Robust-detections #217
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Robust-detections #217
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jws-1
approved these changes
Jun 16, 2024
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| for det in detections: | ||
| x, y, _, _ = det.xywh[0], det.xywh[1], det.xywh[2], det.xywh[3] | ||
| det_center_x = x | ||
| det_center_y = y | ||
| det_dist = np.sqrt( | ||
| (x_to_compare - det_center_x) ** 2 + (y_to_compare - det_center_y) ** 2 | ||
| ) | ||
| if det_dist < dist: | ||
| dist = det_dist | ||
| detection = det | ||
|
|
||
| if detection is None: | ||
| raise ValueError("No detections found") |
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Suggested change
| for det in detections: | |
| x, y, _, _ = det.xywh[0], det.xywh[1], det.xywh[2], det.xywh[3] | |
| det_center_x = x | |
| det_center_y = y | |
| det_dist = np.sqrt( | |
| (x_to_compare - det_center_x) ** 2 + (y_to_compare - det_center_y) ** 2 | |
| ) | |
| if det_dist < dist: | |
| dist = det_dist | |
| detection = det | |
| if detection is None: | |
| raise ValueError("No detections found") | |
| if not detections: | |
| raise ValueError("No detections found") | |
| detection = min(detections, key = lambda det : np.sqrt(x_to_compare - det.xywh[0]) ** 2 + (y_to_compare - det.xywh[1]) ** 2)) |
| if self._crop_method in self._valid_2d_methods: | ||
| img_msg = rospy.wait_for_message(self._rgb_topic, Image) | ||
| detections = self._yolo_2d( | ||
| img_msg, "yolov8x.pt", 0.5, 0.3 |
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Maybe the model, confidence and nms threshold should be given in the constructor?
Co-authored-by: Jared Swift <[email protected]>
Co-authored-by: Jared Swift <[email protected]>
Co-authored-by: Jared Swift <[email protected]>
Co-authored-by: Jared Swift <[email protected]>
Co-authored-by: Jared Swift <[email protected]>
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