1. 问题描述
最近尝试将目标检测模型集成到ROS上,运行环境为Ubuntu 16.04 + ROS Kinetic
目标检测模块写成了一个node,监听其他node发送过来的图像信息,对接收的图像进行目标检测。测试代码如下所示:
class DetectorNode(object):
def __init__(self):
# detection model parameters can be received from server
root_dir = '/home/yq/catkin_ws/src/object_detection/scripts'
definition_file = osp.join(root_dir, 'deploy.prototxt')
binary_file = osp.join(root_dir, 'frcnn_xian_iter_30000.caffemodel')