alexnet_object_recognition.py
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00001 #!/usr/bin/env python
00002 
00003 from __future__ import absolute_import
00004 from __future__ import division
00005 from __future__ import print_function
00006 
00007 import chainer.serializers as S
00008 from jsk_recognition_msgs.msg import ClassificationResult
00009 from jsk_recognition_utils.chainermodels import AlexNet
00010 from jsk_recognition_utils.chainermodels import AlexNetBatchNormalization
00011 import rospy
00012 from sensor_msgs.msg import Image
00013 from vgg16_object_recognition import VGG16ObjectRecognition
00014 
00015 
00016 class AlexNetObjectRecognition(VGG16ObjectRecognition):
00017 
00018     def __init__(self):
00019         super(VGG16ObjectRecognition, self).__init__()
00020         self.insize = 227
00021         self.gpu = rospy.get_param('~gpu', -1)
00022         self.target_names = rospy.get_param('~target_names')
00023         self.model_name = rospy.get_param('~model_name')
00024         if self.model_name == 'alexnet':
00025             self.model = AlexNet(n_class=len(self.target_names))
00026         elif self.model_name == 'alexnet_batch_normalization':
00027             self.model = AlexNetBatchNormalization(
00028                 n_class=len(self.target_names))
00029         else:
00030             rospy.logerr('Unsupported ~model_name: {0}'
00031                          .format(self.model_name))
00032         model_file = rospy.get_param('~model_file')
00033         S.load_hdf5(model_file, self.model)
00034         if self.gpu != -1:
00035             self.model.to_gpu(self.gpu)
00036         self.pub = self.advertise('~output', ClassificationResult,
00037                                   queue_size=1)
00038         self.pub_input = self.advertise(
00039             '~debug/net_input', Image, queue_size=1)
00040 
00041 
00042 if __name__ == '__main__':
00043     rospy.init_node('alexnet_object_recognition')
00044     app = AlexNetObjectRecognition()
00045     rospy.spin()


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Sun Oct 8 2017 02:43:23