The ROS Package of Mask R-CNN for Object Detection and Segmentation

This is a ROS package of Mask R-CNN algorithm for object detection and segmentation.

The package contains ROS node of Mask R-CNN with topic-based ROS interface.

Most of core algorithm code was based on Mask R-CNN implementation by Matterport, Inc.

Training

This repository doesn't contain code for training Mask R-CNN network model. If you want to train the model on your own class definition or dataset, try it on the upstream reposity and give the result weight to model_path parameter.

Requirements

ROS Indigo/kinetic
TensorFlow 1.3+
Keras 2.0.8+
Numpy, skimage, scipy, Pillow, cython, h5py
I only test code on Python 2.7, it may work on Python3.X.
see more dependency and version details in requirements.txt

Quick Start

Clone this repository to your catkin workspace, build workspace and source devel environment

$ cd ~/.catkin_ws/src
$ git clone https://github.com/qixuxiang/mask_rcnn_ros.git
$ cd mask_rcnn_ros
$ python2 -m pip install --upgrade pip
$ python2 -m pip install -r requirements.txt
$ cd ../..
$ catkin_make
$ source devel/setup.bash

Run mask_rcnn node
```
$ rosrun mask_rcnn_ros mask_rcnn_node
```

Example

There is a simple example launch file using RGB-D SLAM Dataset.

$ sudo chmod 777 scripts/download_freiburg3_rgbd_example_bag.sh
$ ./scripts/download_freiburg3_rgbd_example_bag.sh
$ roslaunch mask_rcnn_ros freiburg3_rgbd_example.launch

Then RViz window will appear and show result like following:

Other issue

If you have installed Anaconda|Python, Please delete or comment export PATH=/home/soft/conda3/bin:$PATH in you ~/.bashrc file.
When you run the code, please wait for a moment for the result because there will be delay when play bag file and process the images.
Welcome to submit any issue if you have problems, and add your software system information details, such as Ubuntu 16/14,ROS Indigo/Kinetic, Python2/Python3, Tensorflow 1.4,etc..

References

mask_rcnn_ros

yehengchen / mask_rcnn_ros