Config.pbtxt for custom object for isaac_ros_centerpose

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

How should I change the config.pbtxt for my custom object than the shoes provided as an example?

admin@DOS:/workspaces/isaac_ros-dev/isaac_ros_assets/models/centerpose_custom$ cat config.pbtxt 
name: "centerpose_custom"
platform: "tensorrt_plan"
max_batch_size: 0
input [
  {
    name: "input"
    data_type: TYPE_FP32
    dims: [ 1, 3, 512, 512 ]
  }
]
output [
  {
    name: "bboxes"
    data_type: TYPE_FP32
    dims: [ 1, 100, 4 ]
  },
  {
    name: "scores"
    data_type: TYPE_FP32
    dims: [ 1, 100, 1 ]
  },
  {
    name: "kps"
    data_type: TYPE_FP32
    dims: [ 1, 100, 16 ]
  },
  {
    name: "clses"
    data_type: TYPE_FP32
    dims: [ 1, 100, 1 ]
  },
  {
    name: "obj_scale"
    data_type: TYPE_FP32
    dims: [ 1, 100, 3 ]
  },
  {
    name: "kps_displacement_mean"
    data_type: TYPE_FP32
    dims: [ 1, 100, 16 ]
  },
  {
    name: "kps_heatmap_mean"
    data_type: TYPE_FP32
    dims: [ 1, 100, 16 ]
  }
]
version_policy: {
  specific {
    versions: [ 1 ]
  }
}
2

Hi, you can find the documentation at: Model Configuration — NVIDIA Triton Inference Server

Best,
Raffaello

1 Like
3

Confirming that only changing this line from name: "centerpose_shoe" to name: "centerpose_custom" worked for my custom object class named custom.

1 Like
4

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