毕业设计GeoYolo-SLAM

.gitignore

@@ -0,0 +1,36 @@
+
+ORBvoc.txt
+#ORBvoc.txt.tar.gz
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "windows-gcc-x64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "E:/MinGW/bin/gcc.exe",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "windows-gcc-x64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,24 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": true,
+      "cwd": "e:/研究生/SLAM/RDS_SLAM版本/修改完action_server发送preson_id为100_110/SLAM/src",
+      "program": "e:/研究生/SLAM/RDS_SLAM版本/修改完action_server发送preson_id为100_110/SLAM/src/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,125 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
+  "C_Cpp_Runner.debuggerPath": "gdb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false,
+  "files.associations": {
+    "array": "cpp",
+    "atomic": "cpp",
+    "bit": "cpp",
+    "*.tcc": "cpp",
+    "cctype": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "compare": "cpp",
+    "concepts": "cpp",
+    "cstdarg": "cpp",
+    "cstddef": "cpp",
+    "cstdint": "cpp",
+    "cstdio": "cpp",
+    "cstdlib": "cpp",
+    "cwchar": "cpp",
+    "cwctype": "cpp",
+    "deque": "cpp",
+    "string": "cpp",
+    "unordered_map": "cpp",
+    "vector": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "functional": "cpp",
+    "iterator": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "numeric": "cpp",
+    "random": "cpp",
+    "string_view": "cpp",
+    "system_error": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "initializer_list": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "istream": "cpp",
+    "limits": "cpp",
+    "new": "cpp",
+    "numbers": "cpp",
+    "ostream": "cpp",
+    "stdexcept": "cpp",
+    "streambuf": "cpp",
+    "typeinfo": "cpp",
+    "chrono": "cpp",
+    "condition_variable": "cpp",
+    "ctime": "cpp",
+    "ratio": "cpp",
+    "fstream": "cpp",
+    "iomanip": "cpp",
+    "mutex": "cpp",
+    "semaphore": "cpp",
+    "sstream": "cpp",
+    "stop_token": "cpp",
+    "thread": "cpp",
+    "unordered_set": "cpp",
+    "shared_mutex": "cpp",
+    "list": "cpp",
+    "map": "cpp",
+    "set": "cpp",
+    "complex": "cpp",
+    "codecvt": "cpp"
+  },
+  "C_Cpp.dimInactiveRegions": false,
+  "cmake.sourceDirectory": "/wsl.localhost/Ubuntu-18.04/home/miao/RDS-SLAM/ultralytics/examples/YOLOv8-ONNXRuntime-CPP"
+}

LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
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+  10. Automatic Licensing of Downstream Recipients.
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+  An "entity transaction" is a transaction transferring control of an
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+  You may not impose any further restrictions on the exercise of the
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+any patent claim is infringed by making, using, selling, offering for
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+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
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+
+  If you convey a covered work, knowingly relying on a patent license,
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+available, or (2) arrange to deprive yourself of the benefit of the
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+consistent with the requirements of this License, to extend the patent
+license to downstream recipients.  "Knowingly relying" means you have
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+
+  If, pursuant to or in connection with a single transaction or
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+
+  A patent license is "discriminatory" if it does not include within
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+conditioned on the non-exercise of one or more of the rights that are
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+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
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+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
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+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
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+
+  Later license versions may give you additional or different
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+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
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+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
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+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+
+The hypothetical commands `show w' and `show c' should show the appropriate
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+  You should also get your employer (if you work as a programmer) or school,
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+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
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+may consider it more useful to permit linking proprietary applications with
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+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.

MaskRCNN_ROS/.gitignore

@@ -0,0 +1,288 @@
+# self defined
+dist
+build
+results
+
+# Created by https://www.gitignore.io/api/vim,c++,cmake,python,pycharm,visualstudiocode
+# Edit at https://www.gitignore.io/?templates=vim,c++,cmake,python,pycharm,visualstudiocode
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CMake ###
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps
+
+### CMake Patch ###
+# External projects
+*-prefix/
+
+### PyCharm ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and WebStorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### PyCharm Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator/
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+
+# Distribution / packaging
+.Python
+build/
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+pip-wheel-metadata/
+share/python-wheels/
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+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
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+.coverage.*
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+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
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+# celery beat schedule file
+celerybeat-schedule
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+# SageMath parsed files
+*.sage.py
+
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+.spyderproject
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+.ropeproject
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+# mkdocs documentation
+/site
+
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+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+### Vim ###
+# Swap
+[._]*.s[a-v][a-z]
+[._]*.sw[a-p]
+[._]s[a-rt-v][a-z]
+[._]ss[a-gi-z]
+[._]sw[a-p]
+
+# Session
+Session.vim
+Sessionx.vim
+
+# Temporary
+.netrwhist
+*~
+
+# Auto-generated tag files
+tags
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+# Persistent undo
+[._]*.un~
+
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+.vim
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+
+# End of https://www.gitignore.io/api/vim,c++,cmake,python,pycharm,visualstudiocode

