ros_detection

Objects detection ROS pakage based on OpenCV::dnn.

Authot: Michael.Chen

Website: www.tgeek.tech

中文

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Requirments

ROS::Kinect, OpenCV with OpenCV_contrib no less than 3.3.

Files discription

build/ : build space

devel/ : Devel space

src/ : source space :

detector/ : detector package

######dnn_nets/ : The configration, labels and pre-trained model of networks

• yolo/ -Yolo Configurations
• ssd/ -SSD Configurations

include：head files

• DetectorNode.hpp
• dnndetector.hpp

msg/: massages for ROS

param/: configurations

• param_config.xml -configuration of video stream
• dnn_param.xml -configuration of dnn

src/ : source code

• listener/ -source of listener
• talker/ -source of the main functions

video/ : test video folder

package.xml: discription file of package

CMakeLists.txt : cmake configration

CMakeLists.txt : cmae configration of the package

installation

Configure Cmake

ConfigureCMakeLists.txt

gedit CMakeLists.txt

if you have OpenCV version more than one, uncommit and change line9,set the build path which one you want to use.

#if u have OpenCV version more than one, set the build path which one u want to use
set(OpenCV_DIR "YOUR_PATH")

Ex:

#if u have OpenCV version more than one, set the build path which one u want to use
set(OpenCV_DIR "/home/test/app/opencv-3.4.0/build/")

Compile

make sure you are in the ROS catkin workspace.

$ catkin_make

Run

Open a terminal and run the ros master

$ roscore

Open a new terminal. Set this workspace on top!

$ source devel/setup.sh	#(option, if workspace not on top)
$ rosrun detector detector_node

Option: Listener

If you want to hear the message from the detctor_node. Run the listener node

massages：

[time stemp]

[detected object type]

[detected object confidence]

[detected object center positon]

Open a new terminal. Set this workspace on top!

$ rosrun detector listener

Usage

Video stream configurations

Do not need to re-compile

videl_file location is {ROS_Package Path}/video/{VIdeo Name}

<?xml version="1.0"?>
<opencv_storage>
                                            <!--0-disable     1-enable-->
<show_time>1</show_time>                    <!--display time on output image-->
<debug_mode>1</debug_mode>                  <!--wait for keyboard to process next frame-->
<show_fps>0</show_fps>                      <!--display fps on output image-->

<use_camera>1</use_camera>                  <!--use camera or video-->
<video_file>test.mp4</video_file>           <!--video file name in {ProjectFolder}/video-->
<camera_index>1</camera_index>              <!--camera index-->
<window_width>1280</window_width>           <!--window size width-->
<window_height>720</window_height>          <!--window size height-->

</opencv_storage>

Network configurations

Do not need to re-compile

network files location is {ROS_Package Path}/dnn/{File Name}

<?xml version="1.0"?>
<opencv_storage>

<!-->Configration<-->
<net_type>1</net_type>              <!-->0-ssd 1-yolo<-->
<thresh>0.35</thresh>               <!-->confidence threshold<-->
<nms_thresh>0.25</nms_thresh>       <!-->nms threshold<-->

<!-->Yolo configration files<-->
<Yolo_meanVal>1</Yolo_meanVal> 
<Yolo_scaleFactor>0.003921569</Yolo_scaleFactor>
<Yolo_config>/dnn_nets/yolo/yolov3-tiny.cfg</Yolo_config>
<Yolo_model>/dnn_nets/yolo/yolov3-tiny.weights</Yolo_model>
<coco_name>/dnn_nets/yolo/coco.names</coco_name>

<!-->ssd configration files<-->
<ssd_meanVal>127.5</ssd_meanVal> 
<ssd_scaleFactor>0.007843</ssd_scaleFactor>
<ssd_config>/dnn_nets/ssd/deploy.prototxt</ssd_config>
<ssd_model>/dnn_nets/ssd/mobilenet_iter_73000.caffemodel</ssd_model>
<ssd_name>/dnn_nets/ssd/ssd.names</ssd_name>
</opencv_storage>