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44 lines
1.5 KiB
44 lines
1.5 KiB
#!/usr/bin/env python3
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import cv2
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import sys
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import rospy
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import object_detector_python3 as od
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import detection_node_python3 as dn
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import deep_learning_model_options as do
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if __name__ == '__main__':
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print('cv2.__version__ =', cv2.__version__)
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print('Python version (must be > 3.0):', sys.version)
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assert(int(sys.version[0]) >= 3)
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models_directory = do.get_directory()
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print('Using the following directory for deep learning models:', models_directory)
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use_neural_compute_stick = do.use_neural_compute_stick()
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if use_neural_compute_stick:
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print('Attempt to use an Intel Neural Compute Stick 2.')
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else:
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print('Not attempting to use an Intel Neural Compute Stick 2.')
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use_tiny = True
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if use_tiny:
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confidence_threshold = 0.0
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else:
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confidence_threshold = 0.5
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detector = od.ObjectDetector(models_directory,
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use_tiny_yolo3=use_tiny,
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confidence_threshold=confidence_threshold,
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use_neural_compute_stick=use_neural_compute_stick)
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default_marker_name = 'object'
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node_name = 'DetectObjectsNode'
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topic_base_name = 'objects'
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fit_plane = False
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node = dn.DetectionNode(detector, default_marker_name, node_name, topic_base_name, fit_plane)
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node.main()
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try:
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rospy.spin()
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except KeyboardInterrupt:
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print('interrupt received, so shutting down')
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