Tensorrt_yolo issue in autoware universe

[xmfcx]

Discussed in https://github.com/orgs/autowarefoundation/discussions/229

^{Originally posted by amtommy April 26, 2022}
Hello!
I tried to run the tensorrt_yolo, but I got the incorrect detection results. (see figure)
How to fix it?

Thank you!

[kaancolak]

@amtommy I tested YoloV3, YoloV4, and YoloV5l with the bag file provided by you. It looks like working well without any change current codebase.

Could you share your steps for reproducing your detection results?

I shared result videos:

YOLO V5L:

YOLO V4:

YOLO V3:

[amtommy]

@kaancolak Thanks for your verification.
I compare my code with the current codebase.
I find the problem is the module uses the default anchor size[link], so I got the incorrect result.
Now I use the correct anchor size [link], and I get the same result as yours.
The problem is solved, thanks for your help.

[mitsudome-r]

Thanks @kaancolak and @amtommy !
I will close this issue.