update

fateshelled · Jun 14, 2024 · e72a7d2 · e72a7d2
1 parent 41c9925
commit e72a7d2
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/yolov9mit_ros/yolov9mit/include/yolov9mit/core.hpp b/yolov9mit_ros/yolov9mit/include/yolov9mit/core.hpp
@@ -21,12 +21,15 @@ class AbcYOLOV9MIT
 {
 public:
     AbcYOLOV9MIT() {}
-    AbcYOLOV9MIT(float min_iou = 0.45, float min_confidence = 0.3, size_t num_classes = 80)
+    AbcYOLOV9MIT(float min_iou = 0.45f, float min_confidence = 0.6f, size_t num_classes = 80)
         : min_iou_(min_iou), min_confidence_(min_confidence), num_classes_(num_classes)
     {
     }
     virtual std::vector<Object> inference(const cv::Mat &frame) = 0;
 
+private:
+    inline float sigmoid(const float x) { return 1.0f / (1.0f + std::exp(-x)); }
+
 protected:
     size_t input_w_;
     size_t input_h_;
@@ -90,6 +93,7 @@ class AbcYOLOV9MIT
 
             for (size_t class_idx = 0; class_idx < num_classes_; ++class_idx)
             {
+                // const float conf = sigmoid(prob_classes[idx + class_idx]);
                 const float conf = prob_classes[idx + class_idx];
                 if (conf > max_confidence)
                 {

diff --git a/yolov9mit_ros/yolov9mit_ros/src/yolov9mit_ros.cpp b/yolov9mit_ros/yolov9mit_ros/src/yolov9mit_ros.cpp
@@ -16,7 +16,7 @@ YOLOV9MIT_Node::YOLOV9MIT_Node(const rclcpp::NodeOptions &options) : Node("yolov
     const auto model_path =
         this->declare_parameter(param_prefix + "model_path", "yolov9mit_with_post.sim.engine");
     const auto min_iou = this->declare_parameter(param_prefix + "min_iou", 0.5f);
-    const auto min_confidence = this->declare_parameter(param_prefix + "min_confidence", 0.5f);
+    const auto min_confidence = this->declare_parameter(param_prefix + "min_confidence", 0.6f);
     const auto class_label_path = this->declare_parameter(param_prefix + "class_label_path", "");
     const auto model_type = this->declare_parameter(param_prefix + "model_type", "tensorrt");
     const auto tensorrt_device = this->declare_parameter(param_prefix + "tensorrt_device", 0);