Difference between revisions of "2021SummerTeam6"

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= '''Final Project Overview''' =
= '''Final Project Overview''' =
==YoloV5 Object Detection Code ==
== '''Our Python Code!''' ==
import rospy
import rospy

Revision as of 00:50, 6 September 2021

Team 6 Members


From Left to Right

Kevin Bishara (MAE) | William Lynch (ECE) | Anwar Hsu (ECE)

Robot & 3D Modeling Designs

Our Robot


Electronics Plate


Camera Mount

Jetson Nano Case

Cad2.png Cad3.png

Autonomous Laps

    DonkeyCar Laps

Our autonomous laps for DonkeyCar can be found here.

    OpenCV/ROS Laps

Our OpenCV/ROS autonomous laps can be found here.

Final Project Overview

Our Python Code!

import rospy
import cv2
import numpy as np
from std_msgs.msg import Int32, Int32MultiArray
from sensor_msgs.msg import Image
from decoder import decodeImage
import time
from cv_bridge import CvBridge
from elements.yolo import OBJ_DETECTION

# Give names for nodes and topics for ROS
STOPSIGN_NODE_NAME = 'stopsign_node'
CAMERA_TOPIC_NAME = 'camera_rgb'

# types of objects that can be detected

Object_classes = ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',                'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',                'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',                'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',                'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple',                'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch',                'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',                'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear',                'hair drier', 'toothbrush' ] 

Object_colors = list(np.random.rand(80,3)*255)
Object_detector = OBJ_DETECTION('weights/yolov5s.pt', Object_classes)

class StopSignDetection:
        def __init__(self):
            self.init_node = rospy.init_node(STOPSIGN_NODE_NAME, anonymous=False)                 # initialize the node
            self.StopSign_publisher = rospy.Publisher(STOPSIGN_TOPIC_NAME,Int32, queue_size=1)    # make this node a publisher
            self.camera_subscriber = rospy.Subscriber(CAMERA_TOPIC_NAME,Image,self.detect_stop)   # subscribe to the camera feed
            self.bridge =CvBridge()
            self.stopsign = Int32()

        def detect_stop(self,data):
                frame = self.bridge.imgmsg_to_cv2(data)          # get frame from camera feed data

                        # detection process
                objs = Object_detector.detect(frame)             # detect the object 

                        # plotting
                for obj in objs:
                                # print(obj)
                                label = obj['label']
                                score = obj['score']
                                [(xmin,ymin),(xmax,ymax)] = obj['bbox']
                                color = Object_colors[Object_classes.index(label)]
                                frame = cv2.rectangle(frame, (xmin,ymin), (xmax,ymax), color, 2)
                                frame = cv2.putText(frame, f'{label} ({str(score)})', (xmin,ymin),
                 cv2.FONT_HERSHEY_SIMPLEX , 0.75, color, 1, cv2.LINE_AA)
                                cv2.imshow('stopsign',frame)                    # create window to show objects detected
                           # if a stop sign is detected send out a 1 else send out 0

                                if label == 'stop sign' and  score > 0.1:
                                           self.stopsign.data = 1
                                           self.stopsign.data = 0
def main():
    StopSign_detector = StopSignDetection()
    rate = rospy.Rate(15)
    while not rospy.is_shutdown():

if __name__=='__main__':