cd catkin_ws/src git clone http://gitee.com/kay2020/darknet_ros.git cd ../
catkin_make -DCMAKE_BUILD_TYPE=Release
检查{catkin_ws}/darknet_ros/darknet_ros/yolo_network_config/weights文件下有没有yolov2-tiny.weights和yolov3.weights两个模型文件
查看openCV版本
pkg-config --modeversion opencv
安装单目USB相机
sudo apt-get install ros-$ROS_DISTRO-usb-cam
运行相机
roslaunch usb_cam usb_cam-test.launch
打开darknet_ros/config/ros.yaml文件,修改
vim darknet_ros/config/ros.yaml
subscribers: camera_reading: topic: /usb_cam/image_raw queue_size: 1
source devel/setup.bash roslaunch darknet_ros darknet_ros.launch
修改 darknet_ros.launch
arg name="network_param_file" default="$(find darknet_ros)/config/yolov2-tiny.yaml"/ 改为 arg name="network_param_file" default="$(find darknet_ros)/config/yolov3.yaml"/
roslaunch darknet_ros darknet_ros.launch
曲线救国
下载预训练模型权重yolov3.weights
下载地址:https://pjreddie.com/media/files/yolov3.weights
重点参考