GeoYolo-SLAM/MaskRCNN_ROS

Overview

This is a ROS compatible version with MaskRCNN

Reuirements

• Ubuntu 18
• Python 2.7
• ROS Melodic
• docker [optional]
• docker-compose [optional]

Docker

cd MaskRCNN_ROS/docker
docker-compose build
docker-compose up

MaskRCNN Semantic Server

roslaunch maskrcnn_ros action_server.launch

Server

Request label and score

• action_server.py
• semantic.action

Request original MaskRCNN result

• action_server_maskrcnn.py
• semantic_maskrcnn.action
• objectInfo.msg

Get dataset

wget https://github.com/matterport/Mask_RCNN/releases/download/v2.1/balloon_dataset.zip
unzip balloon_dataset.zip

CNN model

Run download_model.sh to get mask_rcnn_coco.h5 and mask_rcnn_balloon.h5.

Manually download:

wget -c https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5
wget -c  https://github.com/matterport/Mask_RCNN/releases/download/v2.1/mask_rcnn_balloon.h5 

Test Action communication

• Start server

  roslaunch maskrcnn_ros action_server.launch 
  

• Start Client

  roslaunch maskrcnn_ros action_client.launch
  

Test MaskRCNN semantic segmentation

Simple segmentation example

cd include/MaskRCNN/MaskRCNN/samples
python demo.py

TUM dataset

cd include/MaskRCNN/MaskRCNN/samples
python tum_infer.py

tum_infer.py: will infer one image from TUM dataset if no argument is given