Darknet is a popular neural network framework, and YOLO is a very interesting network that detects all objects in a scene in one pass. This component detects all instances of any of the objects it knows about (determined by the network structure, labels, dataset used for training, and weights obtained) in the image that is given to is.
This module runs a YOLO network and shows all detections obtained. The YOLO network is currently quite slow, hence it is only run once in a while. Point your camera towards some interesting scene, keep it stable, and wait for YOLO to tell you what it found.
Note that by default this module runs the Pascal-VOC version of tiny-YOLO, with these object categories:
Sometimes it will make mistakes! The performance of tiny-yolo-voc is about 57.1% correct (mean average precision) on the test set.
On every frame where detection results were obtained, this module sends a message
where framenum is the frame number (starts at 0).
In addition, when detections are found which are avove threhsold, one message will be sent for each detected object (i.e., for each box that gets drawn when USB outputs are used), using a standardized 2D message:
Serial message type: 2D
id: the category name of the recognized object
x, y, or vertices: standardized 2D coordinates of object center or corners