45 lines (27 loc) · 940 Bytes

ROS Yolo Detection

The package subscribes to an RGB and Depth stream and outputs an array of detections using YOLO.

Dependencies

Python Packages

pip3 install -r dependencies.txt

Darknet ROS

git clone --recursive git@github.com:MaxAndrewNZ/darknet_ros.git

This package should be cloned to your catkin_ws src folder
It is important that the repository is cloned with the --recursive tag

Using Bags

rosbag play {bag_name} --clock --loop
rosparam set use_sim_time true

Configuration

Bounding boxes to 3D Detections

config/bounding_box_to_cuboid_params.yaml

average distance percentile
bounding box topic
depth image topic
camera intrinsics topic
detection publishing topic

Darknet

config/darknet_ros_config.yaml

RGB image topic

Yolo

config/yolov3.yaml

Detection classes
Required confidence for detection