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Changing CV and Localization Parameters

The script, publish_cv_params.py, can change parameters for both the object detection node and the localization node.

Usage

Open a new terminal and navigate to to the object_detection folder. 

cd /home/ws/ros_packages/object_detection/object_detection

Run the publish_cv_params.py script. Choose any number of these parameters. It will only adjust parameters if the respective node is running.

python publish_cv_params.py [-m MODEL] [-t THRESHOLD] [-b BUFFER_SIZE] [-u UPDATE_RATE] [-i IOU_THRESHOLD]

For object detection, the parameters will remain changed after restarting. For localization, the parameters are reset to the default values.

Object Detection Parameters

  • -m. The model name to switch to. Do not include the file extension (Ex. yolo26s.pt -> yolo26s). The model can be either Yolo11 or Yolo26, as long as it has been previously built into an engine file.
  • -t. The threshold for the detector. Enter a number in the range (0, 1)

Localization Parameters

  • -b. The number of detections to save for triangulation. The default is 300 frames (approximately 10 seconds).
  • -u. How often to triangulate objects in seconds. Default is every 0.5 seconds.
  • -i. During localization, if two objects are within this distance in meters, they are considered the same object and the older one is disregarded. Default is 10 meters.