Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix ROS1 bridge type conversion bug #300

Merged
merged 3 commits into from
Sep 13, 2022
Merged

Fix ROS1 bridge type conversion bug #300

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
80f4ef7
Fixed type conversion bug
tsampazk Sep 12, 2022
5a4c559
Added conditionals in download method to not re-download existing files
tsampazk Sep 12, 2022
cccb536
Simplified else-ifs as suggested by review
tsampazk Sep 13, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion projects/opendr_ws/src/ros_bridge/src/opendr_bridge/bridge.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -294,7 +294,7 @@ def to_ros_bounding_box_list(self, bounding_box_list):
detection.bbox.center.y = bounding_box.top + bounding_box.height / 2.0
detection.bbox.size_x = bounding_box.width
detection.bbox.size_y = bounding_box.height
detection.results[0].id = bounding_box.name
detection.results[0].id = int(bounding_box.name)
detection.results[0].score = bounding_box.confidence
detections.detections.append(detection)
return detections
Expand Down
43 changes: 36 additions & 7 deletions src/opendr/perception/object_detection_2d/yolov3/yolov3_learner.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -572,21 +572,35 @@ def download(self, path=None, mode="pretrained", verbose=False,
"yolo_voc.json")
if verbose:
print("Downloading metadata...")
urlretrieve(file_url, os.path.join(path, "yolo_default.json"))
if not os.path.exists(os.path.join(path, "yolo_default.json")):
urlretrieve(file_url, os.path.join(path, "yolo_default.json"))
if verbose:
print("Downloaded metadata json.")
elif verbose:
print("Metadata json file already exists.")

if verbose:
print("Downloading params...")
file_url = os.path.join(url, "pretrained", "yolo_voc",
"yolo_voc.params")

urlretrieve(file_url,
os.path.join(path, "yolo_voc.params"))
if not os.path.exists(os.path.join(path, "yolo_voc.params")):
urlretrieve(file_url, os.path.join(path, "yolo_voc.params"))
if verbose:
print("Downloaded params.")
elif verbose:
print("Params file already exists.")

elif mode == "images":
file_url = os.path.join(url, "images", "cat.jpg")
if verbose:
print("Downloading example image...")
urlretrieve(file_url, os.path.join(path, "cat.jpg"))
if not os.path.exists(os.path.join(path, "cat.jpg")):
urlretrieve(file_url, os.path.join(path, "cat.jpg"))
if verbose:
print("Downloaded example image.")
elif verbose:
print("Example image already exists.")

elif mode == "test_data":
os.makedirs(os.path.join(path, "test_data"), exist_ok=True)
Expand All @@ -596,17 +610,32 @@ def download(self, path=None, mode="pretrained", verbose=False,
file_url = os.path.join(url, "test_data", "train.txt")
if verbose:
print("Downloading filelist...")
urlretrieve(file_url, os.path.join(path, "test_data", "train.txt"))
if not os.path.exists(os.path.join(path, "test_data", "train.txt")):
urlretrieve(file_url, os.path.join(path, "test_data", "train.txt"))
if verbose:
print("Downloaded filelist.")
elif verbose:
print("Filelist already exists.")
# download image
file_url = os.path.join(url, "test_data", "Images", "000040.jpg")
if verbose:
print("Downloading image...")
urlretrieve(file_url, os.path.join(path, "test_data", "Images", "000040.jpg"))
if not os.path.exists(os.path.join(path, "test_data", "Images", "000040.jpg")):
urlretrieve(file_url, os.path.join(path, "test_data", "Images", "000040.jpg"))
if verbose:
print("Downloaded image.")
elif verbose:
print("Image already exists.")
# download annotations
file_url = os.path.join(url, "test_data", "Annotations", "000040.jpg.txt")
if verbose:
print("Downloading annotations...")
urlretrieve(file_url, os.path.join(path, "test_data", "Annotations", "000040.jpg.txt"))
if not os.path.exists(os.path.join(path, "test_data", "Annotations", "000040.jpg.txt")):
urlretrieve(file_url, os.path.join(path, "test_data", "Annotations", "000040.jpg.txt"))
if verbose:
print("Downloaded annotations.")
elif verbose:
print("Annotations already exist.")

def optimize(self, target_device):
"""This method is not used in this implementation."""
Expand Down