From 51e618ba2267b93ad242127cccd60576937416be Mon Sep 17 00:00:00 2001 From: shinsoo0203 Date: Sun, 1 Aug 2021 00:50:39 +0900 Subject: [PATCH 1/5] Modified CMake files --- darknet_ros/CMakeLists.txt | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/darknet_ros/CMakeLists.txt b/darknet_ros/CMakeLists.txt index 56fcfba3d..c85478134 100644 --- a/darknet_ros/CMakeLists.txt +++ b/darknet_ros/CMakeLists.txt @@ -23,12 +23,13 @@ if (CUDA_FOUND) CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}; -O3 - -gencode arch=compute_30,code=sm_30 - -gencode arch=compute_35,code=sm_35 - -gencode arch=compute_50,code=[sm_50,compute_50] - -gencode arch=compute_52,code=[sm_52,compute_52] - -gencode arch=compute_61,code=sm_61 - -gencode arch=compute_62,code=sm_62 + #-gencode arch=compute_30,code=sm_30 + #-gencode arch=compute_35,code=sm_35 + #-gencode arch=compute_50,code=[sm_50,compute_50] + #-gencode arch=compute_52,code=[sm_52,compute_52] + #-gencode arch=compute_61,code=sm_61 + #-gencode arch=compute_62,code=sm_62 + -gencode arch=compute_75,code=sm_75 ) add_definitions(-DGPU) else() From 0f033381141eae4f540dcc122b00b7dedf2ab81e Mon Sep 17 00:00:00 2001 From: shinsoo0203 Date: Sun, 1 Aug 2021 00:55:47 +0900 Subject: [PATCH 2/5] darknet --- darknet | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/darknet b/darknet index 508381b37..928144835 160000 --- a/darknet +++ b/darknet @@ -1 +1 @@ -Subproject commit 508381b37fe75e0e1a01bcb2941cb0b31eb0e4c9 +Subproject commit 928144835f3922a5747fb29b6bcbc45313203dd0 From 813fa1b097230b0470c35693f2fbe4ea300481d5 Mon Sep 17 00:00:00 2001 From: shinsoo0203 Date: Sun, 1 Aug 2021 23:11:13 +0900 Subject: [PATCH 3/5] Modified config settings --- darknet_ros/config/csresnext50.yaml | 90 ++ darknet_ros/config/stereo_ros.yaml | 33 + darknet_ros/config/yolov3.yaml | 2 +- darknet_ros/launch/darknet_ros.launch | 5 +- ...csresnext50-panet-spp-original-optimal.cfg | 1048 +++++++++++++++++ .../yolo_network_config/cfg/yolov3.cfg | 4 +- 6 files changed, 1177 insertions(+), 5 deletions(-) create mode 100644 darknet_ros/config/csresnext50.yaml create mode 100644 darknet_ros/config/stereo_ros.yaml create mode 100644 darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg diff --git a/darknet_ros/config/csresnext50.yaml b/darknet_ros/config/csresnext50.yaml new file mode 100644 index 000000000..d46f71539 --- /dev/null +++ b/darknet_ros/config/csresnext50.yaml @@ -0,0 +1,90 @@ +yolo_model: + + config_file: + name: csresnext50-panet-spp-original-optimal.cfg + weight_file: + name: csresnext50-panet-spp-original-optimal_final.weights + threshold: + value: 0.3 + detection_classes: + names: + - person + - bicycle + - car + - motorbike + - aeroplane + - bus + - train + - truck + - boat + - traffic light + - fire hydrant + - stop sign + - parking meter + - bench + - bird + - cat + - dog + - horse + - sheep + - cow + - elephant + - bear + - zebra + - giraffe + - backpack + - umbrella + - handbag + - tie + - suitcase + - frisbee + - skis + - snowboard + - sports ball + - kite + - baseball bat + - baseball glove + - skateboard + - surfboard + - tennis racket + - bottle + - wine glass + - cup + - fork + - knife + - spoon + - bowl + - banana + - apple + - sandwich + - orange + - broccoli + - carrot + - hot dog + - pizza + - donut + - cake + - chair + - sofa + - pottedplant + - bed + - diningtable + - toilet + - tvmonitor + - laptop + - mouse + - remote + - keyboard + - cell phone + - microwave + - oven + - toaster + - sink + - refrigerator + - book + - clock + - vase + - scissors + - teddy bear + - hair drier + - toothbrush diff --git a/darknet_ros/config/stereo_ros.yaml b/darknet_ros/config/stereo_ros.yaml new file mode 100644 index 000000000..04abce530 --- /dev/null +++ b/darknet_ros/config/stereo_ros.yaml @@ -0,0 +1,33 @@ +subscribers: + + camera_reading: + topic: /camera/rgb/image_raw + queue_size: 1 + +actions: + + camera_reading: + name: /darknet_ros/check_for_objects + +publishers: + + object_detector: + topic: /darknet_ros/found_object + queue_size: 1 + latch: false + + bounding_boxes: + topic: /darknet_ros/bounding_boxes + queue_size: 1 + latch: false + + detection_image: + topic: /darknet_ros/detection_image + queue_size: 1 + latch: true + +image_view: + + enable_opencv: true + wait_key_delay: 1 + enable_console_output: true diff --git a/darknet_ros/config/yolov3.yaml b/darknet_ros/config/yolov3.yaml index 20dc33235..213e836ec 100644 --- a/darknet_ros/config/yolov3.yaml +++ b/darknet_ros/config/yolov3.yaml @@ -5,7 +5,7 @@ yolo_model: weight_file: name: yolov3.weights threshold: - value: 0.3 + value: 0.5 detection_classes: names: - person diff --git a/darknet_ros/launch/darknet_ros.launch b/darknet_ros/launch/darknet_ros.launch index 11ab56d09..6e8d0f10b 100644 --- a/darknet_ros/launch/darknet_ros.launch +++ b/darknet_ros/launch/darknet_ros.launch @@ -3,7 +3,8 @@ - + + @@ -11,7 +12,7 @@ - + diff --git a/darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg b/darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg new file mode 100644 index 000000000..02c538dd6 --- /dev/null +++ b/darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg @@ -0,0 +1,1048 @@ +[net] +# Testing +#batch=1 +#subdivisions=1 +# Training +batch=64 +subdivisions=8 +width=512 +height=512 +channels=3 +momentum=0.949 +decay=0.0005 +angle=0 +saturation = 1.5 +exposure = 1.5 +hue=.1 + +learning_rate=0.00261 +burn_in=1000 +max_batches = 500500 +policy=steps +steps=400000,450000 +scales=.1,.1 + +#cutmix=1 +mosaic=1 + +#19:104x104 38:52x52 65:26x26 80:13x13 for 416 + +[convolutional] +batch_normalize=1 +filters=64 +size=7 +stride=2 +pad=1 +activation=leaky + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -2 + +[convolutional] +batch_normalize=1 +filters=64 +size=1 +stride=1 +pad=1 +activation=leaky + +# 1-1 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 1-2 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 1-3 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 1-T + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-16 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +groups=32 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=linear + +[route] +layers = -2 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=linear + +# 2-1 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 2-2 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 2-3 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 2-T + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-16 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +groups=32 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +[route] +layers = -2 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +# 3-1 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 3-2 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 3-3 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 3-4 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 3-5 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 3-T + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-24 + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=1024 +size=3 +groups=32 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -2 + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=leaky + +# 4-1 + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=1024 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 4-2 + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=1024 +size=3 +groups=32 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=linear + +[shortcut] +from=-4 +activation=leaky + +# 4-T + +[convolutional] +batch_normalize=1 +filters=1024 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-12 + +[convolutional] +batch_normalize=1 +filters=2048 +size=1 +stride=1 +pad=1 +activation=leaky + +########################## + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=1024 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +### SPP ### +[maxpool] +stride=1 +size=5 + +[route] +layers=-2 + +[maxpool] +stride=1 +size=9 + +[route] +layers=-4 + +[maxpool] +stride=1 +size=13 + +[route] +layers=-1,-3,-5,-6 +### End SPP ### + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=1024 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[upsample] +stride=2 + +[route] +layers = 65 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1, -3 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=512 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=512 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[upsample] +stride=2 + +[route] +layers = 38 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1, -3 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=256 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=256 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +########################## + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=256 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=255 +activation=linear + + +[yolo] +mask = 0,1,2 +anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 +classes=80 +num=9 +jitter=.3 +ignore_thresh = .7 +truth_thresh = 1 +random=1 +scale_x_y = 1.2 +iou_thresh=0.213 +cls_normalizer=1.0 +iou_normalizer=0.07 +uc_normalizer=0.07 +iou_loss=ciou +nms_kind=greedynms +beta_nms=0.6 +beta1=0.6 + +[route] +layers = -4 + +[convolutional] +batch_normalize=1 +size=3 +stride=2 +pad=1 +filters=256 +activation=leaky + +[route] +layers = -1, -16 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=512 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=512 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=512 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=255 +activation=linear + + +[yolo] +mask = 3,4,5 +anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 +classes=80 +num=9 +jitter=.3 +ignore_thresh = .7 +truth_thresh = 1 +random=1 +scale_x_y = 1.1 +iou_thresh=0.213 +cls_normalizer=1.0 +iou_normalizer=0.07 +uc_normalizer=0.07 +iou_loss=ciou +nms_kind=greedynms +beta_nms=0.6 +beta1=0.6 + +[route] +layers = -4 + +[convolutional] +batch_normalize=1 +size=3 +stride=2 +pad=1 +filters=512 +activation=leaky + +[route] +layers = -1, -37 + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=1024 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=1024 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +size=3 +stride=1 +pad=1 +filters=1024 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=255 +activation=linear + + +[yolo] +mask = 6,7,8 +anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 +classes=80 +num=9 +jitter=.3 +ignore_thresh = .7 +truth_thresh = 1 +random=1 +scale_x_y = 1.05 +iou_thresh=0.213 +cls_normalizer=1.0 +iou_normalizer=0.07 +uc_normalizer=0.07 +iou_loss=ciou +nms_kind=greedynms +beta_nms=0.6 +beta1=0.6 diff --git a/darknet_ros/yolo_network_config/cfg/yolov3.cfg b/darknet_ros/yolo_network_config/cfg/yolov3.cfg index 5f3ab6213..cc246bf26 100644 --- a/darknet_ros/yolo_network_config/cfg/yolov3.cfg +++ b/darknet_ros/yolo_network_config/cfg/yolov3.cfg @@ -5,8 +5,8 @@ subdivisions=1 # Training # batch=64 # subdivisions=16 -width=416 -height=416 +width=640 +height=360 channels=3 momentum=0.9 decay=0.0005 From c58010b1a2b71cddabb6d6972f6e1863622a17b5 Mon Sep 17 00:00:00 2001 From: shinsoo0203 Date: Mon, 2 Aug 2021 14:34:49 +0900 Subject: [PATCH 4/5] Minimize detection classes --- darknet_ros/config/yolov3.yaml | 74 +-------------- .../yolov3_(\354\233\220\353\263\270).yaml" | 90 +++++++++++++++++++ .../yolo_network_config/cfg/yolov3.cfg | 4 +- 3 files changed, 93 insertions(+), 75 deletions(-) create mode 100644 "darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml" diff --git a/darknet_ros/config/yolov3.yaml b/darknet_ros/config/yolov3.yaml index 213e836ec..1569e5b4d 100644 --- a/darknet_ros/config/yolov3.yaml +++ b/darknet_ros/config/yolov3.yaml @@ -5,86 +5,14 @@ yolo_model: weight_file: name: yolov3.weights threshold: - value: 0.5 + value: 0.7 detection_classes: names: - person - bicycle - car - motorbike - - aeroplane - bus - - train - truck - - boat - traffic light - - fire hydrant - stop sign - - parking meter - - bench - - bird - - cat - - dog - - horse - - sheep - - cow - - elephant - - bear - - zebra - - giraffe - - backpack - - umbrella - - handbag - - tie - - suitcase - - frisbee - - skis - - snowboard - - sports ball - - kite - - baseball bat - - baseball glove - - skateboard - - surfboard - - tennis racket - - bottle - - wine glass - - cup - - fork - - knife - - spoon - - bowl - - banana - - apple - - sandwich - - orange - - broccoli - - carrot - - hot dog - - pizza - - donut - - cake - - chair - - sofa - - pottedplant - - bed - - diningtable - - toilet - - tvmonitor - - laptop - - mouse - - remote - - keyboard - - cell phone - - microwave - - oven - - toaster - - sink - - refrigerator - - book - - clock - - vase - - scissors - - teddy bear - - hair drier - - toothbrush diff --git "a/darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml" "b/darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml" new file mode 100644 index 000000000..130d80ab8 --- /dev/null +++ "b/darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml" @@ -0,0 +1,90 @@ +yolo_model: + + config_file: + name: yolov3.cfg + weight_file: + name: yolov3.weights + threshold: + value: 0.6 + detection_classes: + names: + - person + - bicycle + - car + - motorbike + - aeroplane + - bus + - train + - truck + - boat + - traffic light + - fire hydrant + - stop sign + - parking meter + - bench + - bird + - cat + - dog + - horse + - sheep + - cow + - elephant + - bear + - zebra + - giraffe + - backpack + - umbrella + - handbag + - tie + - suitcase + - frisbee + - skis + - snowboard + - sports ball + - kite + - baseball bat + - baseball glove + - skateboard + - surfboard + - tennis racket + - bottle + - wine glass + - cup + - fork + - knife + - spoon + - bowl + - banana + - apple + - sandwich + - orange + - broccoli + - carrot + - hot dog + - pizza + - donut + - cake + - chair + - sofa + - pottedplant + - bed + - diningtable + - toilet + - tvmonitor + - laptop + - mouse + - remote + - keyboard + - cell phone + - microwave + - oven + - toaster + - sink + - refrigerator + - book + - clock + - vase + - scissors + - teddy bear + - hair drier + - toothbrush diff --git a/darknet_ros/yolo_network_config/cfg/yolov3.cfg b/darknet_ros/yolo_network_config/cfg/yolov3.cfg index cc246bf26..5f3ab6213 100644 --- a/darknet_ros/yolo_network_config/cfg/yolov3.cfg +++ b/darknet_ros/yolo_network_config/cfg/yolov3.cfg @@ -5,8 +5,8 @@ subdivisions=1 # Training # batch=64 # subdivisions=16 -width=640 -height=360 +width=416 +height=416 channels=3 momentum=0.9 decay=0.0005 From 2dca44a86bcba7b77c45060ddf7b096f2eec4e15 Mon Sep 17 00:00:00 2001 From: shinsoo0203 Date: Fri, 6 Aug 2021 20:57:52 +0900 Subject: [PATCH 5/5] Modified yaml file --- darknet_ros/config/yolov3.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/darknet_ros/config/yolov3.yaml b/darknet_ros/config/yolov3.yaml index 1569e5b4d..bd0630755 100644 --- a/darknet_ros/config/yolov3.yaml +++ b/darknet_ros/config/yolov3.yaml @@ -14,5 +14,3 @@ yolo_model: - motorbike - bus - truck - - traffic light - - stop sign