ros2_east

$ cd ros2_ws/src/
$ git clone <repo name>

- torch2trt related model file updates <br/>
    - Clone the EAST repository<br/>
    

$ cd ros2_ws/src/ros2_east/ros2_east
$ git clone https://github.com/SakuraRiven/EAST

    - To resolve a relative path from EAST model file, modify the following lines https://github.com/SakuraRiven/EAST/blob/master/model.py#L67 to read<br/>
    

+ vgg16_bn.load_state_dict(torch.load(os.getenv("HOME")+'/pths/vgg16_bn-6c64b313.pth'))

    (You also need to 
```import os
```)
    - Download the EAST small model weights into 
```${HOME}/pths
``` as instructed in EAST Github repository.<br/>

- Build and install `ros2_east` package <br/>

## Run

- Change Power Mode for Jetson

``` sudo nvpmodel -m2 
``` (for Jetson Xavier NX) <br/>

``` sudo nvpmodel -m0 
``` (for Jetson Xavier and Jetson Nano) <br/>
- Input Images are captured using 
```image_tools
``` package <br/>

``` ros2 run image_tools cam2image 

$ ros2 run ros2_east text_detection