yolov5_anonymizer_ros

This is a ROS 2 package for real-time detected object anonymization with YOLOv5 on a ROS 2 bag.

Build from source

Create a new workspace:

  mkdir ~/catkin_ws ~/catkin_ws/src
  cd ~/catkin_ws/src

Clone this repository into the source folder:

  git clone https://github.com/batuhanbeytekin/yolov5_anonymizer_ros.git

Go to the project directory:

  cd ~/catkin_ws

Build package with this command:

  colcon build

Launch the node:

  ros2 launch yolov5_anonymizer_ros yolov5_blur.launch.py 

Open new terminal and launch the ROS 2 bag:

  ros2 bag play your/bag/file/path

Parameters

Parameters in params.yaml file

Parameter	Type	Description
model_path	string	Weight path converted to onnx format
write_bag	bool	If True, save new bag file from blurred objects
debug	bool	If True, check the time between processes
save_img	bool	If True, save the extracted images from bag file
bag_name	string	New bag file name
save_directory	string	New bag file path
camera_topic	string	Subscribe camera topic