What are target detection？

[40526136]

hello author Can I ask what objects can be detected

[silencht]

Since the mobilenetV3-SSD model that has been trained is used, there are 20 types of objects that can be detected, which are : object class that can be detected

The model above comes from : https://github.com/Tencent/ncnn/blob/master/examples/mobilenetv3ssdlite.cpp

You can also use other examples of ncnn or train the network model yourself.

[40526136]

hello author After detecting the screen and chair objects, and in the semantic segmentation, the red and blue three-dimensional boxes are displayed on rviz, but the people and potted plants are not displayed on rviz. Where can these programs be written.

[silencht]

Most of the code is located in Detector2D.cc, Detector3D.cc and PointcloudMapping.cc in src/sg-slam/src. It should be noted that, as a highly dynamic object, people have been eliminated in advance when building the map.