目标检测模块 - 环境配置

提示

如果只使用二维码检测,KCF等功能(更多见视觉功能汇总)就不必进行以下步骤配置,可直接编译运行.

配置 Melodic cv_bridge 支持 python3

sudo apt install ros-melodic-cv-bridge-python3

在每一个python3的脚本中,在文件头都要添加

#!/usr/bin/env python3

以及

import sys, os; sys.path.insert(0,'/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib/python3/dist-packages/')

例如在SiamRPN跟踪中:

#!/usr/bin/env python3
import sys
import os
path = sys.path[0]
path = path + '/../../siam_rpn_lib/'
print(path)
sys.path.append(path)
sys.path.append("/../../../../devel/lib/python2.7/dist-packages")
sys.path.insert(0,'/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib/python3/dist-packages/')
import rospy
import cv2
import torch
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge,CvBridgeError

安装Python3相关环境

  1. 安装并配置condaconda详细安装教程较多,自行搜索

  2. 配置安装所需环境,进入object_detection目录cd Prometheus/Modules/object_detection, 执行:

conda env create -f conda_env_gpu.yaml # 有GPU,英伟达驱动
# conda env create -f conda_env_cpu.yaml # 无GPU,Nvidia驱动(siamrpn框选跟踪,YOLOv5等无法运行)
  1. 等待上一命令执行完成后,conda会创建一个prometheus_python3名字的python虚拟环境。激活环境conda activate prometheus_python3.

  2. 验证环境是否安装正确。执行以下命令,如果返回的不是/usr/bin/python3就说明正确安装。比如我这里返回的是/home/onx/.conda/envs/prometheus_python3/bin/python3

conda activate prometheus_python3
which python3
  1. 加入.bashrc,启动时自动激活prometheus_python3环境
echo "conda activate prometheus_python3" >> ~/.bashrc
  1. (可选)如果不需要或者重复安装时报错,可以先删除prometheus_python3环境,再执行命令
conda env remove -n prometheus_python3
# 进入~/.bashrc删除`conda activate prometheus_python3`该行