mkdir [OWN_WORKSPACE] && cd [OWN_WORKSPACE]
git clone --recursive https://github.com/uptopia/forklift_pallet_det.git src
cd src/darknet_new
修改Makefile如下Makefile說明
make
cd ../..
catkin_make
cd src/yolo_detect_ros/yolo_network_config
修改.data的names路徑(pallet_front.data and pallet_hole.data)
- /home/anderson/yolo_detect_ws/src/yolo_detect_ros/yolo_network_config/cfg/pallet_front.names
更改為 [WORKSAPCE_PATH]/src/yolo_detect_ros/yolo_network_config/cfg/pallet_front.names
- /home/anderson/yolo_detect_ws/src/yolo_detect_ros/yolo_network_config/cfg/pallet_hole.names
更改為 [WORKSAPCE_PATH]/src/yolo_detect_ros/yolo_network_config/cfg/pallet_hole.names
- Object Detection -- YOLOv4
* YOLO_detect
- GPU 是否開啟GPU
- CUDNN,CUDNN_HALF 是否開啟cudnn加速(需安裝)
- OPENCV 是否開啟opencv(需安裝)
- OPENMP 是否開啟多核心CPU功能(視電腦是否支援)
- LIBSO 開啟可獲得更多進階功能
建議:全部打開 0-> 1
cd src/yolo_detect_ros/yolo_network_config/cfg
將.data .cfg .names 放入yolo_network_config/cfg中 修改.data的names路徑為[WORKSAPCE_PATH]/src/yolo_detect_ros/yolo_network_config/cfg/[names_file].names
cd src/yolo_detect_ros/yolo_network_config/weights
將.weight放入yolo_network_config/weights中
cd src/yolo_detect_ros/config
修改config/pallet.yaml
將data_file cfg_file weight_file 依序改成自己模型的檔案
- data_file, config_file, weights_file 放模型data, cfg, weights的檔案(名稱+副檔名即可)
- threshold 為預測閾值 只可偵測到數值大於設定的值
- model_num 為有多少個模型 ex:front+hole兩個模型 -> value = 2
/home/robotarm/forklift_pallet_ws/src/darknet_ros/darknet/src/parser.c:39:10: fatal error: version.h: No such file or directory #include "version.h" ^~~~~~~~~~~ ==> [WORKSPACE]/src/darknet_ros/darknet_new/src/parser.c
LINE39 註解 LINE2011 PATCH_VERSION改成MAJOR_VERSION