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How to make a custom YOLO package

asked 2018-08-17 00:15:00 -0500

Nelle gravatar image

I am very new to ROS. I have been able to make publishers and subscribers now. And also some custom messages. My problem is that we are a team of people making a rescue robot that will detect body parts and faces. One team is already making the customized YOLO and our team is focused on the ROS part and harware interfacing. Now my problem is that we have to turn the customized YOLO into a ROS package so that we can use it in ROS and view the images in the camera thru the RVIZ in a remote computer. I'm running on kinetic and raspbian, btw. The camera would be in the rpi.

How do we do this?

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There appear to be quite a few YOLO<->ROS bridges/integrations already:

could you not reuse one of those?

gvdhoorn gravatar imagegvdhoorn ( 2018-08-17 02:11:11 -0500 )edit

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answered 2018-08-17 02:03:13 -0500

Choco93 gravatar image

It's just like using yolo normally with bunch of saved images or your webcam. You subscribe to your image topic which will give you ROS Image, you convert that image into bgr (cv format) conversion.

Then you just feed that converted image to yolo and let it do it's magic. Using opencv you can also draw the bounding boxes onto the image and republish it as a ROS Image.

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I have already made a raspberry pi camera show images thru rviz. I have this neat node package. How can I launch yolo thru ROS if it isn't a package? Really confused here. And one more thing, I'm not really familiar with using yolo.

Nelle gravatar imageNelle ( 2018-08-17 02:12:58 -0500 )edit

You have to make yolo a ROS package, I don't think there is another solution to that.

Choco93 gravatar imageChoco93 ( 2018-08-17 02:18:30 -0500 )edit

How to do that exactly? Any tutorials and what nots you can share?

Nelle gravatar imageNelle ( 2018-08-17 02:38:41 -0500 )edit

Unless I'm misunderstanding something, there appears to be no reason to create yet another ROS YOLO pkg, as there are quite a few available already. I'd really advise to take a look at those, as they potentially save you a lot of work.

gvdhoorn gravatar imagegvdhoorn ( 2018-08-17 02:40:30 -0500 )edit

As mentioned in the question that they are customizing yolo, I am assuming they are making some specific changes for their case which I am not sure how easy can be to add to an existing package. If only making their own trained model then it should be fairly easy to use existing packages.

Choco93 gravatar imageChoco93 ( 2018-08-17 02:46:29 -0500 )edit

The OP will have to clarify this. I've seen people claim they are creating a 'custom deep learning system', but in the end were only loading an alternative model.

Even if the OP really needs a different network or some other customisation, starting with existing pkgs is probably a good thing.

gvdhoorn gravatar imagegvdhoorn ( 2018-08-17 02:55:29 -0500 )edit

I'm not really sure how the other team is "customizing" YOLO. But if we are to add only trained models, how can we add this to an existing ros yolo like this one?

Nelle gravatar imageNelle ( 2018-08-17 02:57:04 -0500 )edit
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I'm not really sure how the other team is "customizing" YOLO

then personally I would first try to get some info from them. Seeing as your task appears to be to integrate the results of the 'other team', wouldn't it be good to know what they are actually doing?

gvdhoorn gravatar imagegvdhoorn ( 2018-08-17 03:02:21 -0500 )edit

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Asked: 2018-08-17 00:15:00 -0500

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Last updated: Aug 17 '18