MaskRCNN_ROS/CMakeLists.txt

@@ -0,0 +1,265 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(maskrcnn_ros)
+
+# SET(CMAKE_BUILD_TYPE Debug)
+
+## Compile as C++11, supported in ROS melodic and newer
+add_compile_options(-std=c++11)
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  cv_bridge
+  geometry_msgs
+  std_msgs
+  actionlib
+  actionlib_msgs
+  message_generation
+  message_runtime
+  image_transport
+  rosbag
+)
+
+find_package(Glog REQUIRED)
+find_package(OpenCV 3.0 REQUIRED)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED)
+if(Boost_FOUND)
+    add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+    message(STATUS "Boost  found")
+endif()
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  # DIRECTORY msg
+  FILES
+    objectInfo.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+add_action_files(
+    # DIRECTORY action
+    FILES 
+        semantic.action
+        batch.action
+        maskrcnn.action
+)
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#     std_msgs
+#     sensor_msgs
+# )
+
+generate_messages(
+  DEPENDENCIES
+    actionlib_msgs
+    std_msgs
+    sensor_msgs
+    geometry_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES maskrcnn_ros
+ CATKIN_DEPENDS roscpp rospy std_msgs sensor_msgs geometry_msgs actionlib_msgs cv_bridge message_generation actionlib message_runtime 
+ # DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  include/${PROJECT_NAME}
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${GLOG_INCLUDE_DIR}
+  # /root/catkin_ws/devel/include
+  # /root/catkin_ws/devel/include/maskrcnn_ros
+)
+
+## Declare a C++ library
+# aux_source_directory(src DIR_LIB_SRCS)
+add_library(${PROJECT_NAME}
+    # ${DIR_LIB_SRCS}
+    src/client.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME}
+#     ${${PROJECT_NAME}_EXPORTED_TARGETS} 
+#     ${catkin_EXPORTED_TARGETS}
+#     )
+# 
+target_link_libraries( ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+  ${GLOG_LIBRARY}
+)
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/maskrcnn_ros_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(action_client src/client.cpp)
+add_dependencies(action_client
+    ${${PROJECT_NAME}_EXPORTED_TARGETS} 
+    ${catkin_EXPORTED_TARGETS}
+    ${Boost_LIBRARIES}
+)
+target_link_libraries(action_client
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBS}
+  ${GLOG_LIBRARY}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+# Mark libraries for installation
+# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_maskrcnn_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

MaskRCNN_ROS/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 yubaoliu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

MaskRCNN_ROS/README.md

@@ -0,0 +1,86 @@
+# Overview
+
+This is a ROS compatible version with MaskRCNN
+
+# Reuirements
+
+-   Ubuntu 18
+-   Python 2.7
+-   ROS Melodic
+-   docker [optional]
+-   docker-compose [optional]
+
+# Docker
+
+```sh
+cd MaskRCNN_ROS/docker
+docker-compose build
+docker-compose up
+```
+
+# MaskRCNN Semantic Server
+
+```sh
+roslaunch maskrcnn_ros action_server.launch
+```
+
+# Server
+
+## Request label and score
+
+-   action_server.py
+-   semantic.action
+
+## Request original MaskRCNN result
+
+-   action_server_maskrcnn.py
+-   semantic_maskrcnn.action
+-   objectInfo.msg 
+
+# Get dataset
+
+```sh
+wget https://github.com/matterport/Mask_RCNN/releases/download/v2.1/balloon_dataset.zip
+unzip balloon_dataset.zip
+```
+
+# CNN model
+
+Run download_model.sh to get mask_rcnn_coco.h5 and mask_rcnn_balloon.h5.
+
+Manually download:
+
+```sh
+wget -c https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5
+wget -c  https://github.com/matterport/Mask_RCNN/releases/download/v2.1/mask_rcnn_balloon.h5 
+```
+
+# Test Action communication
+
+-   Start server
+    ```sh
+    roslaunch maskrcnn_ros action_server.launch 
+    ```
+-   Start Client
+
+    ```sh
+    roslaunch maskrcnn_ros action_client.launch
+    ```
+
+# Test MaskRCNN semantic segmentation
+
+## Simple segmentation example
+
+```sh
+cd include/MaskRCNN/MaskRCNN/samples
+python demo.py
+```
+
+## TUM dataset
+
+```sh
+cd include/MaskRCNN/MaskRCNN/samples
+python tum_infer.py
+```
+
+tum_infer.py: will infer one image from TUM dataset if no argument is given

