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WATonomous · Jul 3, 2024 · dfb5383 · dfb5383
1 parent 76330f2
commit dfb5383
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Showing 3 changed files with 14 additions and 9 deletions.
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
@@ -23,13 +23,15 @@
 
 import torch
 
+
 class Model():
     def __init__(self, model_path, device):
         self.model_path = model_path
         self.model = AutoBackend(self.model_path, device=device, dnn=False, fp16=False)
         self.names = self.model.module.names if hasattr(self.model, "module") else self.model.names
         self.stride = int(self.model.stride)
 
+
 class CameraDetectionNode(Node):
 
     def __init__(self):
@@ -41,9 +43,12 @@ 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("models.traffic_signs.model_path", "/perception_models/traffic_signs.pt")
-        self.declare_parameter("models.traffic_light.model_path", "/perception_models/traffic_light.pt")
-        self.declare_parameter("models.pretrained_yolov8m.model_path", "/perception_models/yolov8m.pt")
+        self.declare_parameter("models.traffic_signs.model_path",
+                               "/perception_models/traffic_signs.pt")
+        self.declare_parameter("models.traffic_light.model_path",
+                               "/perception_models/traffic_light.pt")
+        self.declare_parameter("models.pretrained_yolov8m.model_path",
+                               "/perception_models/yolov8m.pt")
         self.declare_parameter("image_size", 1024)
         self.declare_parameter("compressed", False)
         self.declare_parameter("crop_mode", "LetterBox")
@@ -264,7 +269,7 @@ def image_callback(self, msg):
                 except CvBridgeError as e:
                     self.get_logger().error(str(e))
                     return
-            
+
             detections = []
             for model in self.models:
                 # preprocess image and run through prediction
@@ -299,8 +304,8 @@ def image_callback(self, msg):
 
             annotator = Annotator(
                 cv_image,
-                line_width=self.line_thickness #,
-                #example=str(model.names),
+                line_width=self.line_thickness,
+                # example=str(model.names),
             )
             (detections, annotated_img) = self.postprocess_detections(detections, annotator)
 

diff --git a/src/perception/camera_object_detection/launch/eve.launch.py b/src/perception/camera_object_detection/launch/eve.launch.py
@@ -10,8 +10,8 @@
 
 def generate_launch_description():
     config = os.path.join(
-        get_package_share_directory("camera_object_detection"), 
-        "config", 
+        get_package_share_directory("camera_object_detection"),
+        "config",
         "combined_config.yaml"
     )
 

diff --git a/src/samples/python/aggregator/setup.py b/src/samples/python/aggregator/setup.py
@@ -14,7 +14,7 @@
         # Include our package.xml file
         (os.path.join('share', package_name), ['package.xml']),
         # Include all launch files.
-        (os.path.join('share', package_name, 'launch'), \
+        (os.path.join('share', package_name, 'launch'),
          glob(os.path.join('launch', '*.launch.py'))),
     ],
     install_requires=['setuptools'],