Tensorflow Object Detection API in a ROS node!!!

Detect objects as bounding boxes or masks using one of 28 models from Tensorflow Models repository!

Install

https://github.com/tensorflow/models/blob/master/research/object_detection/g3doc/installation.md

Download models

You can download manually from the models zoo: https://github.com/tensorflow/models/blob/master/research/object_detection/g3doc/detection_model_zoo.md

Or you can use the download script provided in this repo!!!

It will download all models for you:

python scripts/download_all_models.py

or you can use ROS to run it:

rosrun object_detection_tensorflow download_all_models.py

This script will download 28 models for you (Updated on 2018.09.16):

1. faster_rcnn_inception_resnet_v2_atrous_coco_2018_01_28
2. faster_rcnn_inception_resnet_v2_atrous_lowproposals_coco_2018_01_28
3. faster_rcnn_inception_resnet_v2_atrous_lowproposals_oid_2018_01_28
4. faster_rcnn_inception_resnet_v2_atrous_oid_2018_01_28
5. faster_rcnn_inception_v2_coco_2018_01_28
6. faster_rcnn_nas_coco_2018_01_28
7. faster_rcnn_nas_lowproposals_coco_2018_01_28
8. faster_rcnn_resnet101_ava_v2.1_2018_04_30
9. faster_rcnn_resnet101_coco_2018_01_28
10. faster_rcnn_resnet101_kitti_2018_01_28
11. faster_rcnn_resnet101_lowproposals_coco_2018_01_28
12. faster_rcnn_resnet50_coco_2018_01_28
13. faster_rcnn_resnet50_lowproposals_coco_2018_01_28
14. mask_rcnn_inception_resnet_v2_atrous_coco_2018_01_28
15. mask_rcnn_inception_v2_coco_2018_01_28
16. mask_rcnn_resnet101_atrous_coco_2018_01_28
17. mask_rcnn_resnet50_atrous_coco_2018_01_28
18. rfcn_resnet101_coco_2018_01_28
19. ssd_inception_v2_coco_2018_01_28
20. ssdlite_mobilenet_v2_coco_2018_05_09
21. ssd_mobilenet_v1_0.75_depth_300x300_coco14_sync_2018_07_03
22. ssd_mobilenet_v1_0.75_depth_quantized_300x300_coco14_sync_2018_07_18
23. ssd_mobilenet_v1_coco_2018_01_28
24. ssd_mobilenet_v1_fpn_shared_box_predictor_640x640_coco14_sync_2018_07_03
25. ssd_mobilenet_v1_ppn_shared_box_predictor_300x300_coco14_sync_2018_07_03
26. ssd_mobilenet_v1_quantized_300x300_coco14_sync_2018_07_18
27. ssd_mobilenet_v2_coco_2018_03_29
28. ssd_resnet50_v1_fpn_shared_box_predictor_640x640_coco14_sync_2018_07_03

Run Webcam example

I provide example ROS launch files for:

SSD Mobilenet V2

roslaunch object_detection_tensorflow ssd_mobilenet_v2.launch

Mask RCNN Inception V2

roslaunch object_detection_tensorflow mask_rcnn_inception_v2.launch

Nodes

object_detection_tensorflow.py

Published Topics

• sensor_msgs/CompressedImage
• object_detection_tensorflow_msgs/BBoxArray

Parameters

• ~camera_topic default: /image_raw - Input topic
• ~models_dir - directory where models are downloaded
• ~model_name - name of the directory where the model is located
• ~path_to_labels - path to labels.pbtxt
• ~num_classes default: 90 - number o classes

object_detection_tensorflow_viz.py

Node is an example of BBoxArray subscriber. It subscribes to BBoxArray and image, draws bboxes and publishes the result.

Subscribed Topics

• sensor_msgs/CompressedImage
• object_detection_tensorflow_msgs/BBoxArray

Published Topics

• sensor_msgs/CompressedImage