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compare: apoorva:65415a835501f601f23121c7c6ca740596e388c6
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11 Commits
46177f166a ... 65415a8355

Author SHA1 Message Date
apoorva
65415a8355 best weights for detection 2023-03-28 17:22:58 +05:30
apoorva
9069d699be ros package to run yolo detection with ros 2023-03-28 17:22:37 +05:30
apoorva
88944d72c2 custom msgs for bounding box for detetcion 2023-03-28 17:22:12 +05:30
apoorva
42814614e3 updated find pose 2023-03-28 17:21:18 +05:30
apoorva
acbddfc828 yolov3 back to its original space 2023-03-28 17:20:15 +05:30
apoorva
12d72479aa updated file extension 2023-03-27 17:11:27 +05:30
apoorva
d7ec4d8754 find pose cleanup and final launch file update 2023-03-27 16:51:12 +05:30
apoorva
821e6cc0ba now launch file install properly 2023-03-27 16:45:18 +05:30
apoorva
1467525ec5 added launch file 2023-03-27 16:42:25 +05:30
apoorva
126124c4da tf broadcast for each object 2023-03-27 16:11:52 +05:30
apoorva
b3d2fa0ee6 added number to the frame id 2023-03-27 16:11:15 +05:30
296 changed files with 15119 additions and 429 deletions
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12
ros2_ws/src/find-pose/CMakeLists.txt
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@ -59,7 +59,7 @@ find_package(sensor_msgs REQUIRED)
find_package(pcl_msgs REQUIRED) find_package(pcl_msgs REQUIRED)
find_package(image_transport REQUIRED) find_package(image_transport REQUIRED)
find_package(message_filters REQUIRED) find_package(message_filters REQUIRED)
find_package(yolov3_msg REQUIRED) find_package(pipe_msgs REQUIRED)
add_executable(convert_pointcloud_to_depth src/convert_pointcloud_to_depth.cpp) add_executable(convert_pointcloud_to_depth src/convert_pointcloud_to_depth.cpp)
ament_target_dependencies(convert_pointcloud_to_depth ${Libraries} rclcpp_components rclcpp sensor_msgs cv_bridge pcl_conversions image_transport message_filters) ament_target_dependencies(convert_pointcloud_to_depth ${Libraries} rclcpp_components rclcpp sensor_msgs cv_bridge pcl_conversions image_transport message_filters)
@ -78,7 +78,7 @@ include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS})
#ADD_LIBRARY(find_object ${SRC_FILES}) #ADD_LIBRARY(find_object ${SRC_FILES})
add_executable(find_pose_node src/FindObjectROS.cpp src/find_pose_node.cpp) add_executable(find_pose_node src/FindObjectROS.cpp src/find_pose_node.cpp)
set_target_properties(find_pose_node PROPERTIES OUTPUT_NAME find_pose_node) set_target_properties(find_pose_node PROPERTIES OUTPUT_NAME find_pose_node)
ament_target_dependencies(find_pose_node rclcpp rclcpp_components yolov3_msg cv_bridge sensor_msgs image_transport message_filters tf2_msgs tf2_geometry_msgs ${AMENT_LIBRARIES}) ament_target_dependencies(find_pose_node rclcpp rclcpp_components pipe_msgs cv_bridge sensor_msgs image_transport message_filters tf2_msgs tf2_geometry_msgs ${AMENT_LIBRARIES})
target_link_libraries(find_pose_node Qt5::Core Qt5::Widgets ${OpenCV_LIBRARIES} ${LIBRARIES}) target_link_libraries(find_pose_node Qt5::Core Qt5::Widgets ${OpenCV_LIBRARIES} ${LIBRARIES})
@ -89,7 +89,13 @@ install(TARGETS
DESTINATION lib/${PROJECT_NAME}) DESTINATION lib/${PROJECT_NAME})
#############
## Install ##
#############
install(DIRECTORY
launch/.
DESTINATION share/${PROJECT_NAME}/launch
)

19
ros2_ws/src/find-pose/include/find-pose/FindObjectROS.h
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@ -49,8 +49,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <message_filters/sync_policies/approximate_time.h> #include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h> #include <message_filters/sync_policies/exact_time.h>
#include <sensor_msgs/msg/camera_info.hpp> #include <sensor_msgs/msg/camera_info.hpp>
#include "yolov3_msg/msg/bounding_boxes.hpp" #include "pipe_msgs/msg/bounding_boxes.hpp"
#include "yolov3_msg/msg/bounding_box.hpp" #include "pipe_msgs/msg/bounding_box.hpp"
class FindObjectROS class FindObjectROS
{ {
@ -71,31 +71,28 @@ private:
void estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg, void estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg,
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg, const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg, const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
const yolov3_msg::msg::BoundingBoxes::ConstSharedPtr bboxes); const pipe_msgs::msg::BoundingBoxes::ConstSharedPtr bboxes);
double distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2); double distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2);
double angular_distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2);
private: private:
rclcpp::Node * node_; rclcpp::Node * node_;
rclcpp::Publisher<std_msgs::msg::Float32MultiArray>::SharedPtr pub_; rclcpp::Publisher<std_msgs::msg::Float32MultiArray>::SharedPtr pub_;
// rclcpp::Publisher<find_object_2d::msg::ObjectsStamped>::SharedPtr pubStamped_;
// rclcpp::Publisher<find_object_2d::msg::DetectionInfo>::SharedPtr pubInfo_;
std::string objFramePrefix_; std::string objFramePrefix_;
bool usePnP_;
std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_; std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
unsigned int num_objects_;
std::vector<double> objectHeight_;
std::vector<double> objectWidth_;
image_transport::SubscriberFilter rgbSub_; image_transport::SubscriberFilter rgbSub_;
image_transport::SubscriberFilter depthSub_; image_transport::SubscriberFilter depthSub_;
message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_; message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;
message_filters::Subscriber<yolov3_msg::msg::BoundingBoxes> bboxSub_; message_filters::Subscriber<pipe_msgs::msg::BoundingBoxes> bboxSub_;
bool tf_broadcast_;
typedef message_filters::sync_policies::ApproximateTime< typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::Image, sensor_msgs::msg::Image,
sensor_msgs::msg::Image, sensor_msgs::msg::Image,
sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo,
yolov3_msg::msg::BoundingBoxes> MyApproxSyncPolicy; pipe_msgs::msg::BoundingBoxes> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_; message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;

32
ros2_ws/src/find-pose/launch/find-pose-node.launch.py Normal file
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@ -0,0 +1,32 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
# Launch arguments
DeclareLaunchArgument('object_prefix', default_value='testingggggg', description='TF prefix of objects.'),
DeclareLaunchArgument('rgb_topic', default_value='rgb_img', description='Image topic.'),
DeclareLaunchArgument('depth_topic', default_value='depth_img', description='Registered depth topic.'),
DeclareLaunchArgument('camera_info_topic', default_value='camera_info', description='Camera info topic.'),
DeclareLaunchArgument('bounding_box_topic', default_value='bboxes', description='Bouding box topic.'),
# Nodes to launch
Node(
package='find-pose', executable='find_pose_node', output='screen',
parameters=[{
'object_prefix':LaunchConfiguration('object_prefix'),
}],
remappings=[
('rgb_img', LaunchConfiguration('rgb_topic')),
('depth_img', LaunchConfiguration('depth_topic')),
('camera_info', LaunchConfiguration('camera_info_topic'))]),
])

5
ros2_ws/src/find-pose/package.xml
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@ -22,14 +22,15 @@
<exec_depend>cv_bridge</exec_depend> <exec_depend>cv_bridge</exec_depend>
<build_depend>pcl_msgs</build_depend> <build_depend>pcl_msgs</build_depend>
<exec_depend>pcl_msgs</exec_depend> <exec_depend>pcl_msgs</exec_depend>
<build_depend>yolov3_msg</build_depend> <build_depend>pipe_msgs</build_depend>
<exec_depend>yolov3_msg</exec_depend> <exec_depend>pipe_msgs</exec_depend>
<build_depend>image_transport</build_depend> <build_depend>image_transport</build_depend>
<exec_depend>image_transport</exec_depend> <exec_depend>image_transport</exec_depend>
<build_depend>message_filters</build_depend> <build_depend>message_filters</build_depend>
<exec_depend>message_filters</exec_depend> <exec_depend>message_filters</exec_depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>
<exec_depend>ros2launch</exec_depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>

82
ros2_ws/src/find-pose/src/FindObjectROS.cpp
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@ -49,15 +49,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
FindObjectROS::FindObjectROS(rclcpp::Node * node) : FindObjectROS::FindObjectROS(rclcpp::Node * node) :
node_(node), node_(node),
objFramePrefix_("object"), objFramePrefix_("object"),
usePnP_(true) tf_broadcast_(true)
{ {
int queueSize = 10; int queueSize = 10;
tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node); tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node);
objFramePrefix_ = node->declare_parameter("object_prefix", objFramePrefix_); objFramePrefix_ = node->declare_parameter("object_prefix", objFramePrefix_);
usePnP_ = node->declare_parameter("pnp", usePnP_);
RCLCPP_INFO(node->get_logger(), "object_prefix = %s", objFramePrefix_.c_str()); RCLCPP_INFO(node->get_logger(), "object_prefix = %s", objFramePrefix_.c_str());
RCLCPP_INFO(node->get_logger(), "pnp = %s", usePnP_?"true":"false");
image_transport::TransportHints hints(node); image_transport::TransportHints hints(node);
rgbSub_.subscribe(node, "rgb_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile()); rgbSub_.subscribe(node, "rgb_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
depthSub_.subscribe(node, "/depth_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile()); depthSub_.subscribe(node, "/depth_img", hints.getTransport(), rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)1).get_rmw_qos_profile());
@ -66,9 +64,6 @@ FindObjectROS::FindObjectROS(rclcpp::Node * node) :
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_, bboxSub_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_, bboxSub_);
approxSync_->registerCallback(std::bind(&FindObjectROS::estimate_pose_on_bag, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4)); approxSync_->registerCallback(std::bind(&FindObjectROS::estimate_pose_on_bag, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4));
num_objects_ = 2;
objectHeight_.resize(num_objects_);
} }
@ -76,9 +71,8 @@ FindObjectROS::FindObjectROS(rclcpp::Node * node) :
void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg, void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSharedPtr rgbMsg,
const sensor_msgs::msg::Image::ConstSharedPtr depthMsg, const sensor_msgs::msg::Image::ConstSharedPtr depthMsg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg, const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg,
const yolov3_msg::msg::BoundingBoxes::ConstSharedPtr bboxes) const pipe_msgs::msg::BoundingBoxes::ConstSharedPtr bboxes)
{ {
std::cout << "callback!!!!!!!!" << std::endl;
if(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 && if(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 &&
depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0) depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0)
{ {
@ -106,12 +100,13 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
} }
size_t num_detections = bboxes->bounding_boxes.size(); size_t num_detections = bboxes->bounding_boxes.size();
std::cout << "num_detections: " << num_detections << std::endl; std::cout << "Number of detections: " << num_detections << std::endl;
geometry_msgs::msg::TransformStamped left_trail; geometry_msgs::msg::TransformStamped left_trail;
geometry_msgs::msg::TransformStamped right_trail; geometry_msgs::msg::TransformStamped right_trail;
std::vector<geometry_msgs::msg::TransformStamped> transforms;
for(size_t i = 0; i < num_detections ; i++) for(size_t i = 0; i < num_detections ; i++)
{ {
yolov3_msg::msg::BoundingBox object_bbox = bboxes->bounding_boxes[i]; pipe_msgs::msg::BoundingBox object_bbox = bboxes->bounding_boxes[i];
float object_width = object_bbox.xmax - object_bbox.xmin; float object_width = object_bbox.xmax - object_bbox.xmin;
float object_height = object_bbox.ymax - object_bbox.ymin; float object_height = object_bbox.ymax - object_bbox.ymin;
// top left is the 0,0 // top left is the 0,0
@ -127,10 +122,15 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
if (object_class == std::string("r_trail")) if (object_class == std::string("r_trail"))
right_trail = pose; right_trail = pose;
std::cout << "Pose for "<< object_class << " x: " << pose.transform.translation.x << " y: " << pose.transform.translation.y << " z: " << pose.transform.translation.z << std::endl; std::cout << "Pose for "<< object_class << " x: " << pose.transform.translation.x << " y: " << pose.transform.translation.y << " z: " << pose.transform.translation.z << std::endl;
transforms.push_back(pose);
} }
// geometry_msgs::msg::TransformStamped right_trail = estimate_pose(image, ptrDepth->image, 115, 116, cv::Point2f(819,600), cv::Point2f(974,600), cv::Point2f(974,716), cv::Point2f(819,716)); if(tf_broadcast_ && transforms.size())
// geometry_msgs::msg::TransformStamped left_trail = estimate_pose(image, ptrDepth->image, 160, 168, cv::Point2f(350,548), cv::Point2f(510,548), cv::Point2f(510,716), cv::Point2f(350,716)); {
std::cout << "Distance in meters !!!!!!" << distance(left_trail, right_trail) << std::endl; std::cout << "broadcast tf" << std::endl;
tfBroadcaster_->sendTransform(transforms);
}
std::cout << "Euclidean distance between two pipes in meters !!!!!!" << distance(left_trail, right_trail) << std::endl;
std::cout << "Angular distance between two pipes in radians !!!!!!" << angular_distance(left_trail, right_trail) << std::endl;
std::cout << std::endl; std::cout << std::endl;
} }
catch(const cv_bridge::Exception & e) catch(const cv_bridge::Exception & e)
@ -142,16 +142,6 @@ void FindObjectROS::estimate_pose_on_bag(const sensor_msgs::msg::Image::ConstSha
geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_image, cv::Mat depth, float objectWidth, float objectHeight, cv::Point2f point_1, cv::Point2f point_2, cv::Point2f point_3, cv::Point2f point_4) geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_image, cv::Mat depth, float objectWidth, float objectHeight, cv::Point2f point_1, cv::Point2f point_2, cv::Point2f point_3, cv::Point2f point_4)
{ {
std::vector<geometry_msgs::msg::TransformStamped> transforms;
// store bounding boxes. (This should come from yolo ideally)
// float objectWidth = 160; // width of bounding box in pixels
// float objectHeight = 168; // height of bounding box in pixels
// float objectWidth = 155; // width of bounding box in pixels
// float objectHeight = 116; // height of bounding box in pixels
geometry_msgs::msg::TransformStamped transform; geometry_msgs::msg::TransformStamped transform;
transform.transform.rotation.x=0; transform.transform.rotation.x=0;
transform.transform.rotation.y=0; transform.transform.rotation.y=0;
@ -160,12 +150,10 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
transform.transform.translation.x=0; transform.transform.translation.x=0;
transform.transform.translation.y=0; transform.transform.translation.y=0;
transform.transform.translation.z=0; transform.transform.translation.z=0;
transform.child_frame_id = "l_trail"; transform.child_frame_id = "";
transform.header.frame_id = "camera_link"; transform.header.frame_id = "camera_link";
// transform.header.stamp.sec = ros::Time::now();
tf2::Quaternion q; tf2::Quaternion q;
float depthConstant = 1.0f/640.8887939453125; // 0.00156033 // 1.0f/cameraInfoMsg->K[4]; float depthConstant = 1.0f/640.8887939453125; // 0.00156033 // 1.0f/cameraInfoMsg->K[4];
// std::cout << "depthconstant: " << depthConstant << std::endl;
std::vector<cv::Point3f> objectPoints(4); std::vector<cv::Point3f> objectPoints(4);
std::vector<cv::Point2f> imagePoints(4); std::vector<cv::Point2f> imagePoints(4);
objectPoints[0] = cv::Point3f(-0.5, -(objectHeight/objectWidth)/2.0f,0); objectPoints[0] = cv::Point3f(-0.5, -(objectHeight/objectWidth)/2.0f,0);
@ -173,14 +161,6 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
objectPoints[2] = cv::Point3f(0.5,(objectHeight/objectWidth)/2.0f,0); objectPoints[2] = cv::Point3f(0.5,(objectHeight/objectWidth)/2.0f,0);
objectPoints[3] = cv::Point3f(-0.5,(objectHeight/objectWidth)/2.0f,0); objectPoints[3] = cv::Point3f(-0.5,(objectHeight/objectWidth)/2.0f,0);
// QPointF pt = iter->map(QPointF(0, 0)); // QPointF pt = iter->map(QPointF(0, 0));
// imagePoints[0] = cv::Point2f(350,548);
// // pt = iter->map(QPointF(objectWidth, 0));
// imagePoints[1] = cv::Point2f(510,548);
// // pt = iter->map(QPointF(objectWidth, objectHeight));
// imagePoints[2] = cv::Point2f(510,716);
// // pt = iter->map(QPointF(0, objectHeight));
// imagePoints[3] = cv::Point2f(350,716);
// QPointF pt = iter->map(QPointF(0, 0));
imagePoints[0] = point_1; imagePoints[0] = point_1;
// pt = iter->map(QPointF(objectWidth, 0)); // pt = iter->map(QPointF(objectWidth, 0));
imagePoints[1] = point_2; imagePoints[1] = point_2;
@ -200,7 +180,7 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
cv::Mat tvec(1,3, CV_64FC1); cv::Mat tvec(1,3, CV_64FC1);
cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec); cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
// std::cout << "Pose tvec x: " << tvec.at<double>(0) << " y: " << tvec.at<double>(1) << " z: " << tvec.at<double>(2) << std::endl; // std::cout << "Pose tvec x: " << tvec.at<double>(0) << " y: " << tvec.at<double>(1) << " z: " << tvec.at<double>(2) << std::endl;
cv::Mat R; cv::Mat R;
cv::Rodrigues(rvec, R); cv::Rodrigues(rvec, R);
@ -216,8 +196,8 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
center.x()+0.5f, center.y()+0.5f, center.x()+0.5f, center.y()+0.5f,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f, float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant); 1.0f/depthConstant, 1.0f/depthConstant);
// std::cout << "center x: " << center.x() << " y: " << center.y() << std::endl; // std::cout << "center x: " << center.x() << " y: " << center.y() << std::endl;
// std::cout << "center 3D x: " << center3D[0] << " y: " << center3D[1] <<" z: " << center3D[1] << std::endl; // std::cout << "center 3D x: " << center3D[0] << " y: " << center3D[1] <<" z: " << center3D[1] << std::endl;
transform.transform.translation.x = tvec.at<double>(0)*(center3D.val[2]/tvec.at<double>(2)); transform.transform.translation.x = tvec.at<double>(0)*(center3D.val[2]/tvec.at<double>(2));
transform.transform.translation.y = tvec.at<double>(1)*(center3D.val[2]/tvec.at<double>(2)); transform.transform.translation.y = tvec.at<double>(1)*(center3D.val[2]/tvec.at<double>(2));
@ -228,12 +208,7 @@ geometry_msgs::msg::TransformStamped FindObjectROS::estimate_pose(cv::Mat rgb_im
q2.setRPY(CV_PI/2.0, CV_PI/2.0, 0); q2.setRPY(CV_PI/2.0, CV_PI/2.0, 0);
q *= q2; q *= q2;
transform.transform.rotation = tf2::toMsg(q.normalized()); transform.transform.rotation = tf2::toMsg(q.normalized());
transforms.push_back(transform);
return transform; return transform;
// if(transforms.size())
// {
// tfBroadcaster_->sendTransform(transforms);
// }
} }
cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage, cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
@ -273,7 +248,6 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
bool isValid; bool isValid;
if(isInMM) if(isInMM)
{ {
// std::cout << "depth is in mm!!" << std::endl;
depth = (float)depthImage.at<uint16_t>(y,x); depth = (float)depthImage.at<uint16_t>(y,x);
isValid = depth != 0.0f; isValid = depth != 0.0f;
} }
@ -282,14 +256,12 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
depth = depthImage.at<float>(y,x); depth = depthImage.at<float>(y,x);
isValid = std::isfinite(depth) && depth > 0.0f; isValid = std::isfinite(depth) && depth > 0.0f;
// std::cout << "depth is NOT in mm!! " << depth << std::endl;
} }
// Check for invalid measurements // Check for invalid measurements
if (!isValid) if (!isValid)
{ {
pt.val[0] = pt.val[1] = pt.val[2] = bad_point; pt.val[0] = pt.val[1] = pt.val[2] = bad_point;
// std::cout << "depth pt: " << pt.val[0] << " y: " << pt.val[1] << " z: " << pt.val[2] << std::endl;
} }
else else
{ {
@ -297,7 +269,7 @@ cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
pt.val[0] = (float(x) - center_x) * depth * constant_x; pt.val[0] = (float(x) - center_x) * depth * constant_x;
pt.val[1] = (float(y) - center_y) * depth * constant_y; pt.val[1] = (float(y) - center_y) * depth * constant_y;
pt.val[2] = depth*unit_scaling; pt.val[2] = depth*unit_scaling;
// td::cout << "depth pt: " << pt.val[0] << " y: " << pt.val[1] << " z: " << pt.val[2] << std::endl; // std::cout << "depth pt: " << pt.val[0] << " y: " << pt.val[1] << " z: " << pt.val[2] << std::endl;
} }
return pt; return pt;
} }
@ -310,3 +282,21 @@ double FindObjectROS::distance(geometry_msgs::msg::TransformStamped point1, geom
vector.z = point2.transform.translation.z - point1.transform.translation.z; vector.z = point2.transform.translation.z - point1.transform.translation.z;
return std::sqrt(vector.x*vector.x + vector.y*vector.y + vector.z*vector.z); return std::sqrt(vector.x*vector.x + vector.y*vector.y + vector.z*vector.z);
} }
double FindObjectROS::angular_distance(geometry_msgs::msg::TransformStamped point1, geometry_msgs::msg::TransformStamped point2)
{
tf2::Quaternion quat1(point1.transform.rotation.x, point1.transform.rotation.y, point1.transform.rotation.z, point1.transform.rotation.w);
tf2::Quaternion quat2(point2.transform.rotation.x, point2.transform.rotation.y, point2.transform.rotation.z, point2.transform.rotation.w);
// Assume that 'pos1' and 'pos2' are the positions of the two points
// and 'quat1' and 'quat2' are their corresponding quaternions
tf2::Vector3 diff;
diff[0] = point2.transform.translation.x - point1.transform.translation.x;
diff[1] = point2.transform.translation.y - point1.transform.translation.y;
diff[2] = point2.transform.translation.z - point1.transform.translation.z;
tf2::Quaternion rot = quat2 * quat1.inverse();
tf2::Quaternion diff_quat(0, diff.getX(), diff.getY(), diff.getZ());
tf2::Quaternion result = rot * diff_quat * rot.inverse();
double angle = 2 * std::acos(result.getW());
return angle;
}

