localryu / tf2_object_detection_ros

Tensorflow2 object detection ros package

References

• Install tensorflow2 and envirion setup : https://github.com/localryu/TIL/blob/master/Object_detection/tensorflow2_object_detection.md
• Training with custom dataset : https://github.com/localryu/TIL/blob/master/Object_detection/tensorflow2_object_detection_training_with%20_custom_dataset.md

Version

- tensorflow 2.3.0
- CUDA : 10.1
- CuDNN : 7.6.5
- Python : 3.6

Required

• Install python3 cv_bridge : https://github.com/localryu/TIL/blob/master/ROS/cv_bridge%20for%20python3.md

How to use

1. Copy frozen_graph(floder)

copy frozen_graph(floder) into tf2_object_detection_ros/src/object_detection/ folder

2. Modify file path

modify files path in scripts/detector.py

PATH_TO_MODEL_DIR = '/PATH/TO/INFERENCE_GRAPH/FLODER/inference_graph'
PATH_TO_LABELS = '/PATH/TO/LABEL_FILE/label_map.pbtxt'
PATH_TO_CKPT = "/PATH/TO/CHECKPOINT_FILE/inference_graph/checkpoint"

3. make

cd catkin_ws
catkin_make
source devel/setup.bash
source ~/catkin_build_ws/install/setup.bash (for using python3 cv_bridge)

4. run object_detection_node

rosrun tf2_object_detection_ros detector.py