MaskRCNN_ROS/action/batch.action

@@ -0,0 +1,24 @@
+# Goal definition
+int16 id
+sensor_msgs/Image[] image   # usually rgb image
+# sensor_msgs/Image depth
+
+---
+
+# Result definition
+uint16 id
+#uint16[] object_num
+
+# Each object has a mask
+#maskrcnn_ros/objectInfo[] objects
+# label is the sum of all masks
+sensor_msgs/Image[] label
+#sensor_msgs/Image[] score
+
+# label_color not yet used here
+#sensor_msgs/Image label_color
+# sensor_msgs/Image mask
+
+---
+# Feedback definition
+bool complete

MaskRCNN_ROS/action/batch.action:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/action/maskrcnn.action

@@ -0,0 +1,21 @@
+# Goal definition
+int16 id
+sensor_msgs/Image image   # usually rgb image
+# sensor_msgs/Image depth
+
+---
+
+# Result definition
+uint16 id
+uint16 object_num
+# Each object has a mask
+maskrcnn_ros/objectInfo[] objects
+# label is the sum of all masks
+#sensor_msgs/Image label
+# label_color not yet used here
+#sensor_msgs/Image label_color
+# sensor_msgs/Image mask
+
+---
+# Feedback definition
+bool complete

MaskRCNN_ROS/action/maskrcnn.action:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/action/semantic.action

@@ -0,0 +1,22 @@
+# Goal definition
+int16 id
+sensor_msgs/Image image   # usually rgb image
+# sensor_msgs/Image depth
+
+---
+
+# Result definition
+uint16 id
+uint16 object_num
+# Each object has a mask
+#maskrcnn_ros/objectInfo[] objects
+# label is the sum of all masks
+sensor_msgs/Image label
+sensor_msgs/Image score
+sensor_msgs/Image label_color
+# label_color not yet used here
+# sensor_msgs/Image mask
+
+---
+# Feedback definition
+bool complete

MaskRCNN_ROS/action/semantic.action:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/cmake_modules/FindGlog.cmake