36
ros2_ws/src/pipe_msgs/CMakeLists.txt Normal file
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@ -0,0 +1,36 @@
cmake_minimum_required(VERSION 3.8)
project(pipe_msgs)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/BoundingBox.msg"
"msg/BoundingBoxes.msg"
DEPENDENCIES std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
)
ament_package()

0
ros2_ws/src/yolov3/msg/BoundingBox.msg → ros2_ws/src/pipe_msgs/msg/BoundingBox.msg
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0
ros2_ws/src/yolov3/msg/BoundingBoxes.msg → ros2_ws/src/pipe_msgs/msg/BoundingBoxes.msg
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22
ros2_ws/src/pipe_msgs/package.xml Normal file
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@ -0,0 +1,22 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>pipe_msgs</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="eic.apoorva@gmail.com">parallels</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<depend>std_msgs</depend>
<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

0
ros2_ws/src/yolov3/runs/train/exp15/weights/best.pt → ros2_ws/src/pipe_weights.pt
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28
ros2_ws/src/yolov3/runs/train/exp15/hyp.yaml
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@ -1,28 +0,0 @@
lr0: 0.01
lrf: 0.1
momentum: 0.937
weight_decay: 0.0005
warmup_epochs: 3.0
warmup_momentum: 0.8
warmup_bias_lr: 0.1
box: 0.05
cls: 0.5
cls_pw: 1.0
obj: 1.0
obj_pw: 1.0
iou_t: 0.2
anchor_t: 4.0
fl_gamma: 0.0
hsv_h: 0.015
hsv_s: 0.7
hsv_v: 0.4
degrees: 0.0
translate: 0.1
scale: 0.5
shear: 0.0
perspective: 0.0
flipud: 0.0
fliplr: 0.5
mosaic: 1.0
mixup: 0.0
copy_paste: 0.0

BIN
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37
ros2_ws/src/yolov3/runs/train/exp15/opt.yaml
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@ -1,37 +0,0 @@
weights: ''
cfg: /content/gdrive/MyDrive/yolov3/models/yolov3.yaml
data: data/custom-yolov3.yaml
hyp: data/hyps/hyp.scratch.yaml
epochs: 300
batch_size: 16
imgsz: 1280
rect: false
resume: false
nosave: false
noval: false
noautoanchor: false
evolve: null
bucket: ''
cache: null
image_weights: false
device: ''
multi_scale: false
single_cls: false
adam: false
sync_bn: false
workers: 8
project: runs/train
name: exp
exist_ok: false
quad: false
linear_lr: false
label_smoothing: 0.0
patience: 100
freeze: 0
save_period: -1
local_rank: -1
entity: null
upload_dataset: false
bbox_interval: -1
artifact_alias: latest
save_dir: runs/train/exp15

