refactor(tensorrt_yolox): move utils into perception_utils #8435

badai-nguyen · 2024-08-10T07:09:31Z

Description

This to move out run_length compression in utils from tensorrt_yolox to avoid cuda, cudnn required during CI build when it is used in other package such as image_projection_based_fusion.
There no change in algorimth.

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

github-actions · 2024-08-10T07:09:48Z

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

codecov · 2024-08-10T14:10:53Z

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 23.88%. Comparing base (7b93a0f) to head (c34c7d2).
Report is 44 commits behind head on main.

Files	Patch %	Lines
...utoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8435      +/-   ##
==========================================
- Coverage   23.89%   23.88%   -0.01%     
==========================================
  Files        1380     1381       +1     
  Lines      101577   101609      +32     
  Branches    38642    38652      +10     
==========================================
  Hits        24269    24269              
- Misses      74892    74924      +32     
  Partials     2416     2416

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`23.89% <ø> (+<0.01%)`	⬆️	Carriedforward from 7b93a0f

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

YoshiRi

LGTM

manato

LGTM

…oundation#8435) * chore(tensorrt_yolo): refactor utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: tensorrt_yolox Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: xtk8532704 <1041084556@qq.com>

…oundation#8435) * chore(tensorrt_yolo): refactor utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: tensorrt_yolox Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

….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 <dai.nguyen@tier4.jp> fix: add multitask for segment Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: publish mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * feat: publish colorized mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: resize yolox mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add memory allocate operations Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * refactor: remove underscore for a local variable Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * chore: add condition to check the number of subscriber for newly added topics Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> * chore: pre-commit Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add roi overlapping segment Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: roi overlay segment Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactor Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update readme Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: update model name Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add utils into tensorrt_yolox Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: launch file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove unnecessary depend Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix yaml file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: remove duplicated param in launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: semantic class Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update readme Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: update default param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add processing time topic Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * chore: fix cspell error Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: yolox default param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rename debug topics Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rename debug topics Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: update model description Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * refactor: unpublish mask for single task Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * Update perception/tensorrt_yolox/src/tensorrt_yolox.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * style(pre-commit): autofix * docs: update reamde Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: skip mask size as yolox output Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * fix(tensorrt_yolox): add run length encoding for sematic segmentation mask (autowarefoundation#7905) * fix: add rle compress Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: rle compress Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: move rle into utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: pre-commit Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/autoware_tensorrt_yolox/src/utils.cpp Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix: remove unused variable Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/autoware_tensorrt_yolox/src/utils.cpp Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> * style(pre-commit): autofix * feat: add unit test for utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: unit test Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: change to explicit index Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: cuda cmake Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: separate unit test into different PR Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> 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 <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: tensorrt_yolox Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> 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 <manato.hirabayashi@tier4.jp> * fix(image_projection_based_fusion): resize sematic segmentation mask as input image size (autowarefoundation#7635) Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * 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 <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: use rld in tensorrt utils Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: rebase error Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: dependency Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: skip publish debug mask Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Update perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * style(pre-commit): autofix * Revert "fix: skip publish debug mask" This reverts commit 30fa9ae. --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * 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 <dai.nguyen@tier4.jp> * chore: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: detection launch Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add maintainer Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * Revert "chore: add maintainer" This reverts commit 5adfef6. --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * 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 <dai.nguyen@tier4.jp> Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com>

chore(tensorrt_yolo): refactor utils

9e4235a

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

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 Aug 10, 2024

pre-commit-ci bot and others added 2 commits August 10, 2024 07:11

style(pre-commit): autofix

3c6f9e2

fix: tensorrt_yolox

c34c7d2

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

badai-nguyen added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 10, 2024

badai-nguyen marked this pull request as ready for review August 10, 2024 23:41

badai-nguyen requested review from dan-dnn, manato, miursh and YoshiRi as code owners August 10, 2024 23:41

Shin-kyoto assigned badai-nguyen Aug 13, 2024

YoshiRi approved these changes Aug 13, 2024

View reviewed changes

manato approved these changes Aug 15, 2024

View reviewed changes

badai-nguyen merged commit fb76734 into autowarefoundation:main Aug 15, 2024
38 of 39 checks passed

manato mentioned this pull request Aug 16, 2024

fix(perception_utils): install library after build #8501

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

refactor(tensorrt_yolox): move utils into perception_utils #8435

refactor(tensorrt_yolox): move utils into perception_utils #8435

badai-nguyen commented Aug 10, 2024

github-actions bot commented Aug 10, 2024 •

edited

Loading

codecov bot commented Aug 10, 2024 •

edited

Loading

YoshiRi left a comment

manato left a comment

refactor(tensorrt_yolox): move utils into perception_utils #8435

refactor(tensorrt_yolox): move utils into perception_utils #8435

Conversation

badai-nguyen commented Aug 10, 2024

Description

Related links

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Aug 10, 2024 • edited Loading

codecov bot commented Aug 10, 2024 • edited Loading

Codecov Report

YoshiRi left a comment

Choose a reason for hiding this comment

manato left a comment

Choose a reason for hiding this comment

github-actions bot commented Aug 10, 2024 •

edited

Loading

codecov bot commented Aug 10, 2024 •

edited

Loading