Attention: DO NOT USE the python virtual environment previously built to compile catking packages.
catkin_makesource $HOME/.bashrc
Running
First launch ROScore into a terminal.
Next, open a new terminal and use the virtual environment created.
workon detectron2_ros
Running the node
roslaunch detectron2_ros detectron2_ros.launch
Arguments
The following arguments can be set on the roslaunch above.
input: image topic name
detection_threshold: threshold to filter the detection results [0, 1]
visualization: True or False to pubish the result like a image
publish_rate: Published frequency
model: path to the training model file. For example: /detectron2/configs/COCO-InstanceSegmentation/mask_rcnn_R_50_FPN_3x.yaml
Citing Detectron
If you use Detectron2 in your research or wish to refer to the baseline results published in the Model Zoo, please use the following BibTeX entry.
@misc{wu2019detectron2,
author = {Yuxin Wu and Alexander Kirillov and Francisco Massa and
Wan-Yen Lo and Ross Girshick},
title = {Detectron2},
howpublished = {url{https://github.com/facebookresearch/detectron2}},
year = {2019}
}