def init_net(): model_name = config.models["3"] net = object_detection.Net(graph_fp='Test_Object_Detection/%s/frozen_inference_graph.pb' % model_name, labels_fp='Test_Object_Detection/data/label.pbtxt', num_classes=90, threshold=0.6) return net
from config import config import cv2 import tensorflow as tf import roslib #roslib.load_manifest('my_package') import sys import rospy from std_msgs.msg import String from sensor_msgs.msg import Image from depth.msg import cood from cv_bridge import CvBridge, CvBridgeError model_name = config.models["1"] net = object_detection.Net(graph_fp='%s/frozen_inference_graph.pb' % model_name, labels_fp='data/label.pbtxt', num_classes=90, threshold=0.6) CAMERA_MODE = 'camera' STATIC_MODE = 'static' IMAGE_SIZE = 320 class image_converter: def __init__(self): self.pub = rospy.Publisher('object', cood, queue_size=10) self.bridge = CvBridge() self.image_sub = rospy.Subscriber("/camera/rgb/image_color", Image, self.callback) def callback(self, data):