301
ros2_ws/src/yolov3/runs/train/exp15/results.csv
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@ -1,301 +0,0 @@
epoch, train/box_loss, train/obj_loss, train/cls_loss, metrics/precision, metrics/recall, metrics/mAP_0.5,metrics/mAP_0.5:0.95, val/box_loss, val/obj_loss, val/cls_loss, x/lr0, x/lr1, x/lr2
0, 0.1072, 0.089784, 0.045148, 3.1447e-05, 0.009434, 1.7021e-05, 1.7021e-06, 0.074383, 0.071557, 0.036102, 0.00019, 0.00019, 0.09829
1, 0.09357, 0.073808, 0.04392, 6.2893e-05, 0.018868, 3.5032e-05, 6.2107e-06, 0.069977, 0.066751, 0.035672, 0.00038999, 0.00038999, 0.09649
2, 0.082933, 0.073286, 0.042061, 6.2893e-05, 0.018868, 3.5252e-05, 3.5252e-06, 0.067869, 0.065488, 0.035208, 0.00058994, 0.00058994, 0.09469
3, 0.078388, 0.073047, 0.042215, 9.434e-05, 0.028302, 5.6751e-05, 5.6751e-06, 0.067291, 0.064494, 0.034919, 0.00078982, 0.00078982, 0.09289
4, 0.077606, 0.066943, 0.040052, 9.434e-05, 0.028302, 5.7173e-05, 9.217e-06, 0.065971, 0.064303, 0.034521, 0.00098961, 0.00098961, 0.09109
5, 0.073009, 0.072096, 0.039418, 0.0010693, 0.082038, 0.00067087, 0.00010067, 0.065407, 0.064251, 0.034196, 0.0011893, 0.0011893, 0.089289
6, 0.074801, 0.071712, 0.039586, 0.0010178, 0.16158, 0.00093658, 0.00021294, 0.065921, 0.063458, 0.033979, 0.0013888, 0.0013888, 0.087489
7, 0.076127, 0.0702, 0.039439, 0.00084618, 0.17629, 0.0011685, 0.00023231, 0.065714, 0.063461, 0.033674, 0.0015881, 0.0015881, 0.085688
8, 0.075849, 0.074078, 0.038786, 0.0092778, 0.030889, 0.0032644, 0.00070873, 0.065679, 0.062307, 0.030542, 0.0017872, 0.0017872, 0.083887
9, 0.075436, 0.069392, 0.038983, 0.0060257, 0.10055, 0.0033271, 0.00079476, 0.064516, 0.062611, 0.030316, 0.001986, 0.001986, 0.082086
10, 0.077201, 0.071009, 0.035982, 0.015542, 0.070484, 0.005924, 0.0010521, 0.070791, 0.061645, 0.026312, 0.0021846, 0.0021846, 0.080285
11, 0.07411, 0.067135, 0.036761, 0.54391, 0.014074, 0.0064732, 0.0012823, 0.079597, 0.077907, 0.033935, 0.0023829, 0.0023829, 0.078483
12, 0.072703, 0.066995, 0.036249, 0.015042, 0.15315, 0.0083551, 0.0012464, 0.075651, 0.067622, 0.028427, 0.0025808, 0.0025808, 0.076681
13, 0.0737, 0.072585, 0.03594, 0.038881, 0.15844, 0.020356, 0.0033538, 0.063492, 0.061259, 0.026789, 0.0027784, 0.0027784, 0.074878
14, 0.072014, 0.072332, 0.036173, 0.036296, 0.10895, 0.018669, 0.003782, 0.061362, 0.061768, 0.026689, 0.0029756, 0.0029756, 0.073076
15, 0.072346, 0.071417, 0.033542, 0.090208, 0.14203, 0.0267, 0.0043627, 0.062477, 0.06224, 0.024864, 0.0031723, 0.0031723, 0.071272
16, 0.070106, 0.068058, 0.034502, 0.067812, 0.14637, 0.037359, 0.0078725, 0.06237, 0.061756, 0.02467, 0.0033686, 0.0033686, 0.069469
17, 0.074946, 0.064136, 0.032574, 0.13835, 0.12299, 0.072165, 0.012966, 0.058928, 0.05861, 0.024038, 0.0035645, 0.0035645, 0.067664
18, 0.070358, 0.060051, 0.031907, 0.0479, 0.25203, 0.038178, 0.0060513, 0.05915, 0.058207, 0.025925, 0.0037598, 0.0037598, 0.06586
19, 0.067322, 0.055626, 0.03065, 0.82252, 0.060739, 0.063727, 0.012951, 0.065587, 0.053063, 0.021251, 0.0039546, 0.0039546, 0.064055
20, 0.068843, 0.057321, 0.030782, 0.18588, 0.17522, 0.10052, 0.0231, 0.057125, 0.052086, 0.021309, 0.0041488, 0.0041488, 0.062249
21, 0.06779, 0.056333, 0.030423, 0.14705, 0.2448, 0.14866, 0.026988, 0.057788, 0.054503, 0.020962, 0.0043424, 0.0043424, 0.060442
22, 0.065426, 0.052589, 0.030872, 0.31674, 0.30232, 0.25582, 0.068044, 0.051682, 0.048209, 0.020117, 0.0045354, 0.0045354, 0.058635
23, 0.067626, 0.056669, 0.027687, 0.10589, 0.17271, 0.068596, 0.015701, 0.064839, 0.051478, 0.020254, 0.0047278, 0.0047278, 0.056828
24, 0.059718, 0.052035, 0.026036, 0.42306, 0.42077, 0.40239, 0.11784, 0.055993, 0.041789, 0.015245, 0.0049195, 0.0049195, 0.055019
25, 0.066427, 0.060109, 0.026517, 0.21072, 0.40616, 0.23959, 0.044691, 0.060816, 0.050553, 0.017379, 0.0051104, 0.0051104, 0.05321
26, 0.068186, 0.057706, 0.026478, 0.14783, 0.51256, 0.19894, 0.060068, 0.057491, 0.04908, 0.018394, 0.0053007, 0.0053007, 0.051401
27, 0.066612, 0.050319, 0.024494, 0.48579, 0.42298, 0.40479, 0.11374, 0.056078, 0.045788, 0.014807, 0.0054901, 0.0054901, 0.04959
28, 0.063534, 0.052454, 0.024039, 0.40719, 0.36156, 0.30722, 0.10794, 0.055933, 0.046081, 0.021163, 0.0056788, 0.0056788, 0.047779
29, 0.063979, 0.050578, 0.023715, 0.11747, 0.27502, 0.089202, 0.017614, 0.058407, 0.055614, 0.019128, 0.0058667, 0.0058667, 0.045967
30, 0.061931, 0.04879, 0.021555, 0.097, 0.14031, 0.055955, 0.0091582, 0.056716, 0.063297, 0.024825, 0.0060537, 0.0060537, 0.044154
31, 0.057106, 0.050596, 0.020186, 0.46931, 0.63839, 0.47727, 0.14214, 0.047358, 0.044311, 0.013691, 0.0062398, 0.0062398, 0.04234
32, 0.061115, 0.046957, 0.020035, 0.63103, 0.71706, 0.687, 0.25922, 0.046848, 0.037924, 0.011027, 0.006425, 0.006425, 0.040525
33, 0.056406, 0.046535, 0.01865, 0.43884, 0.62161, 0.51021, 0.17632, 0.05008, 0.038613, 0.014262, 0.0066094, 0.0066094, 0.038709
34, 0.059193, 0.048328, 0.019087, 0.40999, 0.66487, 0.53293, 0.19979, 0.047951, 0.038267, 0.0089096, 0.0067927, 0.0067927, 0.036893
35, 0.058858, 0.046026, 0.018089, 0.49914, 0.45985, 0.44086, 0.14173, 0.055914, 0.049698, 0.016622, 0.0069751, 0.0069751, 0.035075
36, 0.05378, 0.046878, 0.017436, 0.54042, 0.40374, 0.42118, 0.12772, 0.053832, 0.048224, 0.015295, 0.0071565, 0.0071565, 0.033256
37, 0.057157, 0.047375, 0.01825, 0.45283, 0.17341, 0.1188, 0.023888, 0.05297, 0.06591, 0.028537, 0.0073368, 0.0073368, 0.031437
38, 0.055086, 0.044643, 0.016019, 0.59048, 0.58181, 0.54786, 0.20768, 0.046944, 0.041786, 0.011842, 0.0075161, 0.0075161, 0.029616
39, 0.052514, 0.042485, 0.016678, 0.60654, 0.62859, 0.65293, 0.27689, 0.04138, 0.043998, 0.0078349, 0.0076943, 0.0076943, 0.027794
40, 0.054016, 0.045163, 0.016713, 0.43989, 0.24508, 0.23914, 0.074126, 0.052986, 0.055093, 0.029361, 0.0078714, 0.0078714, 0.025971
41, 0.052897, 0.042598, 0.014125, 0.66111, 0.45699, 0.54765, 0.20954, 0.04524, 0.048015, 0.013144, 0.0080473, 0.0080473, 0.024147
42, 0.051021, 0.042313, 0.012967, 0.64228, 0.50983, 0.5556, 0.2054, 0.049423, 0.04853, 0.014758, 0.0082221, 0.0082221, 0.022322
43, 0.05275, 0.041908, 0.012555, 0.76316, 0.7306, 0.72312, 0.21781, 0.046986, 0.032759, 0.0042896, 0.0083957, 0.0083957, 0.020496
44, 0.052692, 0.040748, 0.012202, 0.73323, 0.7009, 0.74501, 0.32735, 0.040507, 0.036143, 0.0074856, 0.0085681, 0.0085681, 0.018668
45, 0.051049, 0.040343, 0.010494, 0.79341, 0.8425, 0.8331, 0.38394, 0.042813, 0.033749, 0.0054575, 0.0087393, 0.0087393, 0.016839
46, 0.052916, 0.04602, 0.016315, 0.0074664, 0.36345, 0.0069738, 0.0012171, 0.071852, 0.057659, 0.040379, 0.0089092, 0.0089092, 0.015009
47, 0.061261, 0.055108, 0.025584, 0, 0, 0, 0, 0.10342, 0.10308, 0.61562, 0.0090778, 0.0090778, 0.013178
48, 0.055741, 0.048942, 0.022914, 0, 0, 0, 0, 0.091703, 0.15503, 0.50829, 0.0092451, 0.0092451, 0.011345
49, 0.055505, 0.046065, 0.01996, 0.40454, 0.43583, 0.36731, 0.1155, 0.054668, 0.048338, 0.01677, 0.009411, 0.009411, 0.009511
50, 0.052316, 0.04637, 0.01857, 0.29994, 0.17425, 0.1908, 0.069672, 0.061657, 0.058302, 0.017473, 0.0093971, 0.0093971, 0.0093971
51, 0.052513, 0.044853, 0.016164, 0.32316, 0.21994, 0.18133, 0.052024, 0.054571, 0.052566, 0.018779, 0.0093971, 0.0093971, 0.0093971
52, 0.050169, 0.041122, 0.013702, 0.71349, 0.46749, 0.50083, 0.20943, 0.05027, 0.040049, 0.0090618, 0.0093733, 0.0093733, 0.0093733
53, 0.052356, 0.038377, 0.012993, 0.70745, 0.58166, 0.63794, 0.29499, 0.043828, 0.039433, 0.006337, 0.0093491, 0.0093491, 0.0093491
54, 0.049593, 0.041015, 0.013021, 0.8286, 0.83119, 0.85701, 0.39813, 0.044484, 0.031344, 0.0039315, 0.0093245, 0.0093245, 0.0093245
55, 0.050457, 0.040325, 0.011648, 0.90411, 0.72727, 0.81333, 0.32555, 0.050267, 0.031773, 0.0036776, 0.0092995, 0.0092995, 0.0092995
56, 0.048361, 0.037615, 0.01134, 0.83214, 0.70918, 0.7804, 0.32044, 0.048583, 0.035312, 0.0075229, 0.009274, 0.009274, 0.009274
57, 0.045264, 0.037444, 0.010766, 0.73705, 0.60835, 0.67841, 0.33454, 0.037938, 0.035844, 0.011167, 0.0092481, 0.0092481, 0.0092481
58, 0.048281, 0.038769, 0.0095906, 0.77539, 0.72818, 0.77761, 0.35702, 0.038495, 0.033515, 0.0052658, 0.0092219, 0.0092219, 0.0092219
59, 0.045365, 0.036449, 0.0083486, 0.84428, 0.80126, 0.86356, 0.45554, 0.039402, 0.029563, 0.00649, 0.0091952, 0.0091952, 0.0091952
60, 0.047082, 0.038087, 0.01002, 0.82263, 0.84693, 0.89213, 0.45806, 0.038933, 0.03161, 0.0054989, 0.0091681, 0.0091681, 0.0091681
61, 0.043742, 0.036556, 0.0088003, 0.92037, 0.8607, 0.9257, 0.48197, 0.036326, 0.030955, 0.0034465, 0.0091406, 0.0091406, 0.0091406
62, 0.044255, 0.036951, 0.010437, 0.87895, 0.89227, 0.91443, 0.44407, 0.043374, 0.028684, 0.0026665, 0.0091127, 0.0091127, 0.0091127
63, 0.045161, 0.03555, 0.0089086, 0.92405, 0.88652, 0.91847, 0.5026, 0.039014, 0.030431, 0.0025694, 0.0090844, 0.0090844, 0.0090844
64, 0.045083, 0.037143, 0.0087739, 0.93807, 0.88789, 0.93251, 0.48687, 0.041815, 0.028742, 0.002422, 0.0090557, 0.0090557, 0.0090557
65, 0.040342, 0.037515, 0.0077562, 0.92831, 0.92405, 0.95091, 0.55001, 0.033787, 0.028646, 0.0023556, 0.0090266, 0.0090266, 0.0090266
66, 0.044417, 0.032584, 0.0076607, 0.92958, 0.86946, 0.92922, 0.53225, 0.035044, 0.028907, 0.0025468, 0.0089972, 0.0089972, 0.0089972
67, 0.039694, 0.035995, 0.0079306, 0.88746, 0.90617, 0.92104, 0.51225, 0.035307, 0.027231, 0.003196, 0.0089673, 0.0089673, 0.0089673
68, 0.044565, 0.034608, 0.0088018, 0.87307, 0.84145, 0.90489, 0.50325, 0.034845, 0.032796, 0.0049277, 0.0089371, 0.0089371, 0.0089371
69, 0.042965, 0.033984, 0.01085, 0.9106, 0.85758, 0.91816, 0.51602, 0.035491, 0.030649, 0.0044527, 0.0089065, 0.0089065, 0.0089065
70, 0.04196, 0.035426, 0.0084481, 0.86355, 0.90502, 0.92138, 0.55436, 0.032832, 0.029249, 0.0028974, 0.0088755, 0.0088755, 0.0088755
71, 0.038512, 0.036, 0.0078214, 0.94121, 0.89692, 0.94946, 0.54232, 0.035271, 0.027604, 0.0020984, 0.0088442, 0.0088442, 0.0088442
72, 0.041711, 0.035849, 0.0077841, 0.94633, 0.90146, 0.94532, 0.55551, 0.034369, 0.028245, 0.0028688, 0.0088124, 0.0088124, 0.0088124
73, 0.043422, 0.034141, 0.008423, 0.89791, 0.79773, 0.89551, 0.49783, 0.036391, 0.032343, 0.0036569, 0.0087804, 0.0087804, 0.0087804
74, 0.041125, 0.034275, 0.0088747, 0.94643, 0.86711, 0.9366, 0.54438, 0.031141, 0.029405, 0.0027034, 0.0087479, 0.0087479, 0.0087479
75, 0.039719, 0.034131, 0.0079598, 0.9524, 0.91862, 0.9582, 0.59485, 0.03173, 0.026338, 0.0019864, 0.0087151, 0.0087151, 0.0087151
76, 0.040181, 0.033154, 0.0080667, 0.90734, 0.83848, 0.92208, 0.47094, 0.038296, 0.031134, 0.0040538, 0.008682, 0.008682, 0.008682
77, 0.03966, 0.033198, 0.0066327, 0.94442, 0.86113, 0.92597, 0.45845, 0.035619, 0.028766, 0.0026854, 0.0086485, 0.0086485, 0.0086485
78, 0.038331, 0.034961, 0.0069487, 0.91974, 0.89982, 0.94746, 0.51601, 0.034682, 0.02985, 0.0028031, 0.0086146, 0.0086146, 0.0086146
79, 0.038131, 0.034181, 0.0070184, 0.9505, 0.92209, 0.95505, 0.56273, 0.031882, 0.030202, 0.0025396, 0.0085805, 0.0085805, 0.0085805
80, 0.037099, 0.033424, 0.0061094, 0.95886, 0.9318, 0.94569, 0.56409, 0.031647, 0.027277, 0.0028533, 0.0085459, 0.0085459, 0.0085459
81, 0.038213, 0.035, 0.0062455, 0.90117, 0.91763, 0.93225, 0.58747, 0.030732, 0.026239, 0.0024431, 0.0085111, 0.0085111, 0.0085111
82, 0.038884, 0.031852, 0.0060274, 0.94817, 0.92094, 0.95121, 0.55533, 0.031829, 0.026745, 0.0023725, 0.0084759, 0.0084759, 0.0084759
83, 0.036625, 0.033138, 0.0079261, 0.95916, 0.91625, 0.94151, 0.5457, 0.034776, 0.026776, 0.0021613, 0.0084404, 0.0084404, 0.0084404
84, 0.038809, 0.032023, 0.0062357, 0.93504, 0.92504, 0.95141, 0.58087, 0.033784, 0.026052, 0.0023802, 0.0084046, 0.0084046, 0.0084046
85, 0.037893, 0.034964, 0.0068261, 0.92978, 0.93218, 0.95634, 0.58927, 0.031465, 0.026274, 0.0021452, 0.0083684, 0.0083684, 0.0083684
86, 0.038298, 0.033131, 0.0060222, 0.94402, 0.95637, 0.96109, 0.55015, 0.033578, 0.028523, 0.002081, 0.0083319, 0.0083319, 0.0083319
87, 0.037152, 0.034427, 0.0058415, 0.93586, 0.91752, 0.94697, 0.59167, 0.030662, 0.027937, 0.0022087, 0.0082952, 0.0082952, 0.0082952
88, 0.033444, 0.033919, 0.0065007, 0.97881, 0.93894, 0.95851, 0.60322, 0.031015, 0.025488, 0.0023777, 0.0082581, 0.0082581, 0.0082581
89, 0.034102, 0.033245, 0.006238, 0.97284, 0.92101, 0.95236, 0.58836, 0.031254, 0.026429, 0.0026268, 0.0082207, 0.0082207, 0.0082207
90, 0.033522, 0.03244, 0.0050727, 0.96762, 0.87823, 0.94835, 0.59588, 0.029, 0.026984, 0.003767, 0.008183, 0.008183, 0.008183
91, 0.034385, 0.03257, 0.0068179, 0.96143, 0.94048, 0.96293, 0.61393, 0.032598, 0.025748, 0.0025069, 0.008145, 0.008145, 0.008145
92, 0.038411, 0.03149, 0.008301, 0.85757, 0.82488, 0.90553, 0.50806, 0.03392, 0.030222, 0.0066837, 0.0081068, 0.0081068, 0.0081068
93, 0.038098, 0.030603, 0.0062063, 0.87368, 0.83447, 0.8986, 0.48715, 0.032855, 0.030639, 0.0038948, 0.0080682, 0.0080682, 0.0080682
94, 0.038408, 0.031401, 0.0071762, 0.97569, 0.88239, 0.94377, 0.57059, 0.032335, 0.027143, 0.0022352, 0.0080294, 0.0080294, 0.0080294
95, 0.037455, 0.031985, 0.0056255, 0.92462, 0.91911, 0.95528, 0.57158, 0.032933, 0.02751, 0.0028774, 0.0079903, 0.0079903, 0.0079903
96, 0.034081, 0.032974, 0.0055842, 0.95494, 0.95877, 0.96191, 0.56896, 0.031626, 0.02607, 0.0021001, 0.0079509, 0.0079509, 0.0079509
97, 0.036189, 0.031882, 0.0066565, 0.95704, 0.92485, 0.96058, 0.61761, 0.031169, 0.024964, 0.0026779, 0.0079112, 0.0079112, 0.0079112
98, 0.034716, 0.033089, 0.0062765, 0.95208, 0.9259, 0.95999, 0.58112, 0.031563, 0.025833, 0.002693, 0.0078713, 0.0078713, 0.0078713
99, 0.035807, 0.032488, 0.0062112, 0.94346, 0.93805, 0.95484, 0.58984, 0.030902, 0.025948, 0.0019203, 0.0078311, 0.0078311, 0.0078311
100, 0.035404, 0.030942, 0.0070651, 0.90669, 0.90848, 0.94371, 0.55885, 0.032847, 0.031035, 0.0054341, 0.0077907, 0.0077907, 0.0077907
101, 0.034805, 0.032716, 0.007314, 0.95797, 0.95318, 0.96146, 0.57165, 0.031743, 0.027374, 0.0019765, 0.00775, 0.00775, 0.00775
102, 0.036556, 0.032288, 0.0068758, 0.93197, 0.95396, 0.96154, 0.58878, 0.030179, 0.028715, 0.0022038, 0.0077091, 0.0077091, 0.0077091
103, 0.034745, 0.03311, 0.0060098, 0.91789, 0.95751, 0.9557, 0.60553, 0.030048, 0.028515, 0.0018339, 0.0076679, 0.0076679, 0.0076679
104, 0.035191, 0.032241, 0.0060717, 0.89044, 0.92859, 0.9459, 0.55454, 0.031789, 0.029479, 0.0041273, 0.0076265, 0.0076265, 0.0076265
105, 0.035232, 0.030591, 0.0058525, 0.88359, 0.89753, 0.93313, 0.58269, 0.030801, 0.027946, 0.0030299, 0.0075848, 0.0075848, 0.0075848
106, 0.034891, 0.031808, 0.0054986, 0.92895, 0.85635, 0.92882, 0.49609, 0.034223, 0.029069, 0.0034086, 0.007543, 0.007543, 0.007543
107, 0.034206, 0.032183, 0.0059379, 0.95328, 0.90682, 0.95609, 0.5899, 0.032747, 0.02519, 0.002409, 0.0075009, 0.0075009, 0.0075009
108, 0.035193, 0.032691, 0.006186, 0.76003, 0.88884, 0.92562, 0.52785, 0.033637, 0.027941, 0.0085591, 0.0074585, 0.0074585, 0.0074585
109, 0.032678, 0.031774, 0.0051808, 0.9394, 0.94668, 0.95971, 0.59036, 0.029259, 0.025816, 0.0018039, 0.007416, 0.007416, 0.007416
110, 0.034928, 0.032253, 0.0052045, 0.96947, 0.9156, 0.95994, 0.57839, 0.031965, 0.025841, 0.0017381, 0.0073733, 0.0073733, 0.0073733
111, 0.032909, 0.030654, 0.0068091, 0.93353, 0.9431, 0.95796, 0.6155, 0.029402, 0.024355, 0.00166, 0.0073303, 0.0073303, 0.0073303
112, 0.034421, 0.030596, 0.0056472, 0.97009, 0.96553, 0.96802, 0.62231, 0.027934, 0.024545, 0.0017626, 0.0072872, 0.0072872, 0.0072872
113, 0.033877, 0.031202, 0.0048802, 0.96084, 0.94522, 0.95601, 0.59425, 0.029266, 0.025481, 0.0019383, 0.0072438, 0.0072438, 0.0072438
114, 0.032888, 0.030615, 0.0059414, 0.96707, 0.96629, 0.96299, 0.58985, 0.028752, 0.02581, 0.001971, 0.0072003, 0.0072003, 0.0072003
