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add missing nn files (#211)
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Serafadam authored Jan 20, 2023
1 parent 16536d7 commit ad187b4
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Showing 5 changed files with 199 additions and 2 deletions.
2 changes: 1 addition & 1 deletion Dockerfile
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ ENV WS=/ws
RUN mkdir -p $WS/src
COPY ./ .$WS/src/depthai-ros
RUN cd .$WS/ && rosdep install --from-paths src --ignore-src -y
RUN if [ "$BUILD_SEQUENTIAL" = "1" ] ; then cd .$WS/ && . /opt/ros/noetic/setup.sh && catkin build -p 1; else cd .$WS/ && . /opt/ros/noetic/setup.sh && catkin build; fi
RUN if [ "$BUILD_SEQUENTIAL" = "1" ] ; then cd .$WS/ && . /opt/ros/noetic/setup.sh && catkin build -j1 -l1; else cd .$WS/ && . /opt/ros/noetic/setup.sh && catkin build; fi
RUN if [ "$USE_RVIZ" = "1" ] ; then echo "RVIZ ENABLED" && sudo apt install -y ros-noetic-rviz ros-noetic-rviz-imu-plugin ; else echo "RVIZ NOT ENABLED"; fi
RUN echo "if [ -f ${WS}/devel/setup.zsh ]; then source ${WS}/devel/setup.zsh; fi" >> $HOME/.zshrc
RUN echo "if [ -f ${WS}/devel/setup.bash ]; then source ${WS}/devel/setup.bash; fi" >> $HOME/.bashrc
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35 changes: 35 additions & 0 deletions depthai_ros_driver/config/nn/mobilenet.json
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@@ -0,0 +1,35 @@
{
"model": {
"model_name": "mobilenet-ssd_openvino_2021.2_6shave",
"zoo": "depthai_examples"
},
"nn_config": {
"NN_family": "mobilenet",
"confidence_threshold": 0.5
},
"mappings": {
"labels": [
"background",
"aeroplane",
"bicycle",
"bird",
"boat",
"bottle",
"bus",
"car",
"cat",
"chair",
"cow",
"diningtable",
"dog",
"horse",
"motorbike",
"person",
"pottedplant",
"sheep",
"sofa",
"train",
"tvmonitor"
]
}
}
35 changes: 35 additions & 0 deletions depthai_ros_driver/config/nn/segmentation.json
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@@ -0,0 +1,35 @@
{
"model": {
"model_name": "deeplab_v3_plus_mnv2_decoder_256_openvino_2021.4",
"zoo": "depthai_examples"
},
"nn_config": {
"NN_family": "segmentation",
"confidence_threshold": 0.5
},
"mappings": {
"labels": [
"background",
"aeroplane",
"bicycle",
"bird",
"boat",
"bottle",
"bus",
"car",
"cat",
"chair",
"cow",
"diningtable",
"dog",
"horse",
"motorbike",
"person",
"pottedplant",
"sheep",
"sofa",
"train",
"tvmonitor"
]
}
}
127 changes: 127 additions & 0 deletions depthai_ros_driver/config/nn/yolo.json
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@@ -0,0 +1,127 @@
{
"model": {
"model_name": "yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr",
"zoo": "depthai_examples"
},
"nn_config": {
"output_format": "detection",
"NN_family": "YOLO",
"NN_specific_metadata": {
"classes": 80,
"coordinates": 4,
"anchors": [
10,
14,
23,
27,
37,
58,
81,
82,
135,
169,
344,
319
],
"anchor_masks": {
"side13": [
3,
4,
5
],
"side26": [
1,
2,
3
]
},
"iou_threshold": 0.5,
"confidence_threshold": 0.5
}
},
"mappings": {
"labels": [
"person",
"bicycle",
"car",
"motorbike",
"aeroplane",
"bus",
"train",
"truck",
"boat",
"traffic light",
"fire hydrant",
"stop sign",
"parking meter",
"bench",
"bird",
"cat",
"dog",
"horse",
"sheep",
"cow",
"elephant",
"bear",
"zebra",
"giraffe",
"backpack",
"umbrella",
"handbag",
"tie",
"suitcase",
"frisbee",
"skis",
"snowboard",
"sports ball",
"kite",
"baseball bat",
"baseball glove",
"skateboard",
"surfboard",
"tennis racket",
"bottle",
"wine glass",
"cup",
"fork",
"knife",
"spoon",
"bowl",
"banana",
"apple",
"sandwich",
"orange",
"broccoli",
"carrot",
"hot dog",
"pizza",
"donut",
"cake",
"chair",
"sofa",
"pottedplant",
"bed",
"diningtable",
"toilet",
"tvmonitor",
"laptop",
"mouse",
"remote",
"keyboard",
"cell phone",
"microwave",
"oven",
"toaster",
"sink",
"refrigerator",
"book",
"clock",
"vase",
"scissors",
"teddy bear",
"hair drier",
"toothbrush"
]
},
"version": 1
}
2 changes: 1 addition & 1 deletion depthai_ros_driver/launch/pointcloud.launch
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="name" default="oak" />
<arg name="params_file" default="$(find depthai_ros_driver)/config/camera.yaml"/>
<arg name="params_file" default="$(find depthai_ros_driver)/config/pcl.yaml"/>
<arg name="camera_model" default="OAK-D" />
<!-- 'zed' or 'zedm' -->
<arg name="base_frame" default="oak-d_frame" />
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