ROS index logo ROS Index
  1. Home
  2. Packages
  3. vision_darknet_detect
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

vision_darknet_detect package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

darknet image detector

Additional Links

No additional links.

Maintainers

  • Abraham Monrroy

Authors

No additional authors.
autoware/core_perception/vision_darknet_detect/README.md

Vision Darknet Detect

Autoware package based on Darknet that supports Yolov3 and Yolov2 image detector.

Requirements

  • NVIDIA GPU with CUDA installed
  • Pretrained YOLOv3 or YOLOv2 model on COCO dataset, Models found on the YOLO website.
  • The weights file must be placed in vision_darknet_detect/darknet/data/.

How to launch

  • From a sourced terminal:

    • roslaunch vision_darknet_detect vision_yolo3_detect.launch
    • roslaunch vision_darknet_detect vision_yolo2_detect.launch

  • From Runtime Manager:

Computing Tab -> Detection/ vision_detector -> vision_darknet_detect You can change the config and weights file, as well as other parameters, by clicking [app]

Parameters

Launch file available parameters:

Parameter Type Description
score_threshold Double Detections with a confidence value larger than this value will be displayed. Default 0.5.
nms_threshold Double Non-Maximum suppresion area threshold ratio to merge proposals. Default 0.45.
network_definition_file String Network architecture definition configuration file. Default yolov3.cfg.
pretrained_model_file String Path to pretrained model. Default yolov3.weights.
camera_id String Camera workspace. Default /.
image_src String Image source topic. Default /image_raw.
names_file String Path to pretrained model. Default coco.names.

Subscribed topics

Topic Type Objective
/image_raw sensor_msgs/Image Source image stream to perform detection.
/config/Yolo3 autoware_config_msgs/ConfigSSD Configuration adjustment for threshold.

Published topics

Topic Type Objective
/detection/vision_objects autoware_msgs::DetectedObjectArray Contains the coordinates of the bounding box in image coordinates for detected objects.

Video

Yolo v3 Autoware

CHANGELOG

Changelog for package vision_yolo3_detect

1.11.0 (2019-03-21)

  • Removing CUDA dependencies for Darknet Yolov3 (#1784) * Removing CUDA dependencies for Darknet yolov3 If the host machine does not have CUDA, this will build the vision_darknet_detect package based on a pre-built darknet directory (which doesn't require CUDA as there are no CUDA dependencies for yolov3). * Update ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt Co-Authored-By: K1504296 <<greytrt@gmail.com>>

  • Fix license notice in corresponding package.xml
  • Initial release of object filter
  • Contributors: Abraham Monrroy, Theodore, amc-nu

1.10.0 (2019-01-17)

  • Fixes for catkin_make
  • [fix] SSD detector, cmake colcon (#1837)
    • Fixes for new colcon script on ssd cuda based node
    • Fixed to RTM and darknet launch files
    • catkin_fix
      • catkin & colcon build successfully
    • reverted back run to devel space (for the time being)
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Feature/perception visualization cleanup (#1648)
      • Initial commit for visualization package
    • Removal of all visualization messages from perception nodes
    • Visualization dependency removal
    • Launch file modification
      • Fixes to visualization
    • Error on Clustering CPU
    • Reduce verbosity on markers
    • intial commit
      • Changed to 2 spaces indentation
    • Added README
    • Fixed README messages type
    • 2 space indenting
    • ros clang format
    • Publish acceleration and velocity from ukf tracker
    • Remove hardcoded path
    • Updated README
    • updated prototype
    • Prototype update for header and usage
    • Removed unknown label from being reported
    • Updated publishing orientation to match develop
      • Published all the trackers
    • Added valid field for visualization and future compatibility with ADAS ROI filtering
    • Add simple functions
    • Refacor code
      • Reversed back UKF node to develop
    • Formatted speed
    • Refactor codes
    • Refactor codes
    • Refactor codes
    • Refacor codes
    • Make tracking visualization work
    • Relay class info in tracker node
    • Remove dependency to jskbbox and rosmarker in ukf tracker
    • apply rosclang to ukf tracker
    • Refactor codes
    • Refactor codes
    • add comment
    • refactor codes

    * Revert "Refactor codes" This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. * Revert "apply rosclang to ukf tracker" This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. * Revert "Relay class info in tracker node" This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.

