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pYOLO

A MOOS robot middleware application integrating the YOLO object recognition library. Run on the SeaRobotics Surveyor autonomous surface vehicles.

Usage

  1. Place your custom model in: pYOLO\yolo\custom_models
  2. Modify input_source, weights, and python in pYOLO\YOLO.cpp to reflect your web stream input source, your custom model, and the location of your python executable.

Publishes

  • DETECTED
    • A boolean value indicates whether a object is detected (true) or not (false).
  • CONF:
    • The confidence level of the object detection
  • CLASS_LABEL
    • The label of the detected class in the image
  • BOX_X
    • The x-coordinate of the bottom middle of the bounding box in the image where an object is detected.
  • BOX_Y
    • The y-coordinate of the bottom middle of the bounding box in the image where a object is detected.