RQT plugins for Tensorflow image recognition

Contains rqt plugins for training a neural network for object recognition using TensorFlow.

Train plugin

This RQT plugin (http://wiki.ros.org/rqt) enables training a neural network to classify objects based on images using TensorFlow. The end result will be a trained TensorFlow graph and output labels as in https://github.com/tensorflow/tensorflow/blob/master/tensorflow/examples/image_retraining/retrain.py

How to

Prerequisites

Annotated data with label subdirs that contain image segments of the specified label, e.g. /tmp/object_recognition:

/tmp/object_recognition/:
drwxrwxr-x 2 rein rein 4,0K okt 18 21:22 apple
drwxrwxr-x 2 rein rein 4,0K okt 18 21:22 banana
drwxrwxr-x 2 rein rein 4,0K okt 18 21:22 choco_peanuts

/tmp/object_recognition/apple:
-rw-rw-r-- 1 rein rein 14K okt 18 21:22 2016-10-18-21-22-29.jpg
...

/tmp/object_recognition/banana:
-rw-rw-r-- 1 rein rein 16K okt 18 21:22 2016-10-18-21-22-37.jpg
...

/tmp/object_recognition/choco_peanuts:
-rw-rw-r-- 1 rein rein 8,6K okt 18 21:22 2016-10-18-21-22-43.jpg
...

This labeled data set can be created with use of the label RQT plugin in the image_recognition_rqt package. But, feel free to use any kind of tooling to create your own data set!

Training

Start the train GUI

rosrun image_recognition_tensorflow_rqt train_gui

Set the images and output directory. For the example above, use /tmp/object_recognition as images directory

and for example /tmp as output directory.

Click the gear wheel in the right top of the GUI to set the batch size and the number of steps:

Once everything is configured, press the “Train” button.

Wait for some hours :) – Check console log.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package image_recognition_tensorflow_rqt \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.0.5 (2019-06-08)

• Added catkin lint to all packages
• refactor package xml to 2.0
• rename ROS pkgs with image_recognition_prefix
• Contributors: Rein Appeldoorn

0.0.4 (2017-02-07)

0.0.3 (2017-02-07)

• fix(): Add targets install for scripts
• Contributors: Rein Appeldoorn

0.0.2 (2017-01-17)

• fix(): Installation targets
• Contributors: Rein Appeldoorn

0.0.1 (2017-01-17)

• Added link in GUI to tensorboard
• Tensorboard start while training
• Added view tensorflow button
• Documentation
• Update README.md
• Added imgs
• Some minor reference and naming fixes
• Renamed dir name and fixed plugin xml
• Merged tensorflow_object_recognition_rqt into image_recognition repo, renamed to image_recognition_tensorflow_rqt
• Contributors: Rein Appeldoorn