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Introduction

This code is for learning maskrcnn algorithm from https://github.com/matterport/Mask_RCNN. I have make very detailed code annotation for it. And I have created a ros node of maskrcnn for robot grasping.

Current Process

  • make detailed code annotation
  • write a ros node of maskrcnn
  • write a data augmentation python script to generate more data

File Funciton

  • mrcnn files:core algorithm of maskrcnn
  • data_aug.py:data augmentation
  • train_segment.py:model train and test
  • MaskRCNNTrainGraph.mmap:flow chart of maskrcnn algorithm
  • segment_node.py: ros node of maskrcnn inference

Install

You should install following libraries:

numpy scipy Pillow cython matplotlib scikit-image tensorflow>=1.3.0 keras>=2.0.8 opencv-python h5py imgaug IPython

Model

  • Pre-trained model:Baidu Disk,code:8wiu
  • Trained model for workpiece:Baidu Disk,code:qzl9 The workpiece is as following:

test

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maskrcnn源码解析与修改

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