mobileNet-ssd

ABOUT

• mobilenet ssd
• tensorflow /c++/python
• catkin_make

  INSTALL

  cd mobileNet-ssd
  catkin_make

  RUN

• tensorflow c++

   rosrun mobileNet mobileNet_pb
   or
   ./devel/lib/mobileNet/mobileNet_pb

• opencv dnn

   rosrun mobileNet mobileNet_opencv
   or
   ./devel/lib/mobileNet/mobileNet_opencv

• python

  python src/mobileNet/python/ssd-mobilenet.py

  tensorflow模型预测对比总结

  将通过以下的方法进行模型预测部分的实现

• Tensorflow c++
• Tensorflow python
• Opencv dnn

  对比分析内容

• 图片输入说明(图片加载)
  • Tensorflow c++ ：

    tensorflow ops::ReadFile/DecodePng

  • Tensorflow python ：

    load_image_into_numpy_array(numpy)

  • Opencv dnn :

    cv::imread(imagePath)

• 模型加载说明
  • Tensorflow c++ ：

    Status status = ReadBinaryProto(Env::Default(),MODEL_PATH,&graph_def);

  • Tensorflow python:

    with gfile.FastGFile(PATH_TO_PB) as f:
        graph_def = tf.GraphDef()
        graph_def.ParseFromString(f.read())
        sess.graph.as_default()
        tf.import_graph_def(graph_def,name='')
    or 
    with open(PATH_TO_PB) as f:
        graph_def = tf.GraphDef()
        .......

  • opencv DNN ：

     dnn::Net net = cv::readNetFromTensorflow(weights, prototxt);

    时间对比：

  • Opencvdnn ：detection time: 618.522 ms
  • Tensorflow c++ ：detection time:699.195 ms
  • Tensorflow python : detection time : 5916.458 ms

    效果展示

• Tensorflow c++
  
  
• Tensorflow python
  
  
• Opencv dnn