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jetson_tensorrt

Implemented Nodes

DIGITS ImageNet (classification)

  • classify_nodes.launch runs a classifier trained on ILSVRC2012 with the builtin camera and publishes to /rt_debug

Parameters

Param Type Description
image_subscribe_topic string image topic to run classification on
model_path string absolute path to the model file (.prototxt)
weights_path string absolute path to the weights file (.caffemodel)
cache_path string absolute path to the automatically generated tensorcache file
classes_path string newline delimited list of class descriptions starting at id 0
data_type int TensorRT data type. 32 for kFLOAT, 16 for kHALF, 8 for kINT8
model_image_depth int model input image depth / number of channels
model_image_width int model input width in pixels
model_image_height int model input height in pixels
threshold float confidence threshold of classifications, between 0.0 and 1.0
mean1, mean2, mean3 float ImageNet means

Topics

Action Topic Type
publish classifications Classifications
subscribe image_subscribe_topic Image

Messages

# Classification
uint32 id
float32 confidence
string desc

# Classifications
ClassifiedRegionOfInterest[] regions
Header header

DIGITS DetectNet (detection)

  • detect_nodes.launch runs pedestrian detection on the builtin camera and publishes to /rt_debug

Parameters

Param Type Description
image_subscribe_topic string image topic to run detections on
model_path string absolute path to the model file (.prototxt)
weights_path string absolute path to the weights file (.caffemodel)
cache_path string absolute path to the automatically generated tensorcache file
classes_path string newline delimited list of class descriptions starting at id 0
data_type int TensorRT data type. 32 for kFLOAT, 16 for kHALF, 8 for kINT8
model_image_depth int model input image depth / number of channels
model_image_width int model input width in pixels
model_image_height int model input height in pixels
model_stride int model stride size - this determines size of network outputs
threshold float confidence threshold of detections, between 0.0 and 1.0
mean1, mean2, mean3 float ImageNet means

Topics

Action Topic Type
publish detections ClassifiedRegionsOfInterest
subscribe image_subscribe_topic Image

Messages

# ClassifiedRegionOfInterest
int32 x
int32 y
int32 w
int32 h
uint32 id
float32 confidence
string desc

# ClassifiedRegionsOfInterest
ClassifiedRegionOfInterest[] regions
Header header

Planned Nodes

Requirements

  • Jetpack 3.3
  • TensorRT 4.0

Build / Installation

Clone jetson_tensorrt into your catkin_ws/src folder and run catkin_make

Documentation