    • delete dependency to jsk and remove pointcloud_frame
    • get direction nis
    • set velocity_reliable true in tracker node
    • Add divided function
    • add function
    • Sanity checks
    • Relay all the data from input DetectedObject
    • Divided function work both for immukf and sukf
    • Add comment
    • Refactor codes
    • Pass immukf test
    • make direction assisted tracking work
    • Visualization fixes
    • Refacor codes
    • Refactor codes
    • Refactor codes
    • refactor codes
    • refactor codes
    • Refactor codes
    • refactor codes
    • Tracker Merging step added
    • Added launch file support for merging phase
    • lane assisted with sukf
    • Refactor codes
    • Refactor codes
      • change only static objects
    • keep label of the oldest tracker
    • Static Object discrimination
    • Non rotating bouding box
    • no disappear if detector works
    • Modify removeRedundant a bit
    • Replacement of JSK visualization for RViz Native Markers
    • Added Models namespace to visualization
    • Naming change for matching the perception component graph
      • Added 3D Models for different classes in visualization
    • 2D Rect node visualize_rects added to visualization_package
  • Fix Ros/ROS naming convention
  • Fix Ssd/SSD naming convention
  • Contributors: Abraham Monrroy Cano, Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

  • Fix compile error (vision_darknet_detect.h:52:37: fatal error: autoware_msgs/ConfigSsd.h: No such file or directory)
  • Moved configuration messages to autoware_config_msgs
  • include fstream header (#1608)
  • Added support for custom class "names files" in darknet format. (#1535)
    • Added support for custom class "names files" in darknet format.
    • Fixed launch file, not including source topic arg
    • Fix the default path of coco.names (#1550)
  • fixes two typos in yolo class name/id file (#1484)
  • Contributors: Abraham Monrroy, Esteve Fernandez, Jacob Lambert, Kenji Funaoka

1.8.0 (2018-08-31)

  • fixes two typos in yolo class name/id file (#1486)
  • [Fix] README.md of vision_darknet_detect (#1437)
  • Feature/std perception msg (#1418)
    • New standard message definition for the perception nodes
    • New Detected Object message applied to:
    • SSD
    • Integrated RVIZ viewer
    • External Viewer
    • modified yolo2 and yolo3, compiles but cuda issues, trying different PC
    • Boiler plate for range vision fusion node

    * Added GenColors for Kinetic Typo fixes for yolo2

    • testing colors in Yolo3
    • Completed transformation, projection of 3D boxes
    • Fixed error on negative assignation
    • code clean up
    • removed yolo2 and yolo3, replaced by single darknet node. GUI launches yolo3 for now, to change. Pushing to test code on other PC.
    • Readme updated, added gitignore for data folder.

    * Added Runtime manager UI for yolo2, yolo3.Support tested for TinyYolo v2 and v3 * Fusion Vision Range Icons for viewer

    • Range Vision Fusion node
    • Indigo cv im read
    • Indigo compiation fix
    • Topic renaming according to new spec
    • Try to fix arm64 stuff
      • Added launch file
    • Added Runtime manager entry
      • Added Publication of non fused objects
    • Fixed topic names
  • Contributors: Abraham Monrroy, Kenji Funaoka

1.7.0 (2018-05-16)