115, 0.033697, 0.032449, 0.0059314, 0.98178, 0.96195, 0.96413, 0.62237, 0.030004, 0.025665, 0.0022348, 0.0071566, 0.0071566, 0.0071566
116, 0.032169, 0.028243, 0.0053777, 0.96855, 0.95665, 0.96663, 0.59072, 0.030777, 0.027957, 0.0025654, 0.0071127, 0.0071127, 0.0071127
117, 0.031322, 0.029406, 0.0044561, 0.95818, 0.95873, 0.96789, 0.61904, 0.03089, 0.02532, 0.0023165, 0.0070686, 0.0070686, 0.0070686
118, 0.032621, 0.031882, 0.0060545, 0.96766, 0.9703, 0.97043, 0.61416, 0.031658, 0.02589, 0.0024626, 0.0070243, 0.0070243, 0.0070243
119, 0.033223, 0.027714, 0.0065067, 0.98299, 0.96548, 0.96768, 0.62695, 0.029253, 0.02492, 0.0019283, 0.0069799, 0.0069799, 0.0069799
120, 0.033553, 0.029447, 0.0063224, 0.98701, 0.95656, 0.96794, 0.64578, 0.027592, 0.02491, 0.0018422, 0.0069353, 0.0069353, 0.0069353
121, 0.03325, 0.028541, 0.0051204, 0.98317, 0.93651, 0.96604, 0.61816, 0.032385, 0.023813, 0.0019208, 0.0068906, 0.0068906, 0.0068906
122, 0.033097, 0.02979, 0.0057041, 0.97144, 0.93651, 0.96183, 0.61828, 0.027016, 0.026034, 0.0019498, 0.0068457, 0.0068457, 0.0068457
123, 0.032385, 0.031679, 0.0052411, 0.97262, 0.94493, 0.96298, 0.62283, 0.026364, 0.025603, 0.0019448, 0.0068006, 0.0068006, 0.0068006
124, 0.033781, 0.029724, 0.0050386, 0.95657, 0.95188, 0.96177, 0.64612, 0.028362, 0.024317, 0.0019741, 0.0067555, 0.0067555, 0.0067555
125, 0.032106, 0.029237, 0.0045665, 0.94958, 0.9452, 0.96075, 0.64017, 0.028601, 0.024065, 0.0021955, 0.0067101, 0.0067101, 0.0067101
126, 0.032264, 0.029086, 0.0054842, 0.95887, 0.96354, 0.96768, 0.66344, 0.026937, 0.023887, 0.0024299, 0.0066647, 0.0066647, 0.0066647
127, 0.032503, 0.030248, 0.0055057, 0.96337, 0.96553, 0.96908, 0.6688, 0.026015, 0.023054, 0.002129, 0.0066191, 0.0066191, 0.0066191
128, 0.031848, 0.030237, 0.0040163, 0.97874, 0.9667, 0.96928, 0.65926, 0.026758, 0.024459, 0.0019228, 0.0065734, 0.0065734, 0.0065734
129, 0.033826, 0.03026, 0.0075954, 0.97185, 0.97532, 0.97586, 0.65575, 0.027961, 0.023636, 0.0018942, 0.0065276, 0.0065276, 0.0065276
130, 0.034133, 0.029008, 0.0056355, 0.98736, 0.94112, 0.9718, 0.63606, 0.02707, 0.024257, 0.0019156, 0.0064816, 0.0064816, 0.0064816
131, 0.032031, 0.029106, 0.0046239, 0.97221, 0.91833, 0.96514, 0.62362, 0.027138, 0.024794, 0.0020008, 0.0064356, 0.0064356, 0.0064356
132, 0.031064, 0.028333, 0.005266, 0.90643, 0.90848, 0.94398, 0.52023, 0.032159, 0.02668, 0.0031502, 0.0063895, 0.0063895, 0.0063895
133, 0.031294, 0.030179, 0.0047473, 0.9751, 0.94523, 0.96989, 0.60873, 0.028775, 0.024644, 0.0019185, 0.0063432, 0.0063432, 0.0063432
134, 0.03095, 0.029861, 0.004757, 0.93719, 0.96354, 0.96023, 0.64725, 0.026088, 0.024737, 0.001847, 0.0062969, 0.0062969, 0.0062969
135, 0.030516, 0.028845, 0.0047947, 0.95301, 0.95197, 0.96786, 0.62838, 0.026574, 0.024545, 0.0017698, 0.0062505, 0.0062505, 0.0062505
136, 0.030475, 0.02846, 0.0055107, 0.96437, 0.9451, 0.96404, 0.64108, 0.027123, 0.024913, 0.0017149, 0.006204, 0.006204, 0.006204
137, 0.030362, 0.029429, 0.0048351, 0.97425, 0.96309, 0.96501, 0.6316, 0.027754, 0.025372, 0.0018266, 0.0061574, 0.0061574, 0.0061574
138, 0.030377, 0.030139, 0.0047596, 0.96266, 0.96512, 0.96441, 0.63686, 0.027537, 0.024936, 0.0019117, 0.0061107, 0.0061107, 0.0061107
139, 0.030934, 0.027383, 0.0046041, 0.97265, 0.9703, 0.96765, 0.64827, 0.027235, 0.024562, 0.0018573, 0.006064, 0.006064, 0.006064
140, 0.030503, 0.030103, 0.005123, 0.96566, 0.95537, 0.96187, 0.62706, 0.027453, 0.024727, 0.0018926, 0.0060172, 0.0060172, 0.0060172
141, 0.031252, 0.028443, 0.0041605, 0.97251, 0.96352, 0.96748, 0.66484, 0.026909, 0.024105, 0.0020043, 0.0059704, 0.0059704, 0.0059704
142, 0.029091, 0.029802, 0.004882, 0.98107, 0.97705, 0.97517, 0.6692, 0.025419, 0.023475, 0.0019698, 0.0059235, 0.0059235, 0.0059235
143, 0.029031, 0.027532, 0.0044102, 0.96415, 0.95001, 0.96306, 0.65746, 0.026583, 0.024414, 0.0018636, 0.0058766, 0.0058766, 0.0058766
144, 0.030322, 0.029805, 0.0045858, 0.95213, 0.97029, 0.96608, 0.66087, 0.02622, 0.024185, 0.0019045, 0.0058296, 0.0058296, 0.0058296
145, 0.03003, 0.027735, 0.0042047, 0.9629, 0.97049, 0.97254, 0.6706, 0.025957, 0.023952, 0.0019944, 0.0057826, 0.0057826, 0.0057826
146, 0.030178, 0.028212, 0.0038413, 0.97726, 0.96369, 0.96698, 0.6622, 0.025378, 0.025052, 0.0019726, 0.0057355, 0.0057355, 0.0057355
147, 0.0287, 0.027819, 0.0042913, 0.97216, 0.96354, 0.96631, 0.64059, 0.025874, 0.024205, 0.0019755, 0.0056884, 0.0056884, 0.0056884
148, 0.032043, 0.027684, 0.0048876, 0.98775, 0.95678, 0.96185, 0.61574, 0.029168, 0.025582, 0.001935, 0.0056413, 0.0056413, 0.0056413
149, 0.030177, 0.027118, 0.0045694, 0.98348, 0.95001, 0.96349, 0.66463, 0.026593, 0.023216, 0.0019195, 0.0055942, 0.0055942, 0.0055942
150, 0.028507, 0.030105, 0.0049029, 0.98161, 0.95661, 0.96846, 0.65684, 0.02566, 0.023492, 0.0021502, 0.0055471, 0.0055471, 0.0055471
151, 0.030499, 0.028858, 0.0074011, 0.98125, 0.9703, 0.97297, 0.68484, 0.026201, 0.022504, 0.002315, 0.0055, 0.0055, 0.0055
152, 0.02793, 0.028107, 0.0056783, 0.98268, 0.95669, 0.96742, 0.68158, 0.026543, 0.023369, 0.0024157, 0.0054529, 0.0054529, 0.0054529
153, 0.028745, 0.027211, 0.0047151, 0.98282, 0.95678, 0.96778, 0.67643, 0.024136, 0.022676, 0.0020738, 0.0054058, 0.0054058, 0.0054058
154, 0.02988, 0.028095, 0.0047024, 0.97564, 0.95678, 0.96446, 0.67542, 0.026337, 0.02249, 0.002291, 0.0053587, 0.0053587, 0.0053587
155, 0.028457, 0.029243, 0.0047708, 0.96159, 0.95678, 0.95796, 0.66082, 0.026913, 0.022992, 0.0021378, 0.0053116, 0.0053116, 0.0053116
156, 0.028992, 0.027253, 0.0048825, 0.97888, 0.96996, 0.9719, 0.6495, 0.027016, 0.022958, 0.001994, 0.0052645, 0.0052645, 0.0052645
157, 0.028998, 0.028506, 0.0044686, 0.95299, 0.97018, 0.96508, 0.6518, 0.026524, 0.022246, 0.0018938, 0.0052174, 0.0052174, 0.0052174
158, 0.029876, 0.028789, 0.0045456, 0.97905, 0.9703, 0.96656, 0.67184, 0.026013, 0.023414, 0.0020316, 0.0051704, 0.0051704, 0.0051704
159, 0.02783, 0.027954, 0.0047788, 0.95981, 0.9703, 0.97331, 0.65536, 0.026615, 0.023393, 0.0021369, 0.0051234, 0.0051234, 0.0051234
160, 0.02881, 0.029834, 0.0051372, 0.96231, 0.97705, 0.97276, 0.67234, 0.02516, 0.023334, 0.0020906, 0.0050765, 0.0050765, 0.0050765
161, 0.02907, 0.028024, 0.0050542, 0.97128, 0.97694, 0.97459, 0.67987, 0.024301, 0.022933, 0.0018993, 0.0050296, 0.0050296, 0.0050296
162, 0.027088, 0.02831, 0.0049067, 0.97555, 0.97705, 0.97511, 0.68172, 0.02416, 0.022443, 0.0016887, 0.0049828, 0.0049828, 0.0049828
163, 0.030222, 0.026841, 0.004733, 0.97753, 0.97705, 0.97482, 0.68213, 0.025884, 0.02258, 0.0016608, 0.004936, 0.004936, 0.004936
164, 0.028023, 0.028466, 0.0040835, 0.95802, 0.94365, 0.96412, 0.68017, 0.027131, 0.022298, 0.0018087, 0.0048893, 0.0048893, 0.0048893
165, 0.028881, 0.028552, 0.0037733, 0.98463, 0.9703, 0.966, 0.69216, 0.024287, 0.022506, 0.0017584, 0.0048426, 0.0048426, 0.0048426
166, 0.02887, 0.028066, 0.0051819, 0.97967, 0.97023, 0.96605, 0.67742, 0.023991, 0.022966, 0.0017765, 0.004796, 0.004796, 0.004796
167, 0.027769, 0.027876, 0.0045376, 0.97336, 0.9703, 0.96585, 0.67378, 0.024131, 0.022832, 0.0018437, 0.0047495, 0.0047495, 0.0047495
168, 0.026105, 0.026978, 0.0043823, 0.98068, 0.9703, 0.97141, 0.68531, 0.02506, 0.022971, 0.0019168, 0.0047031, 0.0047031, 0.0047031
169, 0.027398, 0.02762, 0.0039622, 0.98055, 0.96775, 0.96652, 0.69533, 0.023761, 0.022578, 0.0018546, 0.0046568, 0.0046568, 0.0046568
170, 0.028034, 0.027971, 0.0037273, 0.97684, 0.9703, 0.96783, 0.69053, 0.023457, 0.0223, 0.0017781, 0.0046105, 0.0046105, 0.0046105
171, 0.027347, 0.028535, 0.0038968, 0.97337, 0.96354, 0.96296, 0.67883, 0.024073, 0.022644, 0.001817, 0.0045644, 0.0045644, 0.0045644
172, 0.028142, 0.026267, 0.0034699, 0.98644, 0.96343, 0.96703, 0.69874, 0.02388, 0.02208, 0.0017773, 0.0045184, 0.0045184, 0.0045184
173, 0.026171, 0.027753, 0.0050813, 0.97569, 0.96352, 0.96478, 0.67178, 0.02579, 0.022882, 0.0018091, 0.0044724, 0.0044724, 0.0044724
174, 0.026128, 0.026436, 0.0053865, 0.97295, 0.96346, 0.96565, 0.67965, 0.025346, 0.023009, 0.001846, 0.0044266, 0.0044266, 0.0044266
175, 0.02726, 0.027188, 0.0035265, 0.97704, 0.96351, 0.96655, 0.68568, 0.024316, 0.022898, 0.0017214, 0.0043809, 0.0043809, 0.0043809
176, 0.026716, 0.026838, 0.0031932, 0.98022, 0.96354, 0.96597, 0.68301, 0.025983, 0.023226, 0.0016424, 0.0043353, 0.0043353, 0.0043353
177, 0.027251, 0.028037, 0.0054986, 0.97271, 0.96354, 0.96646, 0.68557, 0.026387, 0.022748, 0.0016146, 0.0042899, 0.0042899, 0.0042899
178, 0.026909, 0.026743, 0.0046035, 0.98252, 0.97027, 0.97551, 0.66755, 0.026705, 0.022883, 0.0016144, 0.0042445, 0.0042445, 0.0042445
179, 0.026095, 0.026161, 0.0058214, 0.98155, 0.97028, 0.96818, 0.66911, 0.025493, 0.023625, 0.0016812, 0.0041994, 0.0041994, 0.0041994
180, 0.024472, 0.026628, 0.0041876, 0.98266, 0.97705, 0.97576, 0.66959, 0.024833, 0.022997, 0.0017462, 0.0041543, 0.0041543, 0.0041543
181, 0.027072, 0.027344, 0.0044676, 0.98132, 0.97705, 0.9754, 0.68045, 0.024837, 0.022527, 0.0017458, 0.0041094, 0.0041094, 0.0041094
182, 0.028166, 0.02681, 0.0042947, 0.98137, 0.9703, 0.9683, 0.68976, 0.024242, 0.022963, 0.001793, 0.0040647, 0.0040647, 0.0040647
183, 0.026102, 0.027943, 0.0043331, 0.95813, 0.97705, 0.97464, 0.69977, 0.023437, 0.022746, 0.0018653, 0.0040201, 0.0040201, 0.0040201
184, 0.026373, 0.026178, 0.0037455, 0.98558, 0.96354, 0.97444, 0.69813, 0.024044, 0.022799, 0.0018616, 0.0039757, 0.0039757, 0.0039757
185, 0.028673, 0.026108, 0.0044021, 0.98181, 0.95199, 0.96343, 0.67845, 0.024732, 0.023188, 0.0018667, 0.0039314, 0.0039314, 0.0039314
186, 0.026675, 0.02758, 0.0041627, 0.98565, 0.96353, 0.96589, 0.68148, 0.022764, 0.022821, 0.001741, 0.0038873, 0.0038873, 0.0038873
187, 0.026643, 0.027148, 0.0038995, 0.98353, 0.97028, 0.96679, 0.68438, 0.02252, 0.022897, 0.0017302, 0.0038434, 0.0038434, 0.0038434
188, 0.027608, 0.027644, 0.0039359, 0.98275, 0.977, 0.97892, 0.69636, 0.023269, 0.022497, 0.0018708, 0.0037997, 0.0037997, 0.0037997
189, 0.024131, 0.027909, 0.0027875, 0.97406, 0.9703, 0.97597, 0.69888, 0.023948, 0.022371, 0.0023066, 0.0037562, 0.0037562, 0.0037562
190, 0.027156, 0.027026, 0.0036558, 0.98347, 0.96347, 0.9715, 0.68745, 0.023983, 0.023429, 0.0027685, 0.0037128, 0.0037128, 0.0037128
191, 0.027734, 0.026852, 0.0039689, 0.97298, 0.97025, 0.9738, 0.6853, 0.026086, 0.022382, 0.0022475, 0.0036697, 0.0036697, 0.0036697
192, 0.026927, 0.026752, 0.0037148, 0.96858, 0.96354, 0.96962, 0.69858, 0.023535, 0.022065, 0.0017252, 0.0036267, 0.0036267, 0.0036267
193, 0.027003, 0.027176, 0.0053776, 0.96122, 0.97705, 0.97883, 0.66762, 0.023695, 0.022581, 0.0018148, 0.003584, 0.003584, 0.003584
194, 0.026989, 0.027615, 0.006495, 0.95862, 0.95678, 0.96378, 0.61374, 0.02806, 0.024838, 0.0017687, 0.0035415, 0.0035415, 0.0035415
195, 0.027666, 0.026871, 0.0057181, 0.96489, 0.9702, 0.96448, 0.66116, 0.024083, 0.024089, 0.0018062, 0.0034991, 0.0034991, 0.0034991
196, 0.026176, 0.02691, 0.004667, 0.97361, 0.96348, 0.96482, 0.67681, 0.024865, 0.023765, 0.0019973, 0.003457, 0.003457, 0.003457
197, 0.026469, 0.027627, 0.0049022, 0.96453, 0.96354, 0.97173, 0.68511, 0.024681, 0.022624, 0.0021242, 0.0034152, 0.0034152, 0.0034152
198, 0.027208, 0.028003, 0.0049884, 0.97647, 0.96354, 0.96577, 0.69568, 0.024119, 0.022065, 0.0021831, 0.0033735, 0.0033735, 0.0033735
199, 0.025903, 0.027341, 0.0048099, 0.98137, 0.95876, 0.96996, 0.69246, 0.024701, 0.022356, 0.0023582, 0.0033321, 0.0033321, 0.0033321
200, 0.026184, 0.027374, 0.0042712, 0.98338, 0.9635, 0.96994, 0.67492, 0.025071, 0.022943, 0.0024592, 0.0032909, 0.0032909, 0.0032909
201, 0.026189, 0.025554, 0.0040891, 0.98737, 0.94994, 0.96182, 0.66253, 0.025125, 0.023302, 0.0023766, 0.00325, 0.00325, 0.00325
202, 0.024545, 0.026731, 0.0041204, 0.9815, 0.9703, 0.97592, 0.68519, 0.024929, 0.022513, 0.0020454, 0.0032093, 0.0032093, 0.0032093
203, 0.02617, 0.025825, 0.0042871, 0.95509, 0.97705, 0.97726, 0.68377, 0.024432, 0.022358, 0.0020345, 0.0031689, 0.0031689, 0.0031689
204, 0.023137, 0.024813, 0.0036278, 0.96776, 0.96354, 0.97128, 0.69433, 0.026057, 0.022551, 0.0019471, 0.0031287, 0.0031287, 0.0031287
205, 0.025338, 0.025502, 0.0037127, 0.99338, 0.95089, 0.96514, 0.68198, 0.025945, 0.023259, 0.0021286, 0.0030888, 0.0030888, 0.0030888
206, 0.026339, 0.02602, 0.0039489, 0.98518, 0.97028, 0.96743, 0.67505, 0.023719, 0.022723, 0.0020737, 0.0030491, 0.0030491, 0.0030491
207, 0.026491, 0.027071, 0.0040128, 0.98605, 0.96354, 0.96766, 0.68313, 0.024904, 0.022284, 0.0022663, 0.0030097, 0.0030097, 0.0030097
208, 0.025094, 0.025137, 0.0043872, 0.99331, 0.9505, 0.96795, 0.6957, 0.024963, 0.021901, 0.0026323, 0.0029706, 0.0029706, 0.0029706
209, 0.026184, 0.027171, 0.0039022, 0.9868, 0.95678, 0.96685, 0.69064, 0.026298, 0.022596, 0.0027955, 0.0029318, 0.0029318, 0.0029318
210, 0.025956, 0.025668, 0.0049788, 0.97688, 0.95678, 0.97237, 0.69002, 0.025732, 0.022511, 0.0025778, 0.0028932, 0.0028932, 0.0028932
211, 0.027297, 0.025791, 0.0040839, 0.98462, 0.9703, 0.96931, 0.6969, 0.026088, 0.0223, 0.0022371, 0.002855, 0.002855, 0.002855
212, 0.02525, 0.026303, 0.0047559, 0.9774, 0.96349, 0.96719, 0.69013, 0.025161, 0.022704, 0.0021132, 0.002817, 0.002817, 0.002817
213, 0.024295, 0.026973, 0.0041341, 0.97281, 0.97705, 0.9826, 0.68997, 0.024569, 0.022605, 0.0019869, 0.0027793, 0.0027793, 0.0027793
214, 0.024136, 0.025274, 0.0038694, 0.97589, 0.94326, 0.97578, 0.68725, 0.02548, 0.022043, 0.0018324, 0.0027419, 0.0027419, 0.0027419
215, 0.025528, 0.027067, 0.0040959, 0.96603, 0.9567, 0.96499, 0.68876, 0.024627, 0.022841, 0.0020294, 0.0027048, 0.0027048, 0.0027048
216, 0.025221, 0.027184, 0.0047706, 0.95868, 0.96353, 0.96453, 0.6809, 0.025527, 0.022776, 0.0021757, 0.0026681, 0.0026681, 0.0026681
217, 0.024044, 0.024836, 0.0042798, 0.98084, 0.95673, 0.96482, 0.68198, 0.025761, 0.022618, 0.002021, 0.0026316, 0.0026316, 0.0026316
218, 0.025253, 0.027373, 0.0041113, 0.96325, 0.9689, 0.97805, 0.69718, 0.025244, 0.021851, 0.0018038, 0.0025954, 0.0025954, 0.0025954
219, 0.025786, 0.024412, 0.0038547, 0.9784, 0.96354, 0.97334, 0.67628, 0.024993, 0.022038, 0.001677, 0.0025596, 0.0025596, 0.0025596
220, 0.024866, 0.025262, 0.0039628, 0.97738, 0.96354, 0.97295, 0.67586, 0.025099, 0.02182, 0.0016662, 0.0025241, 0.0025241, 0.0025241
221, 0.025464, 0.027381, 0.0037889, 0.95635, 0.97015, 0.96925, 0.70037, 0.024523, 0.021997, 0.0017885, 0.0024889, 0.0024889, 0.0024889
222, 0.024976, 0.025851, 0.0034427, 0.95665, 0.96354, 0.96272, 0.70145, 0.024242, 0.021824, 0.0018279, 0.0024541, 0.0024541, 0.0024541
223, 0.024802, 0.02694, 0.0031541, 0.95601, 0.96294, 0.9618, 0.68561, 0.024934, 0.022417, 0.0018971, 0.0024195, 0.0024195, 0.0024195
224, 0.024682, 0.026038, 0.0032441, 0.97713, 0.96354, 0.97524, 0.68246, 0.026721, 0.022906, 0.0020948, 0.0023854, 0.0023854, 0.0023854
225, 0.025083, 0.026697, 0.0037998, 0.96721, 0.9703, 0.97428, 0.68679, 0.02599, 0.022761, 0.0020577, 0.0023515, 0.0023515, 0.0023515
226, 0.024088, 0.025932, 0.0035885, 0.96876, 0.97703, 0.97508, 0.68276, 0.024445, 0.022962, 0.0019322, 0.002318, 0.002318, 0.002318
227, 0.023332, 0.025505, 0.0037625, 0.96578, 0.97705, 0.97358, 0.68462, 0.024101, 0.02255, 0.0018148, 0.0022849, 0.0022849, 0.0022849
228, 0.024702, 0.024819, 0.0034758, 0.97385, 0.97028, 0.97462, 0.69212, 0.024558, 0.022178, 0.0017297, 0.0022521, 0.0022521, 0.0022521
229, 0.024602, 0.025566, 0.0038347, 0.96628, 0.96353, 0.96616, 0.70351, 0.023898, 0.022227, 0.0016842, 0.0022196, 0.0022196, 0.0022196
230, 0.023372, 0.025582, 0.0035108, 0.98707, 0.9567, 0.96796, 0.6879, 0.024704, 0.022368, 0.0017089, 0.0021876, 0.0021876, 0.0021876
