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Parameterize out_dim #55

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Parameterize out_dim #55

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1 change: 1 addition & 0 deletions isaac_ros_yolov8/include/isaac_ros_yolov8/yolov8_decoder_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@ class YoloV8DecoderNode : public rclcpp::Node
double confidence_threshold_{};
double nms_threshold_{};
int64_t num_classes_{};
int64_t out_dim_{};
};

} // namespace yolov8
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14 changes: 7 additions & 7 deletions isaac_ros_yolov8/src/yolov8_decoder_node.cpp
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Expand Up @@ -55,7 +55,8 @@ YoloV8DecoderNode::YoloV8DecoderNode(const rclcpp::NodeOptions options)
tensor_name_{declare_parameter<std::string>("tensor_name", "output_tensor")},
confidence_threshold_{declare_parameter<double>("confidence_threshold", 0.25)},
nms_threshold_{declare_parameter<double>("nms_threshold", 0.45)},
num_classes_{declare_parameter<int64_t>("num_classes", 80)}
num_classes_{declare_parameter<int64_t>("num_classes", 80)},
out_dim_{declare_parameter<int64_t>("out_dim", 8400)}
{}

YoloV8DecoderNode::~YoloV8DecoderNode() = default;
Expand All @@ -74,14 +75,13 @@ void YoloV8DecoderNode::InputCallback(const nvidia::isaac_ros::nitros::NitrosTen
std::vector<int> classes;

// Output dimensions = [1, 84, 8400]
int out_dim = 8400;
float * results_data = reinterpret_cast<float *>(results_vector.data());

for (int i = 0; i < out_dim; i++) {
for (int i = 0; i < out_dim_; i++) {
float x = *(results_data + i);
float y = *(results_data + (out_dim * 1) + i);
float w = *(results_data + (out_dim * 2) + i);
float h = *(results_data + (out_dim * 3) + i);
float y = *(results_data + (out_dim_ * 1) + i);
float w = *(results_data + (out_dim_ * 2) + i);
float h = *(results_data + (out_dim_ * 3) + i);

float x1 = (x - (0.5 * w));
float y1 = (y - (0.5 * h));
Expand All @@ -90,7 +90,7 @@ void YoloV8DecoderNode::InputCallback(const nvidia::isaac_ros::nitros::NitrosTen

std::vector<float> conf;
for (int j = 0; j < num_classes_; j++) {
conf.push_back(*(results_data + (out_dim * (4 + j)) + i));
conf.push_back(*(results_data + (out_dim_ * (4 + j)) + i));
}

std::vector<float>::iterator ind_max_conf;
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