yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit yolov9mit_ros

Repository Summary

Checkout URI https://github.com/fateshelled/yolov9mit-ros.git
VCS Type git
VCS Version main
Last Updated 2024-06-19
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
yolov9mit 0.0.1
yolov9mit_ros 0.0.1

README

YOLOv9MIT-ROS

An MIT rewrite of YOLOv9 + ROS 2 Humble Object Detection demo

Supported List

  • TensorRT C++

Requirements

  • ROS 2 Humble or rolling
  • OpenCV
  • TensorRT
  • vision_msgs
  • v4l2_camera (for Webcam DEMO)

Build

cd ros2_ws/src
git clone https://github.com/fateshelled/YOLOv9MIT-ROS
cd ..

colcon build --symlink-install --packages-up-to yolov9mit_ros

Model

Download

Convert to TensorRT Engine

# S model
wget https://github.com/fateshelled/YOLOv9MIT-ROS/releases/download/v1.0.0/v9-s.vec2box.sim.onnx
trtexec --onnx=v9-s.vec2box.sim.onnx \
        --saveEngine=v9-s.vec2box.sim.engine

# M model
wget https://github.com/fateshelled/YOLOv9MIT-ROS/releases/download/v1.0.0/v9-m.vec2box.sim.onnx
trtexec --onnx=v9-m.vec2box.sim.onnx \
        --saveEngine=v9-m.vec2box.sim.engine

# C model
wget https://github.com/fateshelled/YOLOv9MIT-ROS/releases/download/v1.0.0/v9-c.vec2box.sim.onnx
trtexec --onnx=v9-c.vec2box.sim.onnx \
        --saveEngine=v9-c.vec2box.sim.engine

Webcam Demo

export YOLOV9_MODEL_PATH="v9-c.vec2box.sim.engine"

ros2 launch yolov9mit_ros launch.xml model_path:=${YOLOV9_MODEL_PATH} video_device:=/dev/video0 imshow:=True

Topic

Subscribe

  • image_raw: sensor_msgs/Image
    • Inference input image message

Publish

  • yolov9mit_ros/detections: vision_msgs/msg/Detection2DArray
    • BoundingBox output
      • id (string): class name
      • bbox (vision_msgs/msg/BoundingBox2D): bounding box (center xy + width, height)
      • results (vector of vision_msgs/msg/ObjectHypothesisWithPose)
        • class_id (string): class index
        • score (double): confidence
  • yolov9mit_ros/image_raw: sensor_msgs/Image
    • Image with object detection results

CONTRIBUTING

No CONTRIBUTING.md found.

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yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository

yolov9mit-ros repository