  • Add code in cmakelists
  • update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
  • Remove history of sub-branches
  • Add automatically-generated CHANGELOG.rst
  • [Fix] rename packages (#1269)
    • rename lidar_tracker
    • Modify pf_lidar_track's cmake file
    • Refactor code
    • Rename from euclidean_lidar_tracker to lidar_euclidean_track
    • Rename from kf_contour_track to lidar_kf_contour_track
    • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
    • Rename from pf_lidar_tarck to lidar_pf_track
    • Rename range_fusion
    • Rename obj_reproj
    • Rename euclidean_cluster to lidar_euclidean_cluster_detect
    • Rename svm_lidar_detect to lidar_svm_detect
    • Rename kf_lidar_track to lidar_kf_track
    • Change version 1.6.3 to 1.7.0 in pacakge.xml
    • Modify CMake so that extrenal header would be loaded
    • Remove obj_reproj from cv_tracker
    • Add interface.yaml
    • Rename road_wizard to trafficlight_recognizer
    • create common directory
    • Add lidar_imm_ukf_pda_track
    • create vision_detector and moved cv
    • Modify interface.yaml and package.xml
    • remove dpm_ocv
    • moved directory
    • Delete unnecessary launch file
    • Delete rcnn related file and code
    • separated dummy_track from cv_tracker
    • separated klt_track from cv_tracker
    • Fix a cmake
    • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
    • Rename image_segmenter to vision_segment_enet_detect
    • Remove unnecessary dependency of lidar_svm_detect package
    • separated kf_track and fix a some compiling issue
    • move viewers
    • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
    • Remove unnecessary dependency of lidar_euclidean_track
    • moved image lib
    • add launch
    • lib move under lidar_tracker
    • Rename dpm_ttic to vision_dpm_ttic_detect
    • rename yolo3detector to vision_yolo3_detect
    • Modify cmake and package.xml in vision_dpm_ttic_detect
    • moved sourcefiles into nodes dir
    • moved sourcefiles into nodes dir
    • Move cv_tracker/data folder and delete cv_tracker/model folder
    • fix a package file and cmake
    • Rename yolo2 -> vision_yolo2_detect
    • fix a package file and cmake
    • Fix package name of launch file
    • Rename ssd to vision_ssd_detect
    • fixed cmake and package for decerese dependencies
    • remove top packages dir for detection
    • fixed cmake for cuda
    • Rename lane_detector to vision_lane_detect
    • Modify package.xml in lidar-related packages
    • Remove unnecessary dependencies in lidar_detector and lidar_tracker
    • Modify computing.yaml for dpm_ttic
    • Modify dpm_ttic launch file
    • Remove/Add dependencies to trafficlight_recognizer
    • Update data folder in dpm_ttic
    • Modified CMake and package file in dpm_ttic.
    • Remove src dir in imm_ukf_pda_track
    • removed unnecessary comments
    • rename lidar_tracker
    • Modify pf_lidar_track's cmake file
    • Refactor code
    • Rename from euclidean_lidar_tracker to lidar_euclidean_track
    • Rename from kf_contour_track to lidar_kf_contour_track
    • Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h)
    • Rename from pf_lidar_tarck to lidar_pf_track
    • Rename range_fusion
    • Rename obj_reproj
    • Rename road_wizard to trafficlight_recognizer
    • Rename euclidean_cluster to lidar_euclidean_cluster_detect
    • Rename svm_lidar_detect to lidar_svm_detect
    • Rename kf_lidar_track to lidar_kf_track
    • Change version 1.6.3 to 1.7.0 in pacakge.xml
    • Modify CMake so that extrenal header would be loaded
    • Remove obj_reproj from cv_tracker
    • Add interface.yaml
    • create common directory
    • Add lidar_imm_ukf_pda_track
    • create vision_detector and moved cv
    • Modify interface.yaml and package.xml
    • remove dpm_ocv
    • moved directory
    • Delete unnecessary launch file
    • Delete rcnn related file and code
    • separated dummy_track from cv_tracker
    • separated klt_track from cv_tracker
    • Fix a cmake
    • Remove unnecessary dependency of lidar_euclidean_cluster_detect package
    • Rename image_segmenter to vision_segment_enet_detect
    • Remove unnecessary dependency of lidar_svm_detect package
    • separated kf_track and fix a some compiling issue
    • move viewers
    • merge ndt_localizer and icp_localizer, and rename to lidar_localizer
    • Remove unnecessary dependency of lidar_euclidean_track
    • moved image lib
    • add launch
    • lib move under lidar_tracker
    • Rename dpm_ttic to vision_dpm_ttic_detect
    • rename yolo3detector to vision_yolo3_detect
    • Modify cmake and package.xml in vision_dpm_ttic_detect
    • moved sourcefiles into nodes dir
    • moved sourcefiles into nodes dir
    • Move cv_tracker/data folder and delete cv_tracker/model folder
    • fix a package file and cmake
    • Rename yolo2 -> vision_yolo2_detect
    • fix a package file and cmake
    • Fix package name of launch file
    • Rename ssd to vision_ssd_detect
    • fixed cmake and package for decerese dependencies
    • remove top packages dir for detection
    • fixed cmake for cuda
    • Rename lane_detector to vision_lane_detect
    • Modify package.xml in lidar-related packages
    • Remove unnecessary dependencies in lidar_detector and lidar_tracker
    • Modify computing.yaml for dpm_ttic
    • Modify dpm_ttic launch file
    • Remove/Add dependencies to trafficlight_recognizer
    • Update data folder in dpm_ttic
    • Modified CMake and package file in dpm_ttic.
    • Remove src dir in imm_ukf_pda_track
    • Fix bug for not starting run time manager
    • Remove invalid dependency
  • Contributors: Kenji Funaoka, Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

1.6.1 (2018-01-20)

1.6.0 (2017-12-11)

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
autoware_build_flags
catkin
autoware_config_msgs
autoware_msgs
cv_bridge
image_transport
roscpp
sensor_msgs
std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/vision_yolo3_detect.launch
      • gpu_device_id [default: 0]
      • score_threshold [default: 0.30]
      • nms_threshold [default: 0.30]
      • network_definition_file [default: $(find vision_darknet_detect)/darknet/cfg/yolov3.cfg]
      • pretrained_model_file [default: $(find vision_darknet_detect)/darknet/data/yolov3.weights]
      • names_file [default: $(find vision_darknet_detect)/darknet/cfg/coco.names]
      • camera_id [default: /]
      • image_src [default: /image_raw]
  • launch/vision_yolo2_detect.launch
      • gpu_device_id [default: 0]
      • score_threshold [default: 0.30]
      • nms_threshold [default: 0.45]
      • network_definition_file [default: $(find vision_darknet_detect)/darknet/cfg/yolov2.cfg]
      • pretrained_model_file [default: $(find vision_darknet_detect)/darknet/data/yolov2.weights]
      • names_file [default: $(find vision_darknet_detect)/darknet/cfg/coco.names]
      • camera_id [default: /]
      • image_src [default: /image_raw]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged vision_darknet_detect at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.