From e72a7d284835de0e4d91303fb3a3b9c21d729f20 Mon Sep 17 00:00:00 2001
From: fateshelled <53618876+fateshelled@users.noreply.github.com>
Date: Sat, 15 Jun 2024 00:10:31 +0900
Subject: [PATCH] update

---
 yolov9mit_ros/yolov9mit/include/yolov9mit/core.hpp | 6 +++++-
 yolov9mit_ros/yolov9mit_ros/src/yolov9mit_ros.cpp  | 2 +-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/yolov9mit_ros/yolov9mit/include/yolov9mit/core.hpp b/yolov9mit_ros/yolov9mit/include/yolov9mit/core.hpp
index 6708a22..68269d3 100644
--- 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
index 2cc97e9..baac234 100644
--- 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);