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PolySTAR - CV Robomaster 2022

Work repository for the Computer Vision team

Introduction

This repository contains the work of PolySTAR's computer vision team for the 2022 RoboMaster competition, organized by DJI.

For a step by step example of how to run the code on Jetson, please check here

Repo organization

  • doc/ : General & specific documentation about our work. Everything should be documented ;)
  • ros_ws/ : ROS workspace. This directory contains everything needed to run the detection
  • detection/ : CV dataset pre-processing & training

Requirements

ROS

  • ROS melodic / noetic
  • ROS packages
    • ros-<ros-distribution>-cv-bridge
    • ros-<ros-distribution>-image-view
    • ros-<ros-distribution>-vision-opencv
    • ros-<ros-distribution>-camera-info-manager
    • ros-<ros-distribution>-video-stream-opencv
  • OpenCV & Python bindings

Detection

This project relies on the darknet library to train/test the model as well as the deepstream library to run on Jetson. darknet is included as a submodule and deepstream is already installed on the Jetson. They are both required to build the ROS workspace.

To setup darknet, please check here. To train/test the model with darknet on computer, please check here.

If deepstream is already installed, you still need to add up a wrapper to run darknet model, check here

Code guidelines

Please format your code before commiting :

  • For C++ code, a .clang-format file is at the root of the ROS workspace to ensure consistency.
  • Python code is formatted using autopep8

Datasets & Training

TODO