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YOLO4-ROS-GPU
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README.md

YOLO4-ROS-GPU

this code deploy yolov4 on ROS-Melodic with libtorch1.7.0

环境配置（不唯一）：
Ubuntu18.04
CUDA10.2
Libtorch1.7.0-cxx11 ABI
OpenCV3.4.10
torchvision0.8.0

需要修改的地方：
1、在下载好的文件中新建module文件夹，放入你的***.pt模型文件
2、在cmakelists.txt 文件中修改set(CMAKE_PREFIX_PATH "/path/to/libtorch; /path/to/torchvision")
3、在yolo.h文件中修改all_anchors、class_name、smodel_image_size参数； 修改utils.h中的num_classes参数，修改方法代码中有注释
4、修改detect_node.cpp中的modulePath为你的***.pt模型文件路径

测试结果：
RTX2070下，帧率21FPS

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