From b7a5d6ff5a356b5b59386f7f5ccf8fc94b4ecef5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Miguel=20=C3=81ngel=20Gonz=C3=A1lez=20Santamarta?= Date: Thu, 31 Oct 2024 23:50:23 +0100 Subject: [PATCH] minor fixes --- README.md | 6 +++--- requirements.txt | 2 +- yolo_bringup/launch/yolo.launch.py | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 41c465f..9648710 100644 --- a/README.md +++ b/README.md @@ -121,8 +121,8 @@ These are the parameters from the [yolo.launch.py](./yolo_bringup/launch/yolo.la - **device**: GPU/CUDA (default: cuda:0) - **enable**: whether to start YOLO enabled (default: True) - **threshold**: detection threshold (default: 0.5) -- **iou**: intersection Over Union (IoU) threshold for Non-Maximum Suppression (NMS) (default: 0.5) -- **imgsz_height**: image height for inference (default: 640) +- **iou**: intersection Over Union (IoU) threshold for Non-Maximum Suppression (NMS) (default: 0.7) +- **imgsz_height**: image height for inference (default: 480) - **imgsz_width**: image width for inference (default: 640) - **half**: whether to enable half-precision (FP16) inference speeding up model inference with minimal impact on accuracy (default: False) - **max_det**: maximum number of detections allowed per image (default: 300) @@ -142,7 +142,7 @@ These are the parameters from the [yolo.launch.py](./yolo_bringup/launch/yolo.la - **use_3d**: whether to activate 3D detections (default: False) - **use_debug**: whether to activate debug node (default: True) -## Lifecycle nodes +## Lifecycle Nodes Previous updates add Lifecycle Nodes support to all the nodes available in the package. This implementation tries to reduce the workload in the unconfigured and inactive states by only loading the models and activating the subscriber on the active state. diff --git a/requirements.txt b/requirements.txt index b064dd9..7b1bb7a 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,5 +1,5 @@ opencv-python>=4.8.1.78 typing-extensions>=4.4.0 -ultralytics==8.3.18 +ultralytics==8.3.26 super-gradients==3.7.1 lap==0.4.0 \ No newline at end of file diff --git a/yolo_bringup/launch/yolo.launch.py b/yolo_bringup/launch/yolo.launch.py index 41b2150..af10543 100644 --- a/yolo_bringup/launch/yolo.launch.py +++ b/yolo_bringup/launch/yolo.launch.py @@ -73,7 +73,7 @@ def run_yolo(context: LaunchContext, use_tracking, use_3d): imgsz_height = LaunchConfiguration("imgsz_height") imgsz_height_cmd = DeclareLaunchArgument( "imgsz_height", - default_value="640", + default_value="480", description="Image height for inference", )