@@ -0,0 +1,155 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2013 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+# FindGlog.cmake - Find Google glog logging library.
+#
+# This module defines the following variables:
+#
+# GLOG_FOUND: TRUE iff glog is found.
+# GLOG_INCLUDE_DIRS: Include directories for glog.
+# GLOG_LIBRARIES: Libraries required to link glog.
+#
+# The following variables control the behaviour of this module:
+#
+# GLOG_INCLUDE_DIRS_HINTS: List of additional directories in which to
+#                          search for glog includes, e.g: /timbuktu/include.
+# GLOG_LIBRARY_DIRS_HINTS: List of additional directories in which to
+#                          search for glog libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# GLOG_INCLUDE_DIR: Include directory for glog, not including the
+#                   include directory of any dependencies.
+# GLOG_LIBRARY: glog library, not including the libraries of any
+#               dependencies.
+# Called if we failed to find glog or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+MACRO(GLOG_REPORT_NOT_FOUND REASON_MSG)
+  UNSET(GLOG_FOUND)
+  UNSET(GLOG_INCLUDE_DIRS)
+  UNSET(GLOG_LIBRARIES)
+  # Make results of search visible in the CMake GUI if glog has not
+  # been found so that user does not have to toggle to advanced view.
+  MARK_AS_ADVANCED(CLEAR GLOG_INCLUDE_DIR
+                         GLOG_LIBRARY)
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  IF (Glog_FIND_QUIETLY)
+    MESSAGE(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN})
+  ELSEIF (Glog_FIND_REQUIRED)
+    MESSAGE(FATAL_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})
+  ELSE()
+    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
+    # that prevents generation, but continues configuration.
+    MESSAGE(SEND_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})
+  ENDIF ()
+ENDMACRO(GLOG_REPORT_NOT_FOUND)
+# TODO: Add standard Windows search locations for glog.
+LIST(APPEND GLOG_CHECK_INCLUDE_DIRS
+  /usr/include
+  /usr/local/include
+  /usr/local/homebrew/include # Mac OS X
+  /opt/local/var/macports/software # Mac OS X.
+  /opt/local/include)
+LIST(APPEND GLOG_CHECK_LIBRARY_DIRS
+  /usr/lib
+  /usr/local/lib
+  /usr/local/homebrew/lib # Mac OS X.
+  /opt/local/lib)
+# Search supplied hint directories first if supplied.
+FIND_PATH(GLOG_INCLUDE_DIR
+  NAMES glog/logging.h
+  PATHS ${GLOG_INCLUDE_DIR_HINTS}
+  ${GLOG_CHECK_INCLUDE_DIRS})
+IF (NOT GLOG_INCLUDE_DIR OR
+    NOT EXISTS ${GLOG_INCLUDE_DIR})
+  GLOG_REPORT_NOT_FOUND(
+    "Could not find glog include directory, set GLOG_INCLUDE_DIR "
+    "to directory containing glog/logging.h")
+ENDIF (NOT GLOG_INCLUDE_DIR OR
+       NOT EXISTS ${GLOG_INCLUDE_DIR})
+FIND_LIBRARY(GLOG_LIBRARY NAMES glog
+  PATHS ${GLOG_LIBRARY_DIR_HINTS}
+  ${GLOG_CHECK_LIBRARY_DIRS})
+IF (NOT GLOG_LIBRARY OR
+    NOT EXISTS ${GLOG_LIBRARY})
+  GLOG_REPORT_NOT_FOUND(
+    "Could not find glog library, set GLOG_LIBRARY "
+    "to full path to libglog.")
+ENDIF (NOT GLOG_LIBRARY OR
+       NOT EXISTS ${GLOG_LIBRARY})
+# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets
+# if called.
+SET(GLOG_FOUND TRUE)
+# Glog does not seem to provide any record of the version in its
+# source tree, thus cannot extract version.
+# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and
+# thus FIND_[PATH/LIBRARY] are not called, but specified locations are
+# invalid, otherwise we would report the library as found.
+IF (GLOG_INCLUDE_DIR AND
+    NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
+  GLOG_REPORT_NOT_FOUND(
+    "Caller defined GLOG_INCLUDE_DIR:"
+    " ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.")
+ENDIF (GLOG_INCLUDE_DIR AND
+       NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
+# TODO: This regex for glog library is pretty primitive, could it be better?
+IF (GLOG_LIBRARY AND
+    NOT ${GLOG_LIBRARY} MATCHES ".*glog[^/]*")
+  GLOG_REPORT_NOT_FOUND(
+    "Caller defined GLOG_LIBRARY: "
+    "${GLOG_LIBRARY} does not match glog.")
+ENDIF (GLOG_LIBRARY AND
+       NOT ${GLOG_LIBRARY} MATCHES ".*glog[^/]*")
+# Set standard CMake FindPackage variables if found.
+IF (GLOG_FOUND)
+  SET(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
+  SET(GLOG_LIBRARIES ${GLOG_LIBRARY})
+ENDIF (GLOG_FOUND)
+# Handle REQUIRED / QUIET optional arguments.
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG
+  GLOG_INCLUDE_DIRS GLOG_LIBRARIES)
+# Only mark internal variables as advanced if we found glog, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+IF (GLOG_FOUND)
+  MARK_AS_ADVANCED(FORCE GLOG_INCLUDE_DIR
+                         GLOG_LIBRARY)
+ENDIF (GLOG_FOUND)

MaskRCNN_ROS/cmake_modules/FindGlog.cmake:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/=2.0.8:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/LICENSE

@@ -0,0 +1,24 @@
+Mask R-CNN
+
+The MIT License (MIT)
+
+Copyright (c) 2017 Matterport, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+

MaskRCNN_ROS/include/MaskRCNN/LICENSE:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/MANIFEST.in

@@ -0,0 +1,3 @@
+include README.md
+include LICENSE
+include requirements.txt

MaskRCNN_ROS/include/MaskRCNN/MANIFEST.in:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.710184.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.746225.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.778203.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.810024.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.846345.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.878202.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.914148.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.946443.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846434.978088.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/TUM_Images/1341846435.014019.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/4k_video.gif:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/balloon_color_splash.gif:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_activations.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_anchors.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_final.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_histograms.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_masks.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_refinement.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/detection_tensorboard.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/images_to_osm.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/mapping_challenge.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/nucleus_segmentation.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/project_3dbuildings.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/project_grass_gis.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/project_ice_wedge_polygons.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/project_shiny1.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/project_usiigaci1.gif:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/project_usiigaci2.gif:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/assets/street.png:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/download_model.sh

@@ -0,0 +1,5 @@
+echo "============================================"
+echo "get trained model"
+cd src/python/
+wget -c https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5
+wget -c  https://github.com/matterport/Mask_RCNN/releases/download/v2.1/mask_rcnn_balloon.h5 

MaskRCNN_ROS/include/MaskRCNN/download_model.sh:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/1045023827_4ec3e8ba5c_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/12283150_12d37e6389_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/2383514521_1fc8d7b0de_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/2502287818_41e4b0c4fb_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/2516944023_d00345997d_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/25691390_f9944f61b5_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/262985539_1709e54576_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

MaskRCNN_ROS/include/MaskRCNN/images/3132016470_c27baa00e8_z.jpg:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3