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realtime_object_detection

Realtime Object Detection based on Tensorflow's Object Detection API and DeepLab Project <img src="test_images/rod.png" width="75.0%">

Version 1: use branch r1.0 for the original repo that was focused on high performance inference of ssd_mobilenet <br /> (x10 Performance Increase on Nvidia Jetson TX2)

Version 2: use branch Master or to be additionally able to run and test Mask-Detection Models, KCF-Tracking and DeepLab Models (merge of the repo realtime_segmenation)

ROS Support: To use this Repo as ROS-Package including detection and segmentation ROS-Nodes use branch ros. Alternativley use the repo objectdetection_ros

About the Project

The Idea was to create a scaleable realtime-capable object detection pipeline that runs on various systems. <br /> Plug and play, ready to use without deep previous knowledge.<br /> <br /> The project includes following work:

• optional download of tensorflow pretrained models
• do Inference with OpenCV, either through video input or on selected test_images. <br /> supported Models are all research/object_detection as well as research/deeplab models
• enjoy this project's own ssd_mobilenet speed hack, which splits the model in a mutlithreaded cpu and gpu session. <br /> Results in up to x10 performance increase depending on the running system <br /> ⇒ which makes it (one of) the fastest inference piplines out there
• run statistic tests on sets of images and get statistical information like mean and median fps, std dev and much more
• create timeline files measuring the exact time consumption of each operation in your model
• inspect, summarize, quantize, transform and benchmark models with the provided scripts/
• Use this Repo as ROS Package. the detection subscirbes a ROS Image topic and publishes the detection as ROS Node.

Inference:

• create a copy of config.sample.yml named config.yml and only change configurations inside this file <br /> For example: If you are not interested in visualization: set VISUALIZE to False, <br /> or if you want to switch off the speed hack set SPLIT_MODEL to False, <br />
• to be able to use KCF_Tracking inside scripts/ run bash build_kcf.sh to build it and set USE_TRACKER to True to use it <br /> (currently only works for pure object detection models without SPLIT_MODEL)
• new class (Model,Config,Visualizer) structure. Simply create your own test file with:

  from rod.model import ObjectDetectionModel, DeepLabModel
  from rod.config import Config
  
  model_type = 'od'                                              #or 'dl'
  input_type = 'video'                                           #or 'image'
  config = Config(model_type)
  model = ObjectDetectionModel(config).prepare_model(input_type) #or DeepLabModel
  model.run()
  

• Alternativley run python + objectdetection_video.py or objectdetection_image.py or deeplab_video.py or deeplab_image.py or allmodels_image.py

Scripts:

To make use of the tools provided inside scripts/ follow this guide: <br />

• first change all paths and variables inside config_tools.sh to your needs / according to your system
• When using the first time run: source config_tools.sh and in the same terminal run only once source build_tools.sh to build the tools. this will take a while. <br />
• For all following uses first run: source config_tools.sh(due to the exported variables) and after that you are able to run the wanted scripts always from the same terminal with source script.sh.
• All scripts log the terminal output to test_results/

Setup:

Use the following setup for best and verified performance

• Ubuntu 16.04
• Python 2.7
• Tensorflow 1.4 (this repo provides pre-build tf wheel files for jetson tx2)
• OpenCV 3.3.1

Note: tensorflow v1.7.0 seems to have massive performance issues (try to use other versions)

Current max Performance on ssd_mobilenet:

• Dell XPS 15 with i7 @ 2.80GHZ x8 and GeForce GTX 1050 4GB: 100 FPS
• Nvidia Jetson Tx2 with Tegra 8GB: 30 FPS

Related Work:

• objectdetection_ros: This Repository as ROS Package ready to use
• test_models: A repo for models i am currently working on for benchmark tests
• deeptraining_hands: A repo for setting up the ego- and oxford hands-datasets.<br /> It also contains several scripts to convert various annotation formats to be able to train Networks on different deep learning frameworks <br /> currently supports .xml, .mat, .csv, .record, .txt annotations
• yolo_for_tf_od_api: A repo to be able to include Yolo V2 in tf's object detection api
• realtime_segmenation: This repo was merged into v2.0
• Mobile_Mask_RCNN: a Keras Model for training Mask R-CNN for mobile deployment
• tf_training: Train Mobile Mask R-CNN Models on AWS Cloud
• tf_models: My tensorflow/models fork which includes yolov2 and mask_rcnn_mobilenet_v1_coco
• eetfm_automation: Export and Evaluation of TensorFlow Models Automation based on the Object Detection API