231, 0.024074, 0.025893, 0.0031354, 0.98694, 0.95678, 0.9676, 0.68024, 0.024659, 0.023358, 0.0017729, 0.0021558, 0.0021558, 0.0021558
232, 0.024966, 0.027324, 0.0032754, 0.9826, 0.95678, 0.9736, 0.70037, 0.02362, 0.022499, 0.001837, 0.0021245, 0.0021245, 0.0021245
233, 0.025124, 0.026055, 0.0039871, 0.9706, 0.96971, 0.97903, 0.70731, 0.0229, 0.021873, 0.0017568, 0.0020935, 0.0020935, 0.0020935
234, 0.022206, 0.02586, 0.0033446, 0.9787, 0.95003, 0.96954, 0.70051, 0.023775, 0.022511, 0.0017292, 0.0020629, 0.0020629, 0.0020629
235, 0.024355, 0.023389, 0.0040127, 0.98374, 0.9703, 0.96776, 0.68733, 0.022898, 0.022383, 0.0017637, 0.0020327, 0.0020327, 0.0020327
236, 0.024096, 0.026566, 0.0032116, 0.98492, 0.96354, 0.97267, 0.70113, 0.021918, 0.022037, 0.0017403, 0.0020028, 0.0020028, 0.0020028
237, 0.024077, 0.025841, 0.0032894, 0.97582, 0.96353, 0.967, 0.69301, 0.021952, 0.02197, 0.0017976, 0.0019734, 0.0019734, 0.0019734
238, 0.024347, 0.025564, 0.0039452, 0.97899, 0.96354, 0.96707, 0.69185, 0.022981, 0.022335, 0.0018357, 0.0019443, 0.0019443, 0.0019443
239, 0.023853, 0.024579, 0.0044756, 0.97532, 0.95678, 0.96534, 0.69215, 0.023931, 0.022646, 0.0018563, 0.0019156, 0.0019156, 0.0019156
240, 0.023002, 0.025647, 0.0035852, 0.97411, 0.96353, 0.97209, 0.69136, 0.023933, 0.022786, 0.0019303, 0.0018873, 0.0018873, 0.0018873
241, 0.023632, 0.025356, 0.0034878, 0.96367, 0.97026, 0.98007, 0.70663, 0.023831, 0.022384, 0.0019032, 0.0018594, 0.0018594, 0.0018594
242, 0.023527, 0.025798, 0.0036633, 0.97056, 0.96832, 0.97529, 0.70001, 0.024231, 0.022414, 0.001796, 0.0018319, 0.0018319, 0.0018319
243, 0.022682, 0.025564, 0.003487, 0.97515, 0.96351, 0.9668, 0.69187, 0.024127, 0.022944, 0.0017143, 0.0018048, 0.0018048, 0.0018048
244, 0.024222, 0.026106, 0.0035024, 0.97655, 0.95675, 0.96682, 0.69463, 0.023624, 0.022958, 0.0016919, 0.0017781, 0.0017781, 0.0017781
245, 0.02326, 0.025099, 0.0029967, 0.96808, 0.97681, 0.97562, 0.70458, 0.023273, 0.02276, 0.0016949, 0.0017519, 0.0017519, 0.0017519
246, 0.024062, 0.024739, 0.0040586, 0.96483, 0.9635, 0.97182, 0.69647, 0.023717, 0.022898, 0.0017371, 0.001726, 0.001726, 0.001726
247, 0.023201, 0.0253, 0.0032933, 0.97972, 0.95633, 0.97253, 0.69153, 0.024038, 0.022889, 0.0017084, 0.0017005, 0.0017005, 0.0017005
248, 0.024654, 0.026136, 0.0033753, 0.98866, 0.95667, 0.97459, 0.68796, 0.023902, 0.022352, 0.0017804, 0.0016755, 0.0016755, 0.0016755
249, 0.023838, 0.025222, 0.0033712, 0.96588, 0.9703, 0.97386, 0.69894, 0.023947, 0.022392, 0.0018015, 0.0016509, 0.0016509, 0.0016509
250, 0.023668, 0.024787, 0.0034169, 0.98732, 0.95003, 0.96765, 0.69254, 0.023956, 0.022749, 0.0017763, 0.0016267, 0.0016267, 0.0016267
251, 0.022859, 0.025103, 0.003568, 0.95814, 0.97702, 0.9737, 0.70092, 0.023604, 0.022479, 0.0017848, 0.0016029, 0.0016029, 0.0016029
252, 0.022666, 0.024463, 0.0032009, 0.98704, 0.97027, 0.97466, 0.69009, 0.023513, 0.022304, 0.0017728, 0.0015795, 0.0015795, 0.0015795
253, 0.023492, 0.026417, 0.0028279, 0.96436, 0.98372, 0.98019, 0.69935, 0.023358, 0.021836, 0.00174, 0.0015566, 0.0015566, 0.0015566
254, 0.024491, 0.025485, 0.002979, 0.9853, 0.95678, 0.96646, 0.69592, 0.023924, 0.022304, 0.0018352, 0.0015341, 0.0015341, 0.0015341
255, 0.02484, 0.025362, 0.0035361, 0.96452, 0.96353, 0.9651, 0.69518, 0.024445, 0.022635, 0.0018837, 0.0015121, 0.0015121, 0.0015121
256, 0.023908, 0.025521, 0.0036297, 0.96519, 0.96354, 0.96511, 0.6864, 0.024269, 0.022565, 0.0018298, 0.0014905, 0.0014905, 0.0014905
257, 0.02373, 0.025435, 0.0035398, 0.97944, 0.97703, 0.98018, 0.69367, 0.023299, 0.022476, 0.001668, 0.0014693, 0.0014693, 0.0014693
258, 0.023375, 0.025846, 0.0030582, 0.98528, 0.97531, 0.97812, 0.69421, 0.023276, 0.022128, 0.0015514, 0.0014486, 0.0014486, 0.0014486
259, 0.021545, 0.024249, 0.0026146, 0.97663, 0.97029, 0.97653, 0.71099, 0.023939, 0.022179, 0.0015795, 0.0014283, 0.0014283, 0.0014283
260, 0.022169, 0.025532, 0.0040977, 0.97732, 0.9703, 0.97464, 0.68688, 0.024342, 0.022362, 0.001622, 0.0014084, 0.0014084, 0.0014084
261, 0.022755, 0.024997, 0.0032319, 0.97619, 0.9703, 0.97406, 0.70667, 0.024472, 0.021516, 0.0016024, 0.001389, 0.001389, 0.001389
262, 0.023288, 0.02633, 0.0034072, 0.97402, 0.97705, 0.97597, 0.70608, 0.023844, 0.021676, 0.0016408, 0.0013701, 0.0013701, 0.0013701
263, 0.02379, 0.025776, 0.0036441, 0.97543, 0.98358, 0.98268, 0.70729, 0.024337, 0.022026, 0.0016763, 0.0013516, 0.0013516, 0.0013516
264, 0.02391, 0.024676, 0.0036971, 0.97962, 0.97023, 0.98219, 0.72072, 0.024265, 0.021404, 0.0017216, 0.0013336, 0.0013336, 0.0013336
265, 0.02313, 0.024861, 0.0031131, 0.97831, 0.97705, 0.9824, 0.71233, 0.023289, 0.021431, 0.001778, 0.001316, 0.001316, 0.001316
266, 0.022911, 0.023178, 0.0040326, 0.9855, 0.95678, 0.97393, 0.70797, 0.023489, 0.021917, 0.001843, 0.0012989, 0.0012989, 0.0012989
267, 0.022923, 0.025628, 0.0032744, 0.98466, 0.95676, 0.97389, 0.70614, 0.023732, 0.021756, 0.0018387, 0.0012822, 0.0012822, 0.0012822
268, 0.021734, 0.024794, 0.0037717, 0.97172, 0.9703, 0.9748, 0.69889, 0.023854, 0.021882, 0.0018406, 0.001266, 0.001266, 0.001266
269, 0.023233, 0.023997, 0.0026434, 0.98878, 0.95002, 0.97413, 0.69813, 0.024157, 0.022212, 0.0018839, 0.0012503, 0.0012503, 0.0012503
270, 0.022645, 0.024259, 0.0028535, 0.9733, 0.9703, 0.97535, 0.70777, 0.024298, 0.021893, 0.001847, 0.001235, 0.001235, 0.001235
271, 0.022842, 0.025684, 0.003931, 0.97335, 0.9703, 0.97546, 0.6987, 0.023966, 0.022058, 0.0018554, 0.0012202, 0.0012202, 0.0012202
272, 0.022658, 0.02243, 0.0029644, 0.98127, 0.97703, 0.97619, 0.70566, 0.024319, 0.022133, 0.0018315, 0.0012059, 0.0012059, 0.0012059
273, 0.021985, 0.023866, 0.003224, 0.97334, 0.97028, 0.97532, 0.71404, 0.02463, 0.021925, 0.0017855, 0.0011921, 0.0011921, 0.0011921
274, 0.021942, 0.025971, 0.0030934, 0.9921, 0.94045, 0.96804, 0.70548, 0.023867, 0.02181, 0.0017593, 0.0011787, 0.0011787, 0.0011787
275, 0.022654, 0.025224, 0.002868, 0.97576, 0.96344, 0.98036, 0.71113, 0.023825, 0.021833, 0.001792, 0.0011658, 0.0011658, 0.0011658
276, 0.022061, 0.023995, 0.0044932, 0.96396, 0.97519, 0.98094, 0.70244, 0.025151, 0.022106, 0.0018909, 0.0011533, 0.0011533, 0.0011533
277, 0.022082, 0.024009, 0.0043146, 0.9688, 0.96354, 0.96678, 0.69519, 0.025253, 0.022238, 0.0019813, 0.0011414, 0.0011414, 0.0011414
278, 0.022718, 0.025438, 0.0033991, 0.98149, 0.97029, 0.96863, 0.69842, 0.024404, 0.021862, 0.0021195, 0.0011299, 0.0011299, 0.0011299
279, 0.021459, 0.024987, 0.0033223, 0.98556, 0.96354, 0.97556, 0.70391, 0.024428, 0.021777, 0.002116, 0.0011189, 0.0011189, 0.0011189
280, 0.022531, 0.025328, 0.0029854, 0.97082, 0.97026, 0.98069, 0.70413, 0.024501, 0.021852, 0.0020207, 0.0011084, 0.0011084, 0.0011084
281, 0.021432, 0.02498, 0.0037385, 0.97039, 0.9703, 0.98025, 0.70643, 0.024077, 0.021808, 0.0018792, 0.0010983, 0.0010983, 0.0010983
282, 0.022082, 0.024033, 0.0035464, 0.97989, 0.97705, 0.98222, 0.70106, 0.023699, 0.021782, 0.0018304, 0.0010888, 0.0010888, 0.0010888
283, 0.022438, 0.026502, 0.0037712, 0.97219, 0.97702, 0.9805, 0.70248, 0.023944, 0.022022, 0.0018007, 0.0010797, 0.0010797, 0.0010797
284, 0.021952, 0.026204, 0.0030446, 0.9716, 0.977, 0.9802, 0.71073, 0.024671, 0.022283, 0.0017623, 0.0010711, 0.0010711, 0.0010711
285, 0.02244, 0.024696, 0.0031012, 0.97361, 0.9703, 0.98002, 0.71442, 0.024199, 0.022152, 0.0017836, 0.001063, 0.001063, 0.001063
286, 0.021664, 0.023039, 0.0027769, 0.97304, 0.96354, 0.97902, 0.70917, 0.023735, 0.022079, 0.0017841, 0.0010554, 0.0010554, 0.0010554
287, 0.022677, 0.025335, 0.0041636, 0.97759, 0.97705, 0.98093, 0.71153, 0.022869, 0.022005, 0.0017778, 0.0010483, 0.0010483, 0.0010483
288, 0.022281, 0.025492, 0.0036219, 0.98065, 0.97025, 0.98087, 0.70983, 0.022568, 0.022306, 0.0018028, 0.0010416, 0.0010416, 0.0010416
289, 0.023508, 0.024725, 0.0040105, 0.97198, 0.97023, 0.98068, 0.70539, 0.023018, 0.022493, 0.001852, 0.0010355, 0.0010355, 0.0010355
290, 0.023213, 0.024867, 0.0040221, 0.97374, 0.9703, 0.98036, 0.70964, 0.023247, 0.022265, 0.0018443, 0.0010298, 0.0010298, 0.0010298
291, 0.021429, 0.023571, 0.0036408, 0.97524, 0.96354, 0.97319, 0.7067, 0.023258, 0.022189, 0.0018254, 0.0010247, 0.0010247, 0.0010247
292, 0.021587, 0.024857, 0.0031796, 0.97449, 0.9703, 0.98051, 0.71474, 0.02327, 0.022178, 0.0018069, 0.00102, 0.00102, 0.00102
293, 0.022102, 0.02446, 0.0038188, 0.9726, 0.9703, 0.98018, 0.71203, 0.023105, 0.022171, 0.0017905, 0.0010158, 0.0010158, 0.0010158
294, 0.021959, 0.024979, 0.0029226, 0.98156, 0.9703, 0.97487, 0.70595, 0.022793, 0.022188, 0.0018304, 0.0010121, 0.0010121, 0.0010121
295, 0.021182, 0.025238, 0.0033527, 0.96627, 0.9703, 0.97301, 0.71552, 0.023089, 0.021885, 0.0018715, 0.0010089, 0.0010089, 0.0010089
296, 0.022339, 0.024582, 0.0034718, 0.96882, 0.97705, 0.98079, 0.719, 0.023042, 0.021523, 0.0018468, 0.0010062, 0.0010062, 0.0010062
297, 0.022934, 0.025444, 0.0036708, 0.97071, 0.97619, 0.9806, 0.72045, 0.023387, 0.021511, 0.0017952, 0.0010039, 0.0010039, 0.0010039
298, 0.022714, 0.024515, 0.004176, 0.97351, 0.97029, 0.98062, 0.71732, 0.023228, 0.021938, 0.0018586, 0.0010022, 0.0010022, 0.0010022
299, 0.022972, 0.026098, 0.0036222, 0.98, 0.97705, 0.98277, 0.70426, 0.023559, 0.022199, 0.0019408, 0.001001, 0.001001, 0.001001
1 epoch train/box_loss train/obj_loss train/cls_loss metrics/precision metrics/recall metrics/mAP_0.5 metrics/mAP_0.5:0.95 val/box_loss val/obj_loss val/cls_loss x/lr0 x/lr1 x/lr2
2 0 0.1072 0.089784 0.045148 3.1447e-05 0.009434 1.7021e-05 1.7021e-06 0.074383 0.071557 0.036102 0.00019 0.00019 0.09829
3 1 0.09357 0.073808 0.04392 6.2893e-05 0.018868 3.5032e-05 6.2107e-06 0.069977 0.066751 0.035672 0.00038999 0.00038999 0.09649
4 2 0.082933 0.073286 0.042061 6.2893e-05 0.018868 3.5252e-05 3.5252e-06 0.067869 0.065488 0.035208 0.00058994 0.00058994 0.09469
5 3 0.078388 0.073047 0.042215 9.434e-05 0.028302 5.6751e-05 5.6751e-06 0.067291 0.064494 0.034919 0.00078982 0.00078982 0.09289
6 4 0.077606 0.066943 0.040052 9.434e-05 0.028302 5.7173e-05 9.217e-06 0.065971 0.064303 0.034521 0.00098961 0.00098961 0.09109
7 5 0.073009 0.072096 0.039418 0.0010693 0.082038 0.00067087 0.00010067 0.065407 0.064251 0.034196 0.0011893 0.0011893 0.089289
8 6 0.074801 0.071712 0.039586 0.0010178 0.16158 0.00093658 0.00021294 0.065921 0.063458 0.033979 0.0013888 0.0013888 0.087489
9 7 0.076127 0.0702 0.039439 0.00084618 0.17629 0.0011685 0.00023231 0.065714 0.063461 0.033674 0.0015881 0.0015881 0.085688
10 8 0.075849 0.074078 0.038786 0.0092778 0.030889 0.0032644 0.00070873 0.065679 0.062307 0.030542 0.0017872 0.0017872 0.083887
11 9 0.075436 0.069392 0.038983 0.0060257 0.10055 0.0033271 0.00079476 0.064516 0.062611 0.030316 0.001986 0.001986 0.082086
12 10 0.077201 0.071009 0.035982 0.015542 0.070484 0.005924 0.0010521 0.070791 0.061645 0.026312 0.0021846 0.0021846 0.080285
13 11 0.07411 0.067135 0.036761 0.54391 0.014074 0.0064732 0.0012823 0.079597 0.077907 0.033935 0.0023829 0.0023829 0.078483
14 12 0.072703 0.066995 0.036249 0.015042 0.15315 0.0083551 0.0012464 0.075651 0.067622 0.028427 0.0025808 0.0025808 0.076681
15 13 0.0737 0.072585 0.03594 0.038881 0.15844 0.020356 0.0033538 0.063492 0.061259 0.026789 0.0027784 0.0027784 0.074878
16 14 0.072014 0.072332 0.036173 0.036296 0.10895 0.018669 0.003782 0.061362 0.061768 0.026689 0.0029756 0.0029756 0.073076
17 15 0.072346 0.071417 0.033542 0.090208 0.14203 0.0267 0.0043627 0.062477 0.06224 0.024864 0.0031723 0.0031723 0.071272
18 16 0.070106 0.068058 0.034502 0.067812 0.14637 0.037359 0.0078725 0.06237 0.061756 0.02467 0.0033686 0.0033686 0.069469
19 17 0.074946 0.064136 0.032574 0.13835 0.12299 0.072165 0.012966 0.058928 0.05861 0.024038 0.0035645 0.0035645 0.067664
20 18 0.070358 0.060051 0.031907 0.0479 0.25203 0.038178 0.0060513 0.05915 0.058207 0.025925 0.0037598 0.0037598 0.06586
21 19 0.067322 0.055626 0.03065 0.82252 0.060739 0.063727 0.012951 0.065587 0.053063 0.021251 0.0039546 0.0039546 0.064055
22 20 0.068843 0.057321 0.030782 0.18588 0.17522 0.10052 0.0231 0.057125 0.052086 0.021309 0.0041488 0.0041488 0.062249
23 21 0.06779 0.056333 0.030423 0.14705 0.2448 0.14866 0.026988 0.057788 0.054503 0.020962 0.0043424 0.0043424 0.060442
24 22 0.065426 0.052589 0.030872 0.31674 0.30232 0.25582 0.068044 0.051682 0.048209 0.020117 0.0045354 0.0045354 0.058635
25 23 0.067626 0.056669 0.027687 0.10589 0.17271 0.068596 0.015701 0.064839 0.051478 0.020254 0.0047278 0.0047278 0.056828
26 24 0.059718 0.052035 0.026036 0.42306 0.42077 0.40239 0.11784 0.055993 0.041789 0.015245 0.0049195 0.0049195 0.055019
27 25 0.066427 0.060109 0.026517 0.21072 0.40616 0.23959 0.044691 0.060816 0.050553 0.017379 0.0051104 0.0051104 0.05321
28 26 0.068186 0.057706 0.026478 0.14783 0.51256 0.19894 0.060068 0.057491 0.04908 0.018394 0.0053007 0.0053007 0.051401
29 27 0.066612 0.050319 0.024494 0.48579 0.42298 0.40479 0.11374 0.056078 0.045788 0.014807 0.0054901 0.0054901 0.04959
30 28 0.063534 0.052454 0.024039 0.40719 0.36156 0.30722 0.10794 0.055933 0.046081 0.021163 0.0056788 0.0056788 0.047779
31 29 0.063979 0.050578 0.023715 0.11747 0.27502 0.089202 0.017614 0.058407 0.055614 0.019128 0.0058667 0.0058667 0.045967
32 30 0.061931 0.04879 0.021555 0.097 0.14031 0.055955 0.0091582 0.056716 0.063297 0.024825 0.0060537 0.0060537 0.044154
33 31 0.057106 0.050596 0.020186 0.46931 0.63839 0.47727 0.14214 0.047358 0.044311 0.013691 0.0062398 0.0062398 0.04234
34 32 0.061115 0.046957 0.020035 0.63103 0.71706 0.687 0.25922 0.046848 0.037924 0.011027 0.006425 0.006425 0.040525
35 33 0.056406 0.046535 0.01865 0.43884 0.62161 0.51021 0.17632 0.05008 0.038613 0.014262 0.0066094 0.0066094 0.038709
36 34 0.059193 0.048328 0.019087 0.40999 0.66487 0.53293 0.19979 0.047951 0.038267 0.0089096 0.0067927 0.0067927 0.036893
37 35 0.058858 0.046026 0.018089 0.49914 0.45985 0.44086 0.14173 0.055914 0.049698 0.016622 0.0069751 0.0069751 0.035075
38 36 0.05378 0.046878 0.017436 0.54042 0.40374 0.42118 0.12772 0.053832 0.048224 0.015295 0.0071565 0.0071565 0.033256
39 37 0.057157 0.047375 0.01825 0.45283 0.17341 0.1188 0.023888 0.05297 0.06591 0.028537 0.0073368 0.0073368 0.031437
40 38 0.055086 0.044643 0.016019 0.59048 0.58181 0.54786 0.20768 0.046944 0.041786 0.011842 0.0075161 0.0075161 0.029616
41 39 0.052514 0.042485 0.016678 0.60654 0.62859 0.65293 0.27689 0.04138 0.043998 0.0078349 0.0076943 0.0076943 0.027794
42 40 0.054016 0.045163 0.016713 0.43989 0.24508 0.23914 0.074126 0.052986 0.055093 0.029361 0.0078714 0.0078714 0.025971
43 41 0.052897 0.042598 0.014125 0.66111 0.45699 0.54765 0.20954 0.04524 0.048015 0.013144 0.0080473 0.0080473 0.024147
44 42 0.051021 0.042313 0.012967 0.64228 0.50983 0.5556 0.2054 0.049423 0.04853 0.014758 0.0082221 0.0082221 0.022322
45 43 0.05275 0.041908 0.012555 0.76316 0.7306 0.72312 0.21781 0.046986 0.032759 0.0042896 0.0083957 0.0083957 0.020496
46 44 0.052692 0.040748 0.012202 0.73323 0.7009 0.74501 0.32735 0.040507 0.036143 0.0074856 0.0085681 0.0085681 0.018668
47 45 0.051049 0.040343 0.010494 0.79341 0.8425 0.8331 0.38394 0.042813 0.033749 0.0054575 0.0087393 0.0087393 0.016839
48 46 0.052916 0.04602 0.016315 0.0074664 0.36345 0.0069738 0.0012171 0.071852 0.057659 0.040379 0.0089092 0.0089092 0.015009
49 47 0.061261 0.055108 0.025584 0 0 0 0 0.10342 0.10308 0.61562 0.0090778 0.0090778 0.013178
50 48 0.055741 0.048942 0.022914 0 0 0 0 0.091703 0.15503 0.50829 0.0092451 0.0092451 0.011345
51 49 0.055505 0.046065 0.01996 0.40454 0.43583 0.36731 0.1155 0.054668 0.048338 0.01677 0.009411 0.009411 0.009511
