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Update tmux configs
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Hannah DeFazio committed Dec 1, 2023
1 parent 4f23c91 commit 39f2c7a
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Showing 5 changed files with 21 additions and 19 deletions.
2 changes: 2 additions & 0 deletions tmux/README.md
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Tmux configuration files to run various parts of the system.
All config files here should be functional and reflect the most current version of the system.
12 changes: 6 additions & 6 deletions tmux/demos/cooking/cooking-angel-system_from-bag.yml
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Expand Up @@ -76,12 +76,12 @@ windows:
-r __ns:=${ROS_NAMESPACE}
-p image_topic:=PVFramesBGR_HALF
-p det_topic:=ObjectDetections2d
-p net_checkpoint:=${MODEL_DIR}/all_recipes+additional_objs+bkgd_yolov7.pt
-p net_checkpoint:=${MODEL_DIR}/object_detector/all_recipes+additional_objs+bkgd_yolov7.pt
-p inference_img_size:=1280
-p det_conf_threshold:=0.25
-p cuda_device_id:=0

- simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args
- simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args
-r __ns:=${ROS_NAMESPACE}
-p topic_input_images:=PVFramesBGR_HALF
-p topic_input_det_2d:=ObjectDetections2d
Expand All @@ -93,9 +93,9 @@ windows:
-p image_ts_topic:=PVFramesBGR_TS
-p det_topic:=ObjectDetections2d
-p act_topic:=ActivityDetections
-p model_weights:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt
-p model_mapping:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt
-p model_det_label_mapping:=${MODEL_DIR}/activity_tcn-all_activities-det_label_mapping.json
-p model_weights:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt
-p model_mapping:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt
-p model_det_label_mapping:=${MODEL_DIR}/activity_classifier/activity_tcn-all_activities-det_label_mapping.json
-p model_device:=cuda
-p model_dets_conv_version:=5
-p window_size:=30
Expand All @@ -113,7 +113,7 @@ windows:
- task_monitor: ros2 run angel_system_nodes global_step_predictor --ros-args
-r __ns:=${ROS_NAMESPACE}
-p det_topic:=ActivityDetections
-p model_file:=${MODEL_DIR}/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy
-p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy
-p threshold_multiplier_weak:=0.05
-p thresh_frame_count:=$((8 / (30 / ${FRAME_RATE})))
-p threshold_frame_count_weak:=2
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12 changes: 6 additions & 6 deletions tmux/demos/cooking/cooking-angel-system_from-old-bag.yml
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Expand Up @@ -76,12 +76,12 @@ windows:
-r __ns:=${ROS_NAMESPACE}
-p image_topic:=PVFramesRGB
-p det_topic:=ObjectDetections2d
-p net_checkpoint:=${MODEL_DIR}/all_recipes+additional_objs+bkgd_yolov7.pt
-p net_checkpoint:=${MODEL_DIR}/object_detector/all_recipes+additional_objs+bkgd_yolov7.pt
-p inference_img_size:=1280
-p det_conf_threshold:=0.25
-p cuda_device_id:=0

- simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args
- simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args
-r __ns:=${ROS_NAMESPACE}
-p topic_input_images:=PVFramesRGB
-p topic_input_det_2d:=ObjectDetections2d
Expand All @@ -93,9 +93,9 @@ windows:
-p image_ts_topic:=PVFramesRGB_TS
-p det_topic:=ObjectDetections2d
-p act_topic:=ActivityDetections
-p model_weights:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt
-p model_mapping:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt
-p model_det_label_mapping:=${MODEL_DIR}/activity_tcn-all_activities-det_label_mapping.json
-p model_weights:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt
-p model_mapping:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt
-p model_det_label_mapping:=${MODEL_DIR}/activity_classifier/activity_tcn-all_activities-det_label_mapping.json
-p model_device:=cuda
-p model_dets_conv_version:=5
-p window_size:=30
Expand All @@ -113,7 +113,7 @@ windows:
- task_monitor: ros2 run angel_system_nodes global_step_predictor --ros-args
-r __ns:=${ROS_NAMESPACE}
-p det_topic:=ActivityDetections
-p model_file:=${MODEL_DIR}/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy
-p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy
-p threshold_multiplier_weak:=0.05
-p thresh_frame_count:=$((8 / (30 / ${FRAME_RATE})))
-p threshold_frame_count_weak:=2
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12 changes: 6 additions & 6 deletions tmux/demos/cooking/cooking-angel-system_live.yml
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Expand Up @@ -87,12 +87,12 @@ windows:
-r __ns:=${ROS_NAMESPACE}
-p image_topic:=PVFramesBGR
-p det_topic:=ObjectDetections2d
-p net_checkpoint:=${MODEL_DIR}/all_recipes+additional_objs+bkgd_yolov7.pt
-p net_checkpoint:=${MODEL_DIR}/object_detector/all_recipes+additional_objs+bkgd_yolov7.pt
-p inference_img_size:=1280
-p det_conf_threshold:=0.25
-p cuda_device_id:=0

- simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args
- simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args
-r __ns:=${ROS_NAMESPACE}
-p topic_input_images:=PVFramesBGR
-p topic_input_det_2d:=ObjectDetections2d
Expand All @@ -104,9 +104,9 @@ windows:
-p image_ts_topic:=PVFramesBGR_TS
-p det_topic:=ObjectDetections2d
-p act_topic:=ActivityDetections
-p model_weights:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt
-p model_mapping:=${MODEL_DIR}/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt
-p model_det_label_mapping:=${MODEL_DIR}/activity_tcn-all_activities-det_label_mapping.json
-p model_weights:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_sample_rate_2.ckpt
-p model_mapping:=${MODEL_DIR}/activity_classifier/yolo_all_recipes_additional_objs_bkgd_act_mapping.txt
-p model_det_label_mapping:=${MODEL_DIR}/activity_classifier/activity_tcn-all_activities-det_label_mapping.json
-p model_device:=cuda
-p model_dets_conv_version:=5
-p window_size:=30
Expand All @@ -124,7 +124,7 @@ windows:
- task_monitor: ros2 run angel_system_nodes global_step_predictor --ros-args
-r __ns:=${ROS_NAMESPACE}
-p det_topic:=ActivityDetections
-p model_file:=${MODEL_DIR}/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy
-p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_all_classes_v2.0_sample_rate_2.npy
-p threshold_multiplier_weak:=0.05
-p thresh_frame_count:=$((8 / (30 / ${FRAME_RATE})))
-p threshold_frame_count_weak:=2
Expand Down
2 changes: 1 addition & 1 deletion tmux/demos/medical/Kitware-M2-Tourniquet.yml
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Expand Up @@ -79,7 +79,7 @@ windows:
-p det_conf_threshold:=0.4
-p model_config:=${ANGEL_WORKSPACE_DIR}/angel_system/berkeley/configs/MC50-InstanceSegmentation/medical/M2/stage2/tourniquet_stage2_interstitial.yaml
-p cuda_device_id:=0
- simple_2d_overlay: ros2 run angel_debug Simple2dDetectionOverlay --ros-args
- simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args
-r __ns:=${ROS_NAMESPACE}
-p topic_input_images:=PVFramesBGR
-p topic_input_det_2d:=ObjectDetections2d
Expand Down

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