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edgeyolo-ros repositoryyolo object-detection ros2 onnxruntime edgeyolo_cpp edgeyolo_ros_cpp edgeyolo_ros_py |
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Repository Summary
| Description | EdgeYOLO + ROS 2 object detection package |
| Checkout URI | https://github.com/fateshelled/edgeyolo-ros.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-03-28 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | yolo object-detection ros2 onnxruntime |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| edgeyolo_cpp | 0.0.1 |
| edgeyolo_ros_cpp | 0.0.1 |
| edgeyolo_ros_py | 0.0.1 |
README
EdgeYOLO-ROS
EdgeYOLO + ROS 2 Inference DEMO
Supported List
- ONNXRuntime C++ and Python
- TensorRT C++
- OpenVINO C++
※ TFLite inference demo code has been uploaded but not tested.
Requirements
- ROS 2 Foxy or Humble
- OpenCV
- ONNXRuntime or TensorRT or OpenVINO
- bbox_ex_msgs
- v4l2-camera (for Webcam Demo)
Build
cd ros2_ws/src
git clone https://github.com/Ar-Ray-code/bbox_ex_msgs
git clone https://github.com/fateshelled/EdgeYOLO-ROS
cd ../
# for C++
colcon build --symlink-install --packages-up-to edgeyolo_ros_cpp bbox_ex_msgs
# for python
colcon build --symlink-install --packages-up-to edgeyolo_ros_py bbox_ex_msgs
Model Download
- Model download from PINTO_model_zoo
- use nopost model
Webcam DEMO
ONNXRuntime
# Run C++ Node
ros2 launch edgeyolo_ros_cpp edgeyolo_onnxruntime.launch.py \
model_path:=edgeyolo_tiny_coco_416x416.onnx
# Run Python Node
ros2 launch edgeyolo_ros_py edgeyolo_onnxruntime.launch.py \
model_path:=edgeyolo_tiny_coco_416x416.onnx
OpenVINO
# model convert
mo.py --input_model edgeyolo_tiny_coco_416x416.onnx \
--input_shape [1,3,416,416] \
--output_dir ./openvino_model
# Run C++ Node
ros2 launch edgeyolo_ros_cpp edgeyolo_openvino.launch.py \
model_path:=./openvino_model/edgeyolo_tiny_coco_416x416.xml
TensorRT
# model convert
trtexec --onnx=edgeyolo_tiny_coco_416x416.onnx \
--saveEngine=edgeyolo_tiny_coco_416x416.engine
# Run C++ Node
ros2 launch edgeyolo_ros_cpp edgeyolo_tensorrt.launch.py \
model_path:=edgeyolo_tiny_coco_416x416.engine
Reference
CONTRIBUTING
No CONTRIBUTING.md found.
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