Merge pull request #79 from WATonomous/stgong/upgrade_yolo

Upgrade to medium size model
WATonomous · Feb 23, 2024 · 7a88671 · 7a88671
2 parents 21adfd7 + d6133d7
commit 7a88671
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Showing 5 changed files with 12 additions and 12 deletions.
diff --git a/modules/docker-compose.perception.yaml b/modules/docker-compose.perception.yaml
@@ -30,7 +30,7 @@ services:
               capabilities: [ gpu ]
     command: /bin/bash -c "ros2 launch camera_object_detection eve_launch.py"
     volumes:
-      - /mnt/wato-drive2/perception_models/yolov8s.pt:/perception_models/yolov8s.pt
+      - /mnt/wato-drive2/perception_models/yolov8m.pt:/perception_models/yolov8m.pt
 
   lidar_object_detection:
     build:

diff --git a/src/perception/camera_object_detection/camera_object_detection/yolov8_detection.py b/src/perception/camera_object_detection/camera_object_detection/yolov8_detection.py
@@ -34,8 +34,8 @@ def __init__(self):
         self.declare_parameter("camera_topic", "/camera/right/image_color")
         self.declare_parameter("publish_vis_topic", "/annotated_img")
         self.declare_parameter("publish_detection_topic", "/detections")
-        self.declare_parameter("model_path", "/perception_models/yolov8s.pt")
-        self.declare_parameter("image_size", 480)
+        self.declare_parameter("model_path", "/perception_models/yolov8m.pt")
+        self.declare_parameter("image_size", 1024)
         self.declare_parameter("compressed", False)
 
         self.camera_topic = self.get_parameter("camera_topic").value

diff --git a/src/perception/camera_object_detection/config/deepracer_config.yaml b/src/perception/camera_object_detection/config/deepracer_config.yaml
@@ -3,5 +3,5 @@ camera_object_detection_node:
     camera_topic: /camera_pkg/display_mjpeg
     publish_vis_topic: /annotated_img
     publish_obstacle_topic: /obstacles
-    model_path: /perception_models/yolov8s.pt
-    image_size: 480
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024
diff --git a/src/perception/camera_object_detection/config/eve_config.yaml b/src/perception/camera_object_detection/config/eve_config.yaml
@@ -3,21 +3,21 @@ left_camera_object_detection_node:
     camera_topic: /camera/left/image_color
     publish_vis_topic: /camera/left/annotated_img
     publish_detection_topic: /camera/left/detections
-    model_path: /perception_models/yolov8s.pt
-    image_size: 480
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024
 
 center_camera_object_detection_node:
   ros__parameters:
     camera_topic: /camera/center/image_color
     publish_vis_topic: /camera/center/annotated_img
     publish_detection_topic: /camera/center/detections
-    model_path: /perception_models/yolov8s.pt
-    image_size: 480
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024
 
 right_camera_object_detection_node:
   ros__parameters:
     camera_topic: /camera/right/image_color
     publish_vis_topic: /camera/right/annotated_img
     publish_detection_topic: /camera/right/detections
-    model_path: /perception_models/yolov8s.pt
-    image_size: 480
+    model_path: /perception_models/yolov8m.pt
+    image_size: 1024
diff --git a/src/perception/camera_object_detection/config/nuscenes_config.yaml b/src/perception/camera_object_detection/config/nuscenes_config.yaml
@@ -3,6 +3,6 @@ camera_object_detection_node:
     camera_topic: /CAM_FRONT/image_rect_compressed
     publish_vis_topic: /annotated_img
     publish_obstacle_topic: /obstacles
-    model_path: /perception_models/yolov8s.pt
+    model_path: /perception_models/yolov8m.pt
     image_size: 640
     compressed: true