Tutorial for DetectNet with a Custom Model
==========================================

Overview
------------

This tutorial walks you through how to use a different `DetectNet
Model <https://catalog.ngc.nvidia.com/models?filters=&orderBy=dateModifiedDESC&query=detectnet>`__
with
:ir_repo:`isaac_ros_detectnet <isaac_ros_object_detection> <isaac_ros_detectnet>`
for object detection.

Tutorial Walkthrough
--------------------

1. Complete the quickstart :ref:`here <repositories_and_packages/isaac_ros_object_detection/isaac_ros_detectnet/index:quickstart>`.
2. Choose one of the DetectNet model that is `listed
   here <https://catalog.ngc.nvidia.com/models?filters=&orderBy=dateModifiedDESC&query=detectnet&page=0&pageSize=25>`__
3. Create a config file. Use ``resources/quickstart_config.pbtxt`` as a
   template. The datatype can be found in the overview tab of the model
   page. The ``input/dims`` should be the size of the raw input images.
   It can be different for the same model. The ``output/dims``
   dimensions can be calculated as ``round(input_dims/max_batch_size)``.
   Place this config file in the ``isaac_ros_detectnet/resources``
   directory. You can find more information about the config file
   `here <https://github.com/NVIDIA-AI-IOT/tao-toolkit-triton-apps/blob/main/docs/configuring_the_client.md#configuring-the-detectnet_v2-model-entry-in-the-model-repository>`__
4. Run the following command with the required input parameters:

   .. code:: bash

      cd /workspaces/isaac_ros-dev/src/isaac_ros_object_detection/isaac_ros_detectnet && \
        ./scripts/setup_model.sh --height 720 --width 1280 --config-file resources/isaac_sim_config.pbtxt

   Parameters:

   ``--model-link`` : Get the ``wget`` link to the specific model version
   under the file browser tab in the page. Click on the download button
   on the top right and select WGET. This will copy the commend to you
   clipboard. Paste this in a text editor and extract only the
   hyperlink. e.g.:
   ``https://api.ngc.nvidia.com/v2/models/nvidia/tao/peoplenet/versions/deployable_quantized_v2.5/zip``

   ``--model-file-name`` : The name of the ``.etlt`` file found in the file
   browser tab of the model page. e.g.: ``resnet34_peoplenet_int8.etlt``

   ``--height`` : height dimension of the input image e.g.: ``632``

   ``--width`` : width dimension of the input image. e.g.: ``1200``

   ``--config-file`` : relative path to the config file mentioned in
   step 3. e.g.: ``isaac_ros_detectnet/resources/peoplenet_config.pbtxt``
   
   ``-precision`` : type/precision of model found in the overview tag of the
   model page. e.g.: ``int8``

   ``--output-layers``: output layers separated by commas that can be
   found from the ``.txt`` file in the file browser tab of the model page.
   e.g.: ``output_cov/Sigmoid,output_bbox/BiasAdd``
5. Replace lines 32 and 33 in
   :ir_repo:`isaac_ros_detectnet.launch.py <isaac_ros_object_detection> <isaac_ros_detectnet/launch/isaac_ros_detectnet.launch.py>`
   with the input image dimensions
6. Run the following command:

   .. code:: bash

      cd /workspaces/isaac_ros-dev && \
        ros2 launch isaac_ros_detectnet isaac_ros_detectnet.launch.py