added new weights

uf-mil · Mar 14, 2022 · e5cc36f · e5cc36f
1 parent bbb353f
commit e5cc36f
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Showing 4 changed files with 39 additions and 34 deletions.
diff --git a/darknet b/darknet
diff --git a/darknet_ros/CMakeLists.txt b/darknet_ros/CMakeLists.txt
@@ -232,35 +232,35 @@ set(FILE "${PATH}/yolov4-tiny.weights")
 message(STATUS "Checking and downloading yolov4-tiny.weights if needed ...")
 if (NOT EXISTS "${FILE}")
   message(STATUS "... file does not exist. Downloading now ...")
-  execute_process(COMMAND wget -q https://github.com/uf-mil/darknet_ros/releases/download/1.0.0/yolov4-tiny.weights -P ${PATH})
+  execute_process(COMMAND wget -q https://github.com/uf-mil/darknet_ros/releases/download/1.0.1/yolov4-tiny.weights -P ${PATH})
 endif()
 
 #############
 ## Testing ##
 #############
 
-if(CATKIN_ENABLE_TESTING)
-  # Download yolov4-tiny.weights
-  set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/yolo_network_config/weights")
-  set(FILE "${PATH}/yolov4-tiny.weights")
-  message(STATUS "Checking and downloading yolov4-tiny.weights if needed ...")
-  if (NOT EXISTS "${FILE}")
-    message(STATUS "... file does not exist. Downloading now ...")
-    execute_process(COMMAND wget -q https://github.com/uf-mil/darknet_ros/releases/download/1.0.0/yolov4-tiny.weights -P ${PATH})
-  endif()
-
-  find_package(rostest REQUIRED)
-
-  # Object detection in images.
-  add_rostest_gtest(${PROJECT_NAME}_object_detection-test
-    test/object_detection.test
-    test/test_main.cpp
-    test/ObjectDetection.cpp
-  )
-  target_link_libraries(${PROJECT_NAME}_object_detection-test
-    ${catkin_LIBRARIES}
-  )
-endif()
+#if(CATKIN_ENABLE_TESTING)
+#  # Download yolov4-tiny.weights
+#  set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/yolo_network_config/weights")
+#  set(FILE "${PATH}/yolov4-tiny.weights")
+#  message(STATUS "Checking and downloading yolov4-tiny.weights if needed ...")
+#  if (NOT EXISTS "${FILE}")
+#    message(STATUS "... file does not exist. Downloading now ...")
+#    execute_process(COMMAND wget -q https://github.com/uf-mil/darknet_ros/releases/download/1.0.0/yolov4-tiny.weights -P ${PATH})
+#  endif()
+#
+#  find_package(rostest REQUIRED)
+#
+#  # Object detection in images.
+#  add_rostest_gtest(${PROJECT_NAME}_object_detection-test
+#    test/object_detection.test
+#    test/test_main.cpp
+#    test/ObjectDetection.cpp
+#  )
+#  target_link_libraries(${PROJECT_NAME}_object_detection-test
+#    ${catkin_LIBRARIES}
+#  )
+#endif()
 
 #########################
 ###   CLANG TOOLING   ###

diff --git a/darknet_ros/config/yolov4-tiny.yaml b/darknet_ros/config/yolov4-tiny.yaml
@@ -8,9 +8,14 @@ yolo_model:
     value: 0.3
   detection_classes:
     names:
-      - mb_marker_buoy_black    
-      - mb_marker_buoy_green     
-      - mb_marker_buoy_red 
+      - black    
+      - blue     
+      - green
+      - mb_marker_buoy_black
+      - mb_marker_buoy_green
+      - mb_marker_buoy_red
       - mb_marker_buoy_white
       - mb_round_buoy_black
-      - mb_round_buoy_orange
+      - mb_round_buoy_orange
+      - red
+      - yellow
diff --git a/darknet_ros/yolo_network_config/cfg/yolov4-tiny.cfg b/darknet_ros/yolo_network_config/cfg/yolov4-tiny.cfg
@@ -17,9 +17,9 @@ hue=.1
 
 learning_rate=0.00261
 burn_in=1000
-max_batches = 6000
+max_batches = 22000
 policy=steps
-steps=4800,5400
+steps=17600.0,19800.0
 scales=.1,.1
 
 [convolutional]
@@ -209,15 +209,15 @@ activation=leaky
 size=1
 stride=1
 pad=1
-filters=33
+filters=48
 activation=linear
 
 
 
 [yolo]
 mask = 3,4,5
 anchors = 10,14,  23,27,  37,58,  81,82,  135,169,  344,319
-classes=6
+classes=11
 num=6
 jitter=.3
 scale_x_y = 1.05
@@ -259,13 +259,13 @@ activation=leaky
 size=1
 stride=1
 pad=1
-filters=33
+filters=48
 activation=linear
 
 [yolo]
 mask = 1,2,3
 anchors = 10,14,  23,27,  37,58,  81,82,  135,169,  344,319
-classes=6
+classes=11
 num=6
 jitter=.3
 scale_x_y = 1.05