[FishBotCamera]3.结合YOLO实现检测

小鱼

@2652794104 https://blog.csdn.net/qq_38196449/article/details/143998597

看下这个

2652794104

@小鱼谢谢大佬，解决了

萌新

小鱼，这个用CPU会有点卡，可以用GPU吗，启动时代码改成gpu好像显示只能用cpu或者跳过

小鱼

@2431039560 这个要看yolo那边的了

jkr

ImportError: cannot import name 'Detect' from 'models.yolo' (/home/jkr/.local/lib/python3.10/site-packages/ultralytics/models/yolo/init.py)
[ros2run]: Process exited with failure 1
ros2 run yolov5_ros2 yolo_detect_2d --ros-args -p device:=cpu -p image_topic:=/fishbot_camera_raw
在输入这段代码后会显示这个错误

jkr

此回复已被删除！

小鱼

@jkr yolo安装问题吧，重装试试

jkr

@小鱼重装了一边不太行

jkr

@小鱼 (1) In PyTorch 2.6, we changed the default value of the weights_only argument in torch.load from False to True. Re-running torch.load with weights_only set to False will likely succeed, but it can result in arbitrary code execution. Do it only if you got the file from a trusted source.
(2) Alternatively, to load with weights_only=True please check the recommended steps in the following error message.
WeightsUnpickler error: Unsupported global: GLOBAL numpy.core.multiarray._reconstruct was not an allowed global by default. Please use torch.serialization.add_safe_globals([numpy.core.multiarray._reconstruct]) or the torch.serialization.safe_globals([numpy.core.multiarray._reconstruct]) context manager to allowlist this global if you trust this class/function.
重运行完报这个错

zxcpjp

要怎么调节阈值啊@小鱼

zxcpjp

@小鱼要怎么调节置信度阈值啊 @小鱼

zxcpjp

@zxcpjp 我知道了，是不是，修改代码为

    mask = predictions[:, 4] >= 0.6
    filtered_pred = predictions[mask]

    # 使用过滤后的结果
    boxes = filtered_pred[:, :4]
    scores = filtered_pred[:, 4]
    categories = filtered_pred[:, 5]

这样就修改为0.6了 @小鱼