add option to mediator to allow logging of YOLO's detections

update .gitignore

Author: Maik Zickermann

.gitignore

@@ -1,2 +1,4 @@
 build/
-
+jetson_nano/catkin_ws/src/darknet_ros/darknet/.nvcc-gcc/
+jetson_nano/catkin_ws/src/darknet_ros/darknet/libdarknet.a
+jetson_nano/catkin_ws/src/darknet_ros/darknet/libdarknet.so

jetson_nano/catkin_ws/src/camera/launch/yolo_mediator.launch

@@ -2,9 +2,15 @@
  <arg name="frame_slice" default="right" doc="[left, right] camera for object detection" />
  <arg name="scale_factor" default="1.0" doc="Factor to scale frame by" />
  <arg name="calib" default="true" doc="Use calibrated camera frame" />
+ <arg name="log_detection" default="false" doc="Print YOLO's detections with bounding box to terminal" />
+ <arg name="thresh" default="0.3" doc="Probability threshold for log_detection in range [0, 1]" />
+ <arg name="verbose" default="true" doc="Verbose output" />
  <param name="frame_slice" value="$(arg frame_slice)" type="str" />
  <param name="scale_factor" value="$(arg scale_factor)" type="double" />
  <param name="calib" value="$(arg calib)" type="bool" />
+ <param name="log_detection" value="$(arg log_detection)" type="bool" />
+ <param name="thresh" value="$(arg thresh)" type="double" />
+ <param name="verbose" value="$(arg verbose)" type="bool" />
 
  <node
  pkg="camera"

jetson_nano/catkin_ws/src/camera/scripts/camera.py

@@ -23,8 +23,8 @@ def publish_message():
 
  # Node is publishing to the video_frames topic using 
  # the message type Image
- pub_corr_both = rospy.Publisher('/camera/frame_corr_both', Image, queue_size=3)
- pub_both = rospy.Publisher('/camera/frame_both', Image, queue_size=3)
+ pub_corr_both = rospy.Publisher('/camera/frame_corr_both', Image, queue_size=1)
+ pub_both = rospy.Publisher('/camera/frame_both', Image, queue_size=1)
 
  # Tells rospy the name of the node.
  # Anonymous = True makes sure the node has a unique name. Random

jetson_nano/catkin_ws/src/camera/scripts/camera_pub.py

@@ -3,7 +3,7 @@
 import rospy
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
-
+from darknet_ros_msgs.msg import BoundingBoxes, BoundingBox
 
 class Mediator:
  def __init__(self, cfg):
@@ -12,15 +12,16 @@ def __init__(self, cfg):
  )
  self.cfg = cfg
  self.br = CvBridge()
- for n in ['frame_slice', 'scale_factor', 'calib']:
+ for n in ['frame_slice', 'scale_factor', 'calib', 'log_detection', 'thresh', 'verbose']:
  rospy.loginfo(f'{n}: {self.cfg[n]}')
 
  def mediate(self, data):
  frame = self.br.imgmsg_to_cv2(data)
  img, encoding = self.transform_frame(frame)
- rospy.loginfo(
- f'Mediating video frame {frame.shape} to yolo: {img.shape}'
- )
+ if self.cfg['verbose']:
+ rospy.loginfo(
+ f'Mediating video frame {frame.shape} to yolo: {img.shape}'
+ )
  self.yolo_pub.publish(self.br.cv2_to_imgmsg(img, encoding=encoding))
 
  def transform_frame(self, frame):
@@ -37,18 +38,26 @@ def transform_frame(self, frame):
  )
  return fslice, "rgb8"
 
+ def log_detection(self, msg):
+ for box in msg.bounding_boxes:
+ if box.probability > self.cfg['thresh']:
+ rospy.loginfo(f'{box.Class:7s}: {box.probability:2.0%} bbox[x:{box.xmin:4d}, y:{box.ymin:4d}, w:{box.xmax-box.xmin:4d}, h:{box.ymax-box.ymin:4d}]')
 
 def run():
  rospy.init_node('yolo_mediator_py', log_level=rospy.INFO)
 
  mediator = Mediator({
  k: rospy.get_param(k)
- for k in ['frame_slice', 'scale_factor', 'calib']
+ for k in ['frame_slice', 'scale_factor', 'calib', 'log_detection', 'thresh', 'verbose']
  })
 
  frame_both_topic = '/camera/frame_corr_both' if rospy.get_param(
  'calib') else '/camera/frame_both'
  rospy.Subscriber(frame_both_topic, Image, mediator.mediate)
+
+ if mediator.cfg['log_detection']:
+ rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, mediator.log_detection)
+
  rospy.spin()
 
 

jetson_nano/catkin_ws/src/camera/scripts/yolo_mediator.py

@@ -1,13 +1,14 @@
 cd catkin_workspace/src/darknet_ros/darknet_ros/yolo_network_config/weights/
 
 COCO data set (Yolo v2):
- wget http://pjreddie.com/media/files/yolov2.weights
- wget http://pjreddie.com/media/files/yolov2-tiny.weights
+ wget https://pjreddie.com/media/files/yolov2.weights
+ wget https://pjreddie.com/media/files/yolov2-tiny.weights
 
 VOC data set (Yolo v2):
- wget http://pjreddie.com/media/files/yolov2-voc.weights
- wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights
+ wget https://pjreddie.com/media/files/yolov2-voc.weights
+ wget https://pjreddie.com/media/files/yolov2-tiny-voc.weights
 
 Yolo v3:
- wget http://pjreddie.com/media/files/yolov3.weights
- wget http://pjreddie.com/media/files/yolov3-voc.weights
+ wget https://pjreddie.com/media/files/yolov3.weights
+ wget https://pjreddie.com/media/files/yolov3-voc.weights
+ wget https://pjreddie.com/media/files/yolov3-tiny.weights