE=$2
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if [ -z "$2" ]; then
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TRT_WORKSPACE=16
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fi
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MODEL=$1
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SCRIPT_DIR=$(cd $(dirname ${BASH_SOURCE:-$0}); pwd)
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17-
SCRIPT_DIR=$(cd $(dirname $0); pwd)
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echo "Model Name: ${MODEL}"
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echo ""
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echo "Model Name: ${MODEL}"
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echo "Workspace size: ${TRT_WORKSPACE}"
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echo ""
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ONNX_MODEL_PATH=$SCRIPT_DIR/../onnx/$MODEL.onnx
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if [ ! -e $ONNX_MODEL_PATH ]; then
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$SCRIPT_DIR/../onnx/download.bash $MODEL
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fi
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23-
ONNX_MODEL_PATH=$SCRIPT_DIR/../onnx/$MODEL.onnx
24-
if [ ! -e $ONNX_MODEL_PATH ]; then
25-
$SCRIPT_DIR/../onnx/download.bash $MODEL
26-
fi
22+
if [ ! -e $ONNX_MODEL_PATH ]; then
23+
echo "[ERROR] Not Found ${ONNX_MODEL_PATH}"
24+
echo "[ERROR] Please check target model name."
25+
return
26+
fi
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28-
if [ ! -e $ONNX_MODEL_PATH ]; then
29-
echo "[ERROR] Not Found ${ONNX_MODEL_PATH}"
30-
echo "[ERROR] Please check target model name."
31-
exit 1
32-
fi
28+
/usr/src/tensorrt/bin/trtexec \
29+
--onnx=$SCRIPT_DIR/../onnx/$MODEL.onnx \
30+
--saveEngine=$SCRIPT_DIR/$MODEL.trt \
31+
--fp16 --verbose
32+
}
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34-
/usr/src/tensorrt/bin/trtexec \
35-
--onnx=$SCRIPT_DIR/../onnx/$MODEL.onnx \
36-
--saveEngine=$SCRIPT_DIR/$MODEL.trt \
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--fp16 --verbose --workspace=$((1<<$TRT_WORKSPACE))
34+
convert $1

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