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Add YOLO-World Model Support in tracker_node.py #74

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Add YOLO-World Model Support in tracker_node.py #74

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4c37c3e
fix bug for uninitialized cam model
kosmastsk Apr 12, 2024
e94b15d
commit: Modified the code to support YOLO-World.
yukiharada1228 Jun 25, 2024
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8 changes: 7 additions & 1 deletion script/tracker_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,13 @@ def __init__(self):
self.result_boxes = rospy.get_param("~result_boxes", True)
path = roslib.packages.get_pkg_dir("ultralytics_ros")
self.model = YOLO(f"{path}/models/{yolo_model}")
self.model.fuse()
use_world = "world" in yolo_model.lower()
if use_world:
if self.classes is not None:
self.model.set_classes(self.classes)
self.classes = None
else:
self.model.fuse()
self.sub = rospy.Subscriber(
self.input_topic,
Image,
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3 changes: 2 additions & 1 deletion src/tracker_with_cloud_node.cpp
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Expand Up @@ -53,14 +53,15 @@ void TrackerWithCloudNode::syncCallback(const sensor_msgs::CameraInfo::ConstPtr&
pcl::PointCloud<pcl::PointXYZ>::Ptr downsampled_cloud(new pcl::PointCloud<pcl::PointXYZ>);
downsampled_cloud = downsampleCloudMsg(cloud_msg);

cam_model_.fromCameraInfo(camera_info_msg);

pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud;
transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cam_model_.tfFrame(),
cloud_msg->header.stamp);
vision_msgs::Detection3DArray detections3d_msg;
sensor_msgs::PointCloud2 detection_cloud_msg;
visualization_msgs::MarkerArray marker_array_msg;

cam_model_.fromCameraInfo(camera_info_msg);
projectCloud(transformed_cloud, yolo_result_msg, cloud_msg->header, detections3d_msg, detection_cloud_msg);
marker_array_msg = createMarkerArray(detections3d_msg, callback_interval.toSec());

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