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small fixes to allow build from fresh install #17

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small fixes to allow build from fresh install #17

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3b00eb8
small fixes to allow build from fresh install
jacob-m-nash May 31, 2023
d99ab39
Removed unnecessary download if file already exist
jacob-m-nash Jun 11, 2023
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6 changes: 3 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -51,9 +51,9 @@ find_package(catkin REQUIRED COMPONENTS
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
FILES
)
## add_message_files(
## FILES
## )

## Generate services in the 'srv' folder
# add_service_files(
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2 changes: 2 additions & 0 deletions requirements.txt
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Expand Up @@ -6,3 +6,5 @@ thop
requests
tqdm
pyyaml
numpy>=1.24.3
scipy
2 changes: 1 addition & 1 deletion src/detect_ros.py
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Expand Up @@ -162,7 +162,7 @@ def process_img_msg(self, img_msg: Image):
classes = [int(c) for c in detections[:, 5].tolist()]
vis_img = draw_detections(np_img_orig, bboxes, classes,
self.class_labels)
vis_msg = self.bridge.cv2_to_imgmsg(vis_img)
vis_msg = self.bridge.cv2_to_imgmsg(vis_img,"bgr8")
self.visualization_publisher.publish(vis_msg)


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5 changes: 4 additions & 1 deletion src/models/experimental.py
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Expand Up @@ -2,6 +2,7 @@
import random
import torch
import torch.nn as nn
import os

from models.common import Conv, DWConv
from utils.google_utils import attempt_download
Expand Down Expand Up @@ -237,8 +238,10 @@ def forward(self, x):
def attempt_load(weights, map_location=None):
# Loads an ensemble of models weights=[a,b,c] or a single model weights=[a] or weights=a
model = Ensemble()
print(type(weights))
for w in weights if isinstance(weights, list) else [weights]:
attempt_download(w)
if not os.path.exists(w):
attempt_download(w)
ckpt = torch.load(w, map_location=map_location) # load
model.append(ckpt['ema' if ckpt.get('ema') else 'model'].float().fuse().eval()) # FP32 model

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