rf_detr_ros_cpp

RF-DETR wrapper for ROS 2 C++ implementation.

Target device

• Intel CPU, GPU (OpenVINO)

Dependencies

• ROS 2 Humble or later
• OpenVINO 2023.1.0 or later

Installation

mkdir -p ~/ros2_ws/src/
cd ~/ros2_ws/src/
git clone https://github.com/Ar-Ray-code/rf_detr_ros_cpp.git
cd ~/ros2_ws/
colcon build --packages-up-to rf_detr_ros_cpp --cmake-args -DRF_DETR_USE_OPENVINO=ON

Download models

cd ~/ros2_ws/
./src/rf_detr_ros_cpp/weights/rf_detr/download_openvino.bash

Usage

source ~/ros2_ws/install/setup.bash
ros2 launch rf_detr_ros_cpp rf_detr_openvino.launch.py  model_path:=./src/rf_detr_ros_cpp/weights/rf_detr/rf_detr_base_coco.onnx openvino_device:=GPU

References

• RF-DETR : RF-DETR is a real-time object detection model architecture developed by Roboflow, SOTA on COCO and designed for fine-tuning.

• YOLOX-ROS : YOLOX + ROS2 object detection package (C++ only support). This is a stable package that has been maintained for over four years.