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ros_detection

rospass

Objects detection ROS pakage based on OpenCV::dnn.

Authot: Michael.Chen

Website: www.tgeek.tech English

要求

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

文件描述

build/ : 编译空间

devel/ : 开发空间

src/ : 源码空间 :

detector/ : detector ROS包

######dnn_nets/ : 网络结构，标签，预训练模型

  • yolo/ -Yolo 配置文件
  • ssd/ -SSD 配置文件
include：头文件
  • DetectorNode.hpp
  • dnndetector.hpp
msg/: mesages for ROS
param/: configurations
  • param_config.xml -视频流配置
  • dnn_param.xml -神经网络配置
src/ : 源码
  • listener/ -订阅器
  • talker/ -发布器

video/ : 测试视频文件夹

package.xml: 包描述文件
CMakeLists.txt : cmake 配置文件
CMakeLists.txt : 包 cmake 配置文件

安装

配置 Cmake

ConfigureCMakeLists.txt 

gedit CMakeLists.txt

多版本OpenCV设置路径，否则注释此行

#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/")

编译

确保在工作空间

$ catkin_make

运行

打开一个ros master

$ roscore

打开新终端，确保当然工作空间在顶部

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

可选: Listener 订阅器

如果想监听消息，可以打开一个订阅器

消息为：

[时间戳]

[检测到物体类别]

[检测到物体置信度]

[检测到物体中心点坐标]

打开新终端，确保当然工作空间在顶部

$ rosrun detector listener

使用

视频流配置

不需要重新编译

视频路径为 {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

不需要重新编译

网络文件为 {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>