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added number to the frame id

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This commit is contained in:
Apoorva Gupta 2023-03-27 16:11:15 +05:30
parent 46177f166a
commit b3d2fa0ee6
1 changed files with 13 additions and 1 deletions
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14
ros2_ws/src/yolov3/detect_on_bag.py
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@ -131,11 +131,15 @@ def run(weights=ROOT / 'yolov3.pt', # model.pt path(s)
# Rescale boxes from img_size to im0 size # Rescale boxes from img_size to im0 size
det[:, :4] = scale_coords(im.shape[2:], det[:, :4], im0.shape).round() det[:, :4] = scale_coords(im.shape[2:], det[:, :4], im0.shape).round()
# Print results # Print results
number_of_uniq_det = {}
for c in det[:, -1].unique(): for c in det[:, -1].unique():
n = (det[:, -1] == c).sum() # detections per class n = (det[:, -1] == c).sum() # detections per class
s += f"{n} {names[int(c)]}{'s' * (n > 1)}, " # add to string s += f"{n} {names[int(c)]}{'s' * (n > 1)}, " # add to string
number_of_uniq_det[names[int(c)]] = int(n)
# Write results # Write results
append_count = 0
last_name = ""
for *xyxy, conf, cls in reversed(det): for *xyxy, conf, cls in reversed(det):
bounding_box = BoundingBox() bounding_box = BoundingBox()
c = int(cls) # integer class c = int(cls) # integer class
@ -147,7 +151,15 @@ def run(weights=ROOT / 'yolov3.pt', # model.pt path(s)
bounding_box.xmax = int(xyxy[2]) bounding_box.xmax = int(xyxy[2])
bounding_box.ymax = int(xyxy[3]) bounding_box.ymax = int(xyxy[3])
bounding_box.id = c bounding_box.id = c
bounding_box.class_id = names[c] if last_name != names[c]:
append_count = 0
if number_of_uniq_det[names[c]] > 1:
bounding_box.class_id = names[c] + "_" + str(append_count)
append_count+=1
last_name = names[c]
else:
bounding_box.class_id = names[c]
append_count = 0
bounding_boxes_msg.bounding_boxes.append(bounding_box) bounding_boxes_msg.bounding_boxes.append(bounding_box)
# Print time (inference-only) # Print time (inference-only)
LOGGER.info(f'{s}Done. ({t3 - t2:.3f}s)') LOGGER.info(f'{s}Done. ({t3 - t2:.3f}s)')