52 50 0.052316 0.04637 0.01857 0.29994 0.17425 0.1908 0.069672 0.061657 0.058302 0.017473 0.0093971 0.0093971 0.0093971
53 51 0.052513 0.044853 0.016164 0.32316 0.21994 0.18133 0.052024 0.054571 0.052566 0.018779 0.0093971 0.0093971 0.0093971
54 52 0.050169 0.041122 0.013702 0.71349 0.46749 0.50083 0.20943 0.05027 0.040049 0.0090618 0.0093733 0.0093733 0.0093733
55 53 0.052356 0.038377 0.012993 0.70745 0.58166 0.63794 0.29499 0.043828 0.039433 0.006337 0.0093491 0.0093491 0.0093491
56 54 0.049593 0.041015 0.013021 0.8286 0.83119 0.85701 0.39813 0.044484 0.031344 0.0039315 0.0093245 0.0093245 0.0093245
57 55 0.050457 0.040325 0.011648 0.90411 0.72727 0.81333 0.32555 0.050267 0.031773 0.0036776 0.0092995 0.0092995 0.0092995
58 56 0.048361 0.037615 0.01134 0.83214 0.70918 0.7804 0.32044 0.048583 0.035312 0.0075229 0.009274 0.009274 0.009274
59 57 0.045264 0.037444 0.010766 0.73705 0.60835 0.67841 0.33454 0.037938 0.035844 0.011167 0.0092481 0.0092481 0.0092481
60 58 0.048281 0.038769 0.0095906 0.77539 0.72818 0.77761 0.35702 0.038495 0.033515 0.0052658 0.0092219 0.0092219 0.0092219
61 59 0.045365 0.036449 0.0083486 0.84428 0.80126 0.86356 0.45554 0.039402 0.029563 0.00649 0.0091952 0.0091952 0.0091952
62 60 0.047082 0.038087 0.01002 0.82263 0.84693 0.89213 0.45806 0.038933 0.03161 0.0054989 0.0091681 0.0091681 0.0091681
63 61 0.043742 0.036556 0.0088003 0.92037 0.8607 0.9257 0.48197 0.036326 0.030955 0.0034465 0.0091406 0.0091406 0.0091406
64 62 0.044255 0.036951 0.010437 0.87895 0.89227 0.91443 0.44407 0.043374 0.028684 0.0026665 0.0091127 0.0091127 0.0091127
65 63 0.045161 0.03555 0.0089086 0.92405 0.88652 0.91847 0.5026 0.039014 0.030431 0.0025694 0.0090844 0.0090844 0.0090844
66 64 0.045083 0.037143 0.0087739 0.93807 0.88789 0.93251 0.48687 0.041815 0.028742 0.002422 0.0090557 0.0090557 0.0090557
67 65 0.040342 0.037515 0.0077562 0.92831 0.92405 0.95091 0.55001 0.033787 0.028646 0.0023556 0.0090266 0.0090266 0.0090266
68 66 0.044417 0.032584 0.0076607 0.92958 0.86946 0.92922 0.53225 0.035044 0.028907 0.0025468 0.0089972 0.0089972 0.0089972
69 67 0.039694 0.035995 0.0079306 0.88746 0.90617 0.92104 0.51225 0.035307 0.027231 0.003196 0.0089673 0.0089673 0.0089673
70 68 0.044565 0.034608 0.0088018 0.87307 0.84145 0.90489 0.50325 0.034845 0.032796 0.0049277 0.0089371 0.0089371 0.0089371
71 69 0.042965 0.033984 0.01085 0.9106 0.85758 0.91816 0.51602 0.035491 0.030649 0.0044527 0.0089065 0.0089065 0.0089065
72 70 0.04196 0.035426 0.0084481 0.86355 0.90502 0.92138 0.55436 0.032832 0.029249 0.0028974 0.0088755 0.0088755 0.0088755
73 71 0.038512 0.036 0.0078214 0.94121 0.89692 0.94946 0.54232 0.035271 0.027604 0.0020984 0.0088442 0.0088442 0.0088442
74 72 0.041711 0.035849 0.0077841 0.94633 0.90146 0.94532 0.55551 0.034369 0.028245 0.0028688 0.0088124 0.0088124 0.0088124
75 73 0.043422 0.034141 0.008423 0.89791 0.79773 0.89551 0.49783 0.036391 0.032343 0.0036569 0.0087804 0.0087804 0.0087804
76 74 0.041125 0.034275 0.0088747 0.94643 0.86711 0.9366 0.54438 0.031141 0.029405 0.0027034 0.0087479 0.0087479 0.0087479
77 75 0.039719 0.034131 0.0079598 0.9524 0.91862 0.9582 0.59485 0.03173 0.026338 0.0019864 0.0087151 0.0087151 0.0087151
78 76 0.040181 0.033154 0.0080667 0.90734 0.83848 0.92208 0.47094 0.038296 0.031134 0.0040538 0.008682 0.008682 0.008682
79 77 0.03966 0.033198 0.0066327 0.94442 0.86113 0.92597 0.45845 0.035619 0.028766 0.0026854 0.0086485 0.0086485 0.0086485
80 78 0.038331 0.034961 0.0069487 0.91974 0.89982 0.94746 0.51601 0.034682 0.02985 0.0028031 0.0086146 0.0086146 0.0086146
81 79 0.038131 0.034181 0.0070184 0.9505 0.92209 0.95505 0.56273 0.031882 0.030202 0.0025396 0.0085805 0.0085805 0.0085805
82 80 0.037099 0.033424 0.0061094 0.95886 0.9318 0.94569 0.56409 0.031647 0.027277 0.0028533 0.0085459 0.0085459 0.0085459
83 81 0.038213 0.035 0.0062455 0.90117 0.91763 0.93225 0.58747 0.030732 0.026239 0.0024431 0.0085111 0.0085111 0.0085111
84 82 0.038884 0.031852 0.0060274 0.94817 0.92094 0.95121 0.55533 0.031829 0.026745 0.0023725 0.0084759 0.0084759 0.0084759
85 83 0.036625 0.033138 0.0079261 0.95916 0.91625 0.94151 0.5457 0.034776 0.026776 0.0021613 0.0084404 0.0084404 0.0084404
86 84 0.038809 0.032023 0.0062357 0.93504 0.92504 0.95141 0.58087 0.033784 0.026052 0.0023802 0.0084046 0.0084046 0.0084046
87 85 0.037893 0.034964 0.0068261 0.92978 0.93218 0.95634 0.58927 0.031465 0.026274 0.0021452 0.0083684 0.0083684 0.0083684
88 86 0.038298 0.033131 0.0060222 0.94402 0.95637 0.96109 0.55015 0.033578 0.028523 0.002081 0.0083319 0.0083319 0.0083319
89 87 0.037152 0.034427 0.0058415 0.93586 0.91752 0.94697 0.59167 0.030662 0.027937 0.0022087 0.0082952 0.0082952 0.0082952
90 88 0.033444 0.033919 0.0065007 0.97881 0.93894 0.95851 0.60322 0.031015 0.025488 0.0023777 0.0082581 0.0082581 0.0082581
91 89 0.034102 0.033245 0.006238 0.97284 0.92101 0.95236 0.58836 0.031254 0.026429 0.0026268 0.0082207 0.0082207 0.0082207
92 90 0.033522 0.03244 0.0050727 0.96762 0.87823 0.94835 0.59588 0.029 0.026984 0.003767 0.008183 0.008183 0.008183
93 91 0.034385 0.03257 0.0068179 0.96143 0.94048 0.96293 0.61393 0.032598 0.025748 0.0025069 0.008145 0.008145 0.008145
94 92 0.038411 0.03149 0.008301 0.85757 0.82488 0.90553 0.50806 0.03392 0.030222 0.0066837 0.0081068 0.0081068 0.0081068
95 93 0.038098 0.030603 0.0062063 0.87368 0.83447 0.8986 0.48715 0.032855 0.030639 0.0038948 0.0080682 0.0080682 0.0080682
96 94 0.038408 0.031401 0.0071762 0.97569 0.88239 0.94377 0.57059 0.032335 0.027143 0.0022352 0.0080294 0.0080294 0.0080294
97 95 0.037455 0.031985 0.0056255 0.92462 0.91911 0.95528 0.57158 0.032933 0.02751 0.0028774 0.0079903 0.0079903 0.0079903
98 96 0.034081 0.032974 0.0055842 0.95494 0.95877 0.96191 0.56896 0.031626 0.02607 0.0021001 0.0079509 0.0079509 0.0079509
99 97 0.036189 0.031882 0.0066565 0.95704 0.92485 0.96058 0.61761 0.031169 0.024964 0.0026779 0.0079112 0.0079112 0.0079112
100 98 0.034716 0.033089 0.0062765 0.95208 0.9259 0.95999 0.58112 0.031563 0.025833 0.002693 0.0078713 0.0078713 0.0078713
101 99 0.035807 0.032488 0.0062112 0.94346 0.93805 0.95484 0.58984 0.030902 0.025948 0.0019203 0.0078311 0.0078311 0.0078311
102 100 0.035404 0.030942 0.0070651 0.90669 0.90848 0.94371 0.55885 0.032847 0.031035 0.0054341 0.0077907 0.0077907 0.0077907
103 101 0.034805 0.032716 0.007314 0.95797 0.95318 0.96146 0.57165 0.031743 0.027374 0.0019765 0.00775 0.00775 0.00775
104 102 0.036556 0.032288 0.0068758 0.93197 0.95396 0.96154 0.58878 0.030179 0.028715 0.0022038 0.0077091 0.0077091 0.0077091
105 103 0.034745 0.03311 0.0060098 0.91789 0.95751 0.9557 0.60553 0.030048 0.028515 0.0018339 0.0076679 0.0076679 0.0076679
106 104 0.035191 0.032241 0.0060717 0.89044 0.92859 0.9459 0.55454 0.031789 0.029479 0.0041273 0.0076265 0.0076265 0.0076265
107 105 0.035232 0.030591 0.0058525 0.88359 0.89753 0.93313 0.58269 0.030801 0.027946 0.0030299 0.0075848 0.0075848 0.0075848
108 106 0.034891 0.031808 0.0054986 0.92895 0.85635 0.92882 0.49609 0.034223 0.029069 0.0034086 0.007543 0.007543 0.007543
109 107 0.034206 0.032183 0.0059379 0.95328 0.90682 0.95609 0.5899 0.032747 0.02519 0.002409 0.0075009 0.0075009 0.0075009
110 108 0.035193 0.032691 0.006186 0.76003 0.88884 0.92562 0.52785 0.033637 0.027941 0.0085591 0.0074585 0.0074585 0.0074585
111 109 0.032678 0.031774 0.0051808 0.9394 0.94668 0.95971 0.59036 0.029259 0.025816 0.0018039 0.007416 0.007416 0.007416
112 110 0.034928 0.032253 0.0052045 0.96947 0.9156 0.95994 0.57839 0.031965 0.025841 0.0017381 0.0073733 0.0073733 0.0073733
113 111 0.032909 0.030654 0.0068091 0.93353 0.9431 0.95796 0.6155 0.029402 0.024355 0.00166 0.0073303 0.0073303 0.0073303
114 112 0.034421 0.030596 0.0056472 0.97009 0.96553 0.96802 0.62231 0.027934 0.024545 0.0017626 0.0072872 0.0072872 0.0072872
115 113 0.033877 0.031202 0.0048802 0.96084 0.94522 0.95601 0.59425 0.029266 0.025481 0.0019383 0.0072438 0.0072438 0.0072438
116 114 0.032888 0.030615 0.0059414 0.96707 0.96629 0.96299 0.58985 0.028752 0.02581 0.001971 0.0072003 0.0072003 0.0072003
117 115 0.033697 0.032449 0.0059314 0.98178 0.96195 0.96413 0.62237 0.030004 0.025665 0.0022348 0.0071566 0.0071566 0.0071566
118 116 0.032169 0.028243 0.0053777 0.96855 0.95665 0.96663 0.59072 0.030777 0.027957 0.0025654 0.0071127 0.0071127 0.0071127
119 117 0.031322 0.029406 0.0044561 0.95818 0.95873 0.96789 0.61904 0.03089 0.02532 0.0023165 0.0070686 0.0070686 0.0070686
120 118 0.032621 0.031882 0.0060545 0.96766 0.9703 0.97043 0.61416 0.031658 0.02589 0.0024626 0.0070243 0.0070243 0.0070243
121 119 0.033223 0.027714 0.0065067 0.98299 0.96548 0.96768 0.62695 0.029253 0.02492 0.0019283 0.0069799 0.0069799 0.0069799
122 120 0.033553 0.029447 0.0063224 0.98701 0.95656 0.96794 0.64578 0.027592 0.02491 0.0018422 0.0069353 0.0069353 0.0069353
123 121 0.03325 0.028541 0.0051204 0.98317 0.93651 0.96604 0.61816 0.032385 0.023813 0.0019208 0.0068906 0.0068906 0.0068906
124 122 0.033097 0.02979 0.0057041 0.97144 0.93651 0.96183 0.61828 0.027016 0.026034 0.0019498 0.0068457 0.0068457 0.0068457
125 123 0.032385 0.031679 0.0052411 0.97262 0.94493 0.96298 0.62283 0.026364 0.025603 0.0019448 0.0068006 0.0068006 0.0068006
126 124 0.033781 0.029724 0.0050386 0.95657 0.95188 0.96177 0.64612 0.028362 0.024317 0.0019741 0.0067555 0.0067555 0.0067555
127 125 0.032106 0.029237 0.0045665 0.94958 0.9452 0.96075 0.64017 0.028601 0.024065 0.0021955 0.0067101 0.0067101 0.0067101
128 126 0.032264 0.029086 0.0054842 0.95887 0.96354 0.96768 0.66344 0.026937 0.023887 0.0024299 0.0066647 0.0066647 0.0066647
129 127 0.032503 0.030248 0.0055057 0.96337 0.96553 0.96908 0.6688 0.026015 0.023054 0.002129 0.0066191 0.0066191 0.0066191
130 128 0.031848 0.030237 0.0040163 0.97874 0.9667 0.96928 0.65926 0.026758 0.024459 0.0019228 0.0065734 0.0065734 0.0065734
131 129 0.033826 0.03026 0.0075954 0.97185 0.97532 0.97586 0.65575 0.027961 0.023636 0.0018942 0.0065276 0.0065276 0.0065276
132 130 0.034133 0.029008 0.0056355 0.98736 0.94112 0.9718 0.63606 0.02707 0.024257 0.0019156 0.0064816 0.0064816 0.0064816
133 131 0.032031 0.029106 0.0046239 0.97221 0.91833 0.96514 0.62362 0.027138 0.024794 0.0020008 0.0064356 0.0064356 0.0064356
134 132 0.031064 0.028333 0.005266 0.90643 0.90848 0.94398 0.52023 0.032159 0.02668 0.0031502 0.0063895 0.0063895 0.0063895
135 133 0.031294 0.030179 0.0047473 0.9751 0.94523 0.96989 0.60873 0.028775 0.024644 0.0019185 0.0063432 0.0063432 0.0063432
136 134 0.03095 0.029861 0.004757 0.93719 0.96354 0.96023 0.64725 0.026088 0.024737 0.001847 0.0062969 0.0062969 0.0062969
137 135 0.030516 0.028845 0.0047947 0.95301 0.95197 0.96786 0.62838 0.026574 0.024545 0.0017698 0.0062505 0.0062505 0.0062505
138 136 0.030475 0.02846 0.0055107 0.96437 0.9451 0.96404 0.64108 0.027123 0.024913 0.0017149 0.006204 0.006204 0.006204
139 137 0.030362 0.029429 0.0048351 0.97425 0.96309 0.96501 0.6316 0.027754 0.025372 0.0018266 0.0061574 0.0061574 0.0061574
140 138 0.030377 0.030139 0.0047596 0.96266 0.96512 0.96441 0.63686 0.027537 0.024936 0.0019117 0.0061107 0.0061107 0.0061107
141 139 0.030934 0.027383 0.0046041 0.97265 0.9703 0.96765 0.64827 0.027235 0.024562 0.0018573 0.006064 0.006064 0.006064
142 140 0.030503 0.030103 0.005123 0.96566 0.95537 0.96187 0.62706 0.027453 0.024727 0.0018926 0.0060172 0.0060172 0.0060172
143 141 0.031252 0.028443 0.0041605 0.97251 0.96352 0.96748 0.66484 0.026909 0.024105 0.0020043 0.0059704 0.0059704 0.0059704
144 142 0.029091 0.029802 0.004882 0.98107 0.97705 0.97517 0.6692 0.025419 0.023475 0.0019698 0.0059235 0.0059235 0.0059235
145 143 0.029031 0.027532 0.0044102 0.96415 0.95001 0.96306 0.65746 0.026583 0.024414 0.0018636 0.0058766 0.0058766 0.0058766
146 144 0.030322 0.029805 0.0045858 0.95213 0.97029 0.96608 0.66087 0.02622 0.024185 0.0019045 0.0058296 0.0058296 0.0058296
147 145 0.03003 0.027735 0.0042047 0.9629 0.97049 0.97254 0.6706 0.025957 0.023952 0.0019944 0.0057826 0.0057826 0.0057826
148 146 0.030178 0.028212 0.0038413 0.97726 0.96369 0.96698 0.6622 0.025378 0.025052 0.0019726 0.0057355 0.0057355 0.0057355
149 147 0.0287 0.027819 0.0042913 0.97216 0.96354 0.96631 0.64059 0.025874 0.024205 0.0019755 0.0056884 0.0056884 0.0056884
150 148 0.032043 0.027684 0.0048876 0.98775 0.95678 0.96185 0.61574 0.029168 0.025582 0.001935 0.0056413 0.0056413 0.0056413
151 149 0.030177 0.027118 0.0045694 0.98348 0.95001 0.96349 0.66463 0.026593 0.023216 0.0019195 0.0055942 0.0055942 0.0055942
152 150 0.028507 0.030105 0.0049029 0.98161 0.95661 0.96846 0.65684 0.02566 0.023492 0.0021502 0.0055471 0.0055471 0.0055471
153 151 0.030499 0.028858 0.0074011 0.98125 0.9703 0.97297 0.68484 0.026201 0.022504 0.002315 0.0055 0.0055 0.0055
154 152 0.02793 0.028107 0.0056783 0.98268 0.95669 0.96742 0.68158 0.026543 0.023369 0.0024157 0.0054529 0.0054529 0.0054529
155 153 0.028745 0.027211 0.0047151 0.98282 0.95678 0.96778 0.67643 0.024136 0.022676 0.0020738 0.0054058 0.0054058 0.0054058
156 154 0.02988 0.028095 0.0047024 0.97564 0.95678 0.96446 0.67542 0.026337 0.02249 0.002291 0.0053587 0.0053587 0.0053587
157 155 0.028457 0.029243 0.0047708 0.96159 0.95678 0.95796 0.66082 0.026913 0.022992 0.0021378 0.0053116 0.0053116 0.0053116
158 156 0.028992 0.027253 0.0048825 0.97888 0.96996 0.9719 0.6495 0.027016 0.022958 0.001994 0.0052645 0.0052645 0.0052645
159 157 0.028998 0.028506 0.0044686 0.95299 0.97018 0.96508 0.6518 0.026524 0.022246 0.0018938 0.0052174 0.0052174 0.0052174
160 158 0.029876 0.028789 0.0045456 0.97905 0.9703 0.96656 0.67184 0.026013 0.023414 0.0020316 0.0051704 0.0051704 0.0051704
161 159 0.02783 0.027954 0.0047788 0.95981 0.9703 0.97331 0.65536 0.026615 0.023393 0.0021369 0.0051234 0.0051234 0.0051234
162 160 0.02881 0.029834 0.0051372 0.96231 0.97705 0.97276 0.67234 0.02516 0.023334 0.0020906 0.0050765 0.0050765 0.0050765
163 161 0.02907 0.028024 0.0050542 0.97128 0.97694 0.97459 0.67987 0.024301 0.022933 0.0018993 0.0050296 0.0050296 0.0050296
164 162 0.027088 0.02831 0.0049067 0.97555 0.97705 0.97511 0.68172 0.02416 0.022443 0.0016887 0.0049828 0.0049828 0.0049828
165 163 0.030222 0.026841 0.004733 0.97753 0.97705 0.97482 0.68213 0.025884 0.02258 0.0016608 0.004936 0.004936 0.004936
166 164 0.028023 0.028466 0.0040835 0.95802 0.94365 0.96412 0.68017 0.027131 0.022298 0.0018087 0.0048893 0.0048893 0.0048893
167 165 0.028881 0.028552 0.0037733 0.98463 0.9703 0.966 0.69216 0.024287 0.022506 0.0017584 0.0048426 0.0048426 0.0048426
168 166 0.02887 0.028066 0.0051819 0.97967 0.97023 0.96605 0.67742 0.023991 0.022966 0.0017765 0.004796 0.004796 0.004796
169 167 0.027769 0.027876 0.0045376 0.97336 0.9703 0.96585 0.67378 0.024131 0.022832 0.0018437 0.0047495 0.0047495 0.0047495
170 168 0.026105 0.026978 0.0043823 0.98068 0.9703 0.97141 0.68531 0.02506 0.022971 0.0019168 0.0047031 0.0047031 0.0047031
171 169 0.027398 0.02762 0.0039622 0.98055 0.96775 0.96652 0.69533 0.023761 0.022578 0.0018546 0.0046568 0.0046568 0.0046568
172 170 0.028034 0.027971 0.0037273 0.97684 0.9703 0.96783 0.69053 0.023457 0.0223 0.0017781 0.0046105 0.0046105 0.0046105
173 171 0.027347 0.028535 0.0038968 0.97337 0.96354 0.96296 0.67883 0.024073 0.022644 0.001817 0.0045644 0.0045644 0.0045644
174 172 0.028142 0.026267 0.0034699 0.98644 0.96343 0.96703 0.69874 0.02388 0.02208 0.0017773 0.0045184 0.0045184 0.0045184
175 173 0.026171 0.027753 0.0050813 0.97569 0.96352 0.96478 0.67178 0.02579 0.022882 0.0018091 0.0044724 0.0044724 0.0044724
176 174 0.026128 0.026436 0.0053865 0.97295 0.96346 0.96565 0.67965 0.025346 0.023009 0.001846 0.0044266 0.0044266 0.0044266
177 175 0.02726 0.027188 0.0035265 0.97704 0.96351 0.96655 0.68568 0.024316 0.022898 0.0017214 0.0043809 0.0043809 0.0043809
178 176 0.026716 0.026838 0.0031932 0.98022 0.96354 0.96597 0.68301 0.025983 0.023226 0.0016424 0.0043353 0.0043353 0.0043353
179 177 0.027251 0.028037 0.0054986 0.97271 0.96354 0.96646 0.68557 0.026387 0.022748 0.0016146 0.0042899 0.0042899 0.0042899
180 178 0.026909 0.026743 0.0046035 0.98252 0.97027 0.97551 0.66755 0.026705 0.022883 0.0016144 0.0042445 0.0042445 0.0042445
181 179 0.026095 0.026161 0.0058214 0.98155 0.97028 0.96818 0.66911 0.025493 0.023625 0.0016812 0.0041994 0.0041994 0.0041994
182 180 0.024472 0.026628 0.0041876 0.98266 0.97705 0.97576 0.66959 0.024833 0.022997 0.0017462 0.0041543 0.0041543 0.0041543
183 181 0.027072 0.027344 0.0044676 0.98132 0.97705 0.9754 0.68045 0.024837 0.022527 0.0017458 0.0041094 0.0041094 0.0041094
184 182 0.028166 0.02681 0.0042947 0.98137 0.9703 0.9683 0.68976 0.024242 0.022963 0.001793 0.0040647 0.0040647 0.0040647
185 183 0.026102 0.027943 0.0043331 0.95813 0.97705 0.97464 0.69977 0.023437 0.022746 0.0018653 0.0040201 0.0040201 0.0040201
186 184 0.026373 0.026178 0.0037455 0.98558 0.96354 0.97444 0.69813 0.024044 0.022799 0.0018616 0.0039757 0.0039757 0.0039757
187 185 0.028673 0.026108 0.0044021 0.98181 0.95199 0.96343 0.67845 0.024732 0.023188 0.0018667 0.0039314 0.0039314 0.0039314
188 186 0.026675 0.02758 0.0041627 0.98565 0.96353 0.96589 0.68148 0.022764 0.022821 0.001741 0.0038873 0.0038873 0.0038873
189 187 0.026643 0.027148 0.0038995 0.98353 0.97028 0.96679 0.68438 0.02252 0.022897 0.0017302 0.0038434 0.0038434 0.0038434
190 188 0.027608 0.027644 0.0039359 0.98275 0.977 0.97892 0.69636 0.023269 0.022497 0.0018708 0.0037997 0.0037997 0.0037997
191 189 0.024131 0.027909 0.0027875 0.97406 0.9703 0.97597 0.69888 0.023948 0.022371 0.0023066 0.0037562 0.0037562 0.0037562
192 190 0.027156 0.027026 0.0036558 0.98347 0.96347 0.9715 0.68745 0.023983 0.023429 0.0027685 0.0037128 0.0037128 0.0037128
193 191 0.027734 0.026852 0.0039689 0.97298 0.97025 0.9738 0.6853 0.026086 0.022382 0.0022475 0.0036697 0.0036697 0.0036697
194 192 0.026927 0.026752 0.0037148 0.96858 0.96354 0.96962 0.69858 0.023535 0.022065 0.0017252 0.0036267 0.0036267 0.0036267
195 193 0.027003 0.027176 0.0053776 0.96122 0.97705 0.97883 0.66762 0.023695 0.022581 0.0018148 0.003584 0.003584 0.003584
196 194 0.026989 0.027615 0.006495 0.95862 0.95678 0.96378 0.61374 0.02806 0.024838 0.0017687 0.0035415 0.0035415 0.0035415
197 195 0.027666 0.026871 0.0057181 0.96489 0.9702 0.96448 0.66116 0.024083 0.024089 0.0018062 0.0034991 0.0034991 0.0034991
198 196 0.026176 0.02691 0.004667 0.97361 0.96348 0.96482 0.67681 0.024865 0.023765 0.0019973 0.003457 0.003457 0.003457
199 197 0.026469 0.027627 0.0049022 0.96453 0.96354 0.97173 0.68511 0.024681 0.022624 0.0021242 0.0034152 0.0034152 0.0034152
200 198 0.027208 0.028003 0.0049884 0.97647 0.96354 0.96577 0.69568 0.024119 0.022065 0.0021831 0.0033735 0.0033735 0.0033735
201 199 0.025903 0.027341 0.0048099 0.98137 0.95876 0.96996 0.69246 0.024701 0.022356 0.0023582 0.0033321 0.0033321 0.0033321
202 200 0.026184 0.027374 0.0042712 0.98338 0.9635 0.96994 0.67492 0.025071 0.022943 0.0024592 0.0032909 0.0032909 0.0032909
203 201 0.026189 0.025554 0.0040891 0.98737 0.94994 0.96182 0.66253 0.025125 0.023302 0.0023766 0.00325 0.00325 0.00325
204 202 0.024545 0.026731 0.0041204 0.9815 0.9703 0.97592 0.68519 0.024929 0.022513 0.0020454 0.0032093 0.0032093 0.0032093
205 203 0.02617 0.025825 0.0042871 0.95509 0.97705 0.97726 0.68377 0.024432 0.022358 0.0020345 0.0031689 0.0031689 0.0031689
206 204 0.023137 0.024813 0.0036278 0.96776 0.96354 0.97128 0.69433 0.026057 0.022551 0.0019471 0.0031287 0.0031287 0.0031287
207 205 0.025338 0.025502 0.0037127 0.99338 0.95089 0.96514 0.68198 0.025945 0.023259 0.0021286 0.0030888 0.0030888 0.0030888
208 206 0.026339 0.02602 0.0039489 0.98518 0.97028 0.96743 0.67505 0.023719 0.022723 0.0020737 0.0030491 0.0030491 0.0030491
209 207 0.026491 0.027071 0.0040128 0.98605 0.96354 0.96766 0.68313 0.024904 0.022284 0.0022663 0.0030097 0.0030097 0.0030097
210 208 0.025094 0.025137 0.0043872 0.99331 0.9505 0.96795 0.6957 0.024963 0.021901 0.0026323 0.0029706 0.0029706 0.0029706
211 209 0.026184 0.027171 0.0039022 0.9868 0.95678 0.96685 0.69064 0.026298 0.022596 0.0027955 0.0029318 0.0029318 0.0029318
212 210 0.025956 0.025668 0.0049788 0.97688 0.95678 0.97237 0.69002 0.025732 0.022511 0.0025778 0.0028932 0.0028932 0.0028932
213 211 0.027297 0.025791 0.0040839 0.98462 0.9703 0.96931 0.6969 0.026088 0.0223 0.0022371 0.002855 0.002855 0.002855
214 212 0.02525 0.026303 0.0047559 0.9774 0.96349 0.96719 0.69013 0.025161 0.022704 0.0021132 0.002817 0.002817 0.002817
215 213 0.024295 0.026973 0.0041341 0.97281 0.97705 0.9826 0.68997 0.024569 0.022605 0.0019869 0.0027793 0.0027793 0.0027793
216 214 0.024136 0.025274 0.0038694 0.97589 0.94326 0.97578 0.68725 0.02548 0.022043 0.0018324 0.0027419 0.0027419 0.0027419
217 215 0.025528 0.027067 0.0040959 0.96603 0.9567 0.96499 0.68876 0.024627 0.022841 0.0020294 0.0027048 0.0027048 0.0027048
218 216 0.025221 0.027184 0.0047706 0.95868 0.96353 0.96453 0.6809 0.025527 0.022776 0.0021757 0.0026681 0.0026681 0.0026681
219 217 0.024044 0.024836 0.0042798 0.98084 0.95673 0.96482 0.68198 0.025761 0.022618 0.002021 0.0026316 0.0026316 0.0026316
220 218 0.025253 0.027373 0.0041113 0.96325 0.9689 0.97805 0.69718 0.025244 0.021851 0.0018038 0.0025954 0.0025954 0.0025954
221 219 0.025786 0.024412 0.0038547 0.9784 0.96354 0.97334 0.67628 0.024993 0.022038 0.001677 0.0025596 0.0025596 0.0025596
222 220 0.024866 0.025262 0.0039628 0.97738 0.96354 0.97295 0.67586 0.025099 0.02182 0.0016662 0.0025241 0.0025241 0.0025241
223 221 0.025464 0.027381 0.0037889 0.95635 0.97015 0.96925 0.70037 0.024523 0.021997 0.0017885 0.0024889 0.0024889 0.0024889
224 222 0.024976 0.025851 0.0034427 0.95665 0.96354 0.96272 0.70145 0.024242 0.021824 0.0018279 0.0024541 0.0024541 0.0024541
225 223 0.024802 0.02694 0.0031541 0.95601 0.96294 0.9618 0.68561 0.024934 0.022417 0.0018971 0.0024195 0.0024195 0.0024195
226 224 0.024682 0.026038 0.0032441 0.97713 0.96354 0.97524 0.68246 0.026721 0.022906 0.0020948 0.0023854 0.0023854 0.0023854
227 225 0.025083 0.026697 0.0037998 0.96721 0.9703 0.97428 0.68679 0.02599 0.022761 0.0020577 0.0023515 0.0023515 0.0023515
228 226 0.024088 0.025932 0.0035885 0.96876 0.97703 0.97508 0.68276 0.024445 0.022962 0.0019322 0.002318 0.002318 0.002318
229 227 0.023332 0.025505 0.0037625 0.96578 0.97705 0.97358 0.68462 0.024101 0.02255 0.0018148 0.0022849 0.0022849 0.0022849
230 228 0.024702 0.024819 0.0034758 0.97385 0.97028 0.97462 0.69212 0.024558 0.022178 0.0017297 0.0022521 0.0022521 0.0022521
231 229 0.024602 0.025566 0.0038347 0.96628 0.96353 0.96616 0.70351 0.023898 0.022227 0.0016842 0.0022196 0.0022196 0.0022196
232 230 0.023372 0.025582 0.0035108 0.98707 0.9567 0.96796 0.6879 0.024704 0.022368 0.0017089 0.0021876 0.0021876 0.0021876
233 231 0.024074 0.025893 0.0031354 0.98694 0.95678 0.9676 0.68024 0.024659 0.023358 0.0017729 0.0021558 0.0021558 0.0021558
234 232 0.024966 0.027324 0.0032754 0.9826 0.95678 0.9736 0.70037 0.02362 0.022499 0.001837 0.0021245 0.0021245 0.0021245
235 233 0.025124 0.026055 0.0039871 0.9706 0.96971 0.97903 0.70731 0.0229 0.021873 0.0017568 0.0020935 0.0020935 0.0020935
236 234 0.022206 0.02586 0.0033446 0.9787 0.95003 0.96954 0.70051 0.023775 0.022511 0.0017292 0.0020629 0.0020629 0.0020629
237 235 0.024355 0.023389 0.0040127 0.98374 0.9703 0.96776 0.68733 0.022898 0.022383 0.0017637 0.0020327 0.0020327 0.0020327
238 236 0.024096 0.026566 0.0032116 0.98492 0.96354 0.97267 0.70113 0.021918 0.022037 0.0017403 0.0020028 0.0020028 0.0020028
239 237 0.024077 0.025841 0.0032894 0.97582 0.96353 0.967 0.69301 0.021952 0.02197 0.0017976 0.0019734 0.0019734 0.0019734
240 238 0.024347 0.025564 0.0039452 0.97899 0.96354 0.96707 0.69185 0.022981 0.022335 0.0018357 0.0019443 0.0019443 0.0019443
241 239 0.023853 0.024579 0.0044756 0.97532 0.95678 0.96534 0.69215 0.023931 0.022646 0.0018563 0.0019156 0.0019156 0.0019156
242 240 0.023002 0.025647 0.0035852 0.97411 0.96353 0.97209 0.69136 0.023933 0.022786 0.0019303 0.0018873 0.0018873 0.0018873
243 241 0.023632 0.025356 0.0034878 0.96367 0.97026 0.98007 0.70663 0.023831 0.022384 0.0019032 0.0018594 0.0018594 0.0018594
244 242 0.023527 0.025798 0.0036633 0.97056 0.96832 0.97529 0.70001 0.024231 0.022414 0.001796 0.0018319 0.0018319 0.0018319
245 243 0.022682 0.025564 0.003487 0.97515 0.96351 0.9668 0.69187 0.024127 0.022944 0.0017143 0.0018048 0.0018048 0.0018048
246 244 0.024222 0.026106 0.0035024 0.97655 0.95675 0.96682 0.69463 0.023624 0.022958 0.0016919 0.0017781 0.0017781 0.0017781
247 245 0.02326 0.025099 0.0029967 0.96808 0.97681 0.97562 0.70458 0.023273 0.02276 0.0016949 0.0017519 0.0017519 0.0017519
248 246 0.024062 0.024739 0.0040586 0.96483 0.9635 0.97182 0.69647 0.023717 0.022898 0.0017371 0.001726 0.001726 0.001726
249 247 0.023201 0.0253 0.0032933 0.97972 0.95633 0.97253 0.69153 0.024038 0.022889 0.0017084 0.0017005 0.0017005 0.0017005
250 248 0.024654 0.026136 0.0033753 0.98866 0.95667 0.97459 0.68796 0.023902 0.022352 0.0017804 0.0016755 0.0016755 0.0016755
251 249 0.023838 0.025222 0.0033712 0.96588 0.9703 0.97386 0.69894 0.023947 0.022392 0.0018015 0.0016509 0.0016509 0.0016509
252 250 0.023668 0.024787 0.0034169 0.98732 0.95003 0.96765 0.69254 0.023956 0.022749 0.0017763 0.0016267 0.0016267 0.0016267
253 251 0.022859 0.025103 0.003568 0.95814 0.97702 0.9737 0.70092 0.023604 0.022479 0.0017848 0.0016029 0.0016029 0.0016029
254 252 0.022666 0.024463 0.0032009 0.98704 0.97027 0.97466 0.69009 0.023513 0.022304 0.0017728 0.0015795 0.0015795 0.0015795
255 253 0.023492 0.026417 0.0028279 0.96436 0.98372 0.98019 0.69935 0.023358 0.021836 0.00174 0.0015566 0.0015566 0.0015566
256 254 0.024491 0.025485 0.002979 0.9853 0.95678 0.96646 0.69592 0.023924 0.022304 0.0018352 0.0015341 0.0015341 0.0015341
257 255 0.02484 0.025362 0.0035361 0.96452 0.96353 0.9651 0.69518 0.024445 0.022635 0.0018837 0.0015121 0.0015121 0.0015121
258 256 0.023908 0.025521 0.0036297 0.96519 0.96354 0.96511 0.6864 0.024269 0.022565 0.0018298 0.0014905 0.0014905 0.0014905
259 257 0.02373 0.025435 0.0035398 0.97944 0.97703 0.98018 0.69367 0.023299 0.022476 0.001668 0.0014693 0.0014693 0.0014693
260 258 0.023375 0.025846 0.0030582 0.98528 0.97531 0.97812 0.69421 0.023276 0.022128 0.0015514 0.0014486 0.0014486 0.0014486
261 259 0.021545 0.024249 0.0026146 0.97663 0.97029 0.97653 0.71099 0.023939 0.022179 0.0015795 0.0014283 0.0014283 0.0014283
262 260 0.022169 0.025532 0.0040977 0.97732 0.9703 0.97464 0.68688 0.024342 0.022362 0.001622 0.0014084 0.0014084 0.0014084
263 261 0.022755 0.024997 0.0032319 0.97619 0.9703 0.97406 0.70667 0.024472 0.021516 0.0016024 0.001389 0.001389 0.001389
264 262 0.023288 0.02633 0.0034072 0.97402 0.97705 0.97597 0.70608 0.023844 0.021676 0.0016408 0.0013701 0.0013701 0.0013701
265 263 0.02379 0.025776 0.0036441 0.97543 0.98358 0.98268 0.70729 0.024337 0.022026 0.0016763 0.0013516 0.0013516 0.0013516
266 264 0.02391 0.024676 0.0036971 0.97962 0.97023 0.98219 0.72072 0.024265 0.021404 0.0017216 0.0013336 0.0013336 0.0013336
267 265 0.02313 0.024861 0.0031131 0.97831 0.97705 0.9824 0.71233 0.023289 0.021431 0.001778 0.001316 0.001316 0.001316
268 266 0.022911 0.023178 0.0040326 0.9855 0.95678 0.97393 0.70797 0.023489 0.021917 0.001843 0.0012989 0.0012989 0.0012989
269 267 0.022923 0.025628 0.0032744 0.98466 0.95676 0.97389 0.70614 0.023732 0.021756 0.0018387 0.0012822 0.0012822 0.0012822
270 268 0.021734 0.024794 0.0037717 0.97172 0.9703 0.9748 0.69889 0.023854 0.021882 0.0018406 0.001266 0.001266 0.001266
271 269 0.023233 0.023997 0.0026434 0.98878 0.95002 0.97413 0.69813 0.024157 0.022212 0.0018839 0.0012503 0.0012503 0.0012503
272 270 0.022645 0.024259 0.0028535 0.9733 0.9703 0.97535 0.70777 0.024298 0.021893 0.001847 0.001235 0.001235 0.001235
273 271 0.022842 0.025684 0.003931 0.97335 0.9703 0.97546 0.6987 0.023966 0.022058 0.0018554 0.0012202 0.0012202 0.0012202
274 272 0.022658 0.02243 0.0029644 0.98127 0.97703 0.97619 0.70566 0.024319 0.022133 0.0018315 0.0012059 0.0012059 0.0012059
275 273 0.021985 0.023866 0.003224 0.97334 0.97028 0.97532 0.71404 0.02463 0.021925 0.0017855 0.0011921 0.0011921 0.0011921
276 274 0.021942 0.025971 0.0030934 0.9921 0.94045 0.96804 0.70548 0.023867 0.02181 0.0017593 0.0011787 0.0011787 0.0011787
277 275 0.022654 0.025224 0.002868 0.97576 0.96344 0.98036 0.71113 0.023825 0.021833 0.001792 0.0011658 0.0011658 0.0011658
278 276 0.022061 0.023995 0.0044932 0.96396 0.97519 0.98094 0.70244 0.025151 0.022106 0.0018909 0.0011533 0.0011533 0.0011533
279 277 0.022082 0.024009 0.0043146 0.9688 0.96354 0.96678 0.69519 0.025253 0.022238 0.0019813 0.0011414 0.0011414 0.0011414
280 278 0.022718 0.025438 0.0033991 0.98149 0.97029 0.96863 0.69842 0.024404 0.021862 0.0021195 0.0011299 0.0011299 0.0011299
281 279 0.021459 0.024987 0.0033223 0.98556 0.96354 0.97556 0.70391 0.024428 0.021777 0.002116 0.0011189 0.0011189 0.0011189
282 280 0.022531 0.025328 0.0029854 0.97082 0.97026 0.98069 0.70413 0.024501 0.021852 0.0020207 0.0011084 0.0011084 0.0011084
283 281 0.021432 0.02498 0.0037385 0.97039 0.9703 0.98025 0.70643 0.024077 0.021808 0.0018792 0.0010983 0.0010983 0.0010983
284 282 0.022082 0.024033 0.0035464 0.97989 0.97705 0.98222 0.70106 0.023699 0.021782 0.0018304 0.0010888 0.0010888 0.0010888
285 283 0.022438 0.026502 0.0037712 0.97219 0.97702 0.9805 0.70248 0.023944 0.022022 0.0018007 0.0010797 0.0010797 0.0010797
286 284 0.021952 0.026204 0.0030446 0.9716 0.977 0.9802 0.71073 0.024671 0.022283 0.0017623 0.0010711 0.0010711 0.0010711
287 285 0.02244 0.024696 0.0031012 0.97361 0.9703 0.98002 0.71442 0.024199 0.022152 0.0017836 0.001063 0.001063 0.001063
288 286 0.021664 0.023039 0.0027769 0.97304 0.96354 0.97902 0.70917 0.023735 0.022079 0.0017841 0.0010554 0.0010554 0.0010554
289 287 0.022677 0.025335 0.0041636 0.97759 0.97705 0.98093 0.71153 0.022869 0.022005 0.0017778 0.0010483 0.0010483 0.0010483
290 288 0.022281 0.025492 0.0036219 0.98065 0.97025 0.98087 0.70983 0.022568 0.022306 0.0018028 0.0010416 0.0010416 0.0010416
291 289 0.023508 0.024725 0.0040105 0.97198 0.97023 0.98068 0.70539 0.023018 0.022493 0.001852 0.0010355 0.0010355 0.0010355
292 290 0.023213 0.024867 0.0040221 0.97374 0.9703 0.98036 0.70964 0.023247 0.022265 0.0018443 0.0010298 0.0010298 0.0010298
293 291 0.021429 0.023571 0.0036408 0.97524 0.96354 0.97319 0.7067 0.023258 0.022189 0.0018254 0.0010247 0.0010247 0.0010247
294 292 0.021587 0.024857 0.0031796 0.97449 0.9703 0.98051 0.71474 0.02327 0.022178 0.0018069 0.00102 0.00102 0.00102
295 293 0.022102 0.02446 0.0038188 0.9726 0.9703 0.98018 0.71203 0.023105 0.022171 0.0017905 0.0010158 0.0010158 0.0010158
296 294 0.021959 0.024979 0.0029226 0.98156 0.9703 0.97487 0.70595 0.022793 0.022188 0.0018304 0.0010121 0.0010121 0.0010121
297 295 0.021182 0.025238 0.0033527 0.96627 0.9703 0.97301 0.71552 0.023089 0.021885 0.0018715 0.0010089 0.0010089 0.0010089
298 296 0.022339 0.024582 0.0034718 0.96882 0.97705 0.98079 0.719 0.023042 0.021523 0.0018468 0.0010062 0.0010062 0.0010062
299 297 0.022934 0.025444 0.0036708 0.97071 0.97619 0.9806 0.72045 0.023387 0.021511 0.0017952 0.0010039 0.0010039 0.0010039
300 298 0.022714 0.024515 0.004176 0.97351 0.97029 0.98062 0.71732 0.023228 0.021938 0.0018586 0.0010022 0.0010022 0.0010022
301 299 0.022972 0.026098 0.0036222 0.98 0.97705 0.98277 0.70426 0.023559 0.022199 0.0019408 0.001001 0.001001 0.001001

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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
# Launch arguments
DeclareLaunchArgument('best_weights', default_value='src/pipe_weights.pt', description='Path to best weights file (.pt)'),
# Nodes to launch
Node(
package='yolov3_ros', executable='yolov3_ros_node', output='screen',
parameters=[{
'best_weights':LaunchConfiguration('best_weights'),
}],
# remappings=[
# ('rgb_img', LaunchConfiguration('rgb_topic')),
# ('depth_img', LaunchConfiguration('depth_topic')),
# ('camera_info', LaunchConfiguration('camera_info_topic'))]
),
])

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# YOLOv3 🚀 by Ultralytics, GPL-3.0 license
# Parameters
nc: 4 # number of classes
depth_multiple: 1.0 # model depth multiple
width_multiple: 1.0 # layer channel multiple
anchors:
- [10,13, 16,30, 33,23] # P3/8
- [30,61, 62,45, 59,119] # P4/16
- [116,90, 156,198, 373,326] # P5/32
# darknet53 backbone
backbone:
# [from, number, module, args]
[[-1, 1, Conv, [32, 3, 1]], # 0
[-1, 1, Conv, [64, 3, 2]], # 1-P1/2
[-1, 1, Bottleneck, [64]],
[-1, 1, Conv, [128, 3, 2]], # 3-P2/4
[-1, 2, Bottleneck, [128]],
[-1, 1, Conv, [256, 3, 2]], # 5-P3/8
[-1, 8, Bottleneck, [256]],
[-1, 1, Conv, [512, 3, 2]], # 7-P4/16
[-1, 8, Bottleneck, [512]],
[-1, 1, Conv, [1024, 3, 2]], # 9-P5/32
[-1, 4, Bottleneck, [1024]], # 10
]
# YOLOv3 head
head:
[[-1, 1, Bottleneck, [1024, False]],
[-1, 1, Conv, [512, 1, 1]],
[-1, 1, Conv, [1024, 3, 1]],
[-1, 1, Conv, [512, 1, 1]],
[-1, 1, Conv, [1024, 3, 1]], # 15 (P5/32-large)
[-2, 1, Conv, [256, 1, 1]],
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
[[-1, 8], 1, Concat, [1]], # cat backbone P4
[-1, 1, Bottleneck, [512, False]],
[-1, 1, Bottleneck, [512, False]],
[-1, 1, Conv, [256, 1, 1]],
[-1, 1, Conv, [512, 3, 1]], # 22 (P4/16-medium)
[-2, 1, Conv, [128, 1, 1]],
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
[[-1, 6], 1, Concat, [1]], # cat backbone P3
[-1, 1, Bottleneck, [256, False]],
[-1, 2, Bottleneck, [256, False]], # 27 (P3/8-small)
[[27, 22, 15], 1, Detect, [nc, anchors]], # Detect(P3, P4, P5)
]

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>yolov3_ros</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="eic.apoorva@gmail.com">parallels</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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[develop]
script_dir=$base/lib/yolov3_ros
[install]
install_scripts=$base/lib/yolov3_ros

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from setuptools import setup
import os
from glob import glob
package_name = 'yolov3_ros'
setup(
name=package_name,
version='0.0.0',
packages=[
package_name
],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('lib', package_name, 'models'), glob('models/*.py')),
(os.path.join('lib', package_name, 'models'), glob('models/segment/*')),
(os.path.join('lib', package_name, 'models'), glob('models/hub/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/*.py')),
(os.path.join('lib', package_name, 'utils'), glob('utils/aws/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/docker/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/flask_rest_api/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/google_app_engine/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/loggers/comet/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/loggers/wandb/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/loggers/clearml/*')),
(os.path.join('lib', package_name, 'utils'), glob('utils/segment/*')),
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='parallels',
maintainer_email='eic.apoorva@gmail.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'yolov3_ros_node = yolov3_ros.yolov3_ros_node:main'
],
},
)

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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
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@ -0,0 +1,25 @@
# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

23
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

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