Enable OpenVINO option for GPD #47
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added 2 commits
September 4, 2018 11:15
This patch added the OpenVINO models for grasp detection. The OpenVINO models are converted from the original Caffe models by OpenVINO Model Optimizer (MO), following the process here: https://software.intel.com/en-us/articles/OpenVINO-InferEngine#inpage-nav-8-1-2 Signed-off-by: Sharron LIU <sharron.liu@intel.com>
This patch added CMake configures for openvino: + build option "USE_OPENVINO" added to enable openvion + message added to remind where to install openvino toolkit + configure "MODELS_DIR" added to specify the location of openvino models + split "caffe dependency" and "openvino dependency", so that each dependency can be added per build option + build flag "c++11" added, which is required by ROS and OpenVINO Signed-off-by: Sharron LIU <sharron.liu@intel.com>
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This patch added "device" option and removed "use_gpu" option. The option "device" extends the target devices beyond gpu, as mentioned in its documents: [0: CPU]|1:GPU|2:VPU|3:FPGA Signed-off-by: Sharron LIU <sharron.liu@intel.com>
added 2 commits
September 6, 2018 10:47
This patch updated the "GraspDetector" to use the base Classifier. The base Classifier was created as a shared pointer, which will be released by system. Thus no need to explitly release "classifier_" in the destructor "~GraspDetector()". The base Classifer will create the right classifier (Caffe or OpenVINO) based on build option. The Caffe Classifer is modified to be derived from the base Classifer. Signed-off-by: Sharron LIU <sharron.liu@intel.com>
This patch tells the steps to enable openvino: + guides to install OpenVINO + guides to verify OpenVINO installation + build GPD with OpenVINO + launch GPD with target device Signed-off-by: Sharron LIU <sharron.liu@intel.com>
This patch contains headers and sources for grasp detection with OpenVINO. An OpenVINO Classifier is added to manage the detection with OpenVINO InferenceEngine (IE), following the process defined here: https://software.intel.com/en-us/articles/OpenVINO-InferEngine#inpage-nav-8-1-2 An commone Classifier is added, as an abstract base class, to create the specific classifier (Caffe Classifier, or OpenVINO Classifier) per build option "USE_OPENVINO". Signed-off-by: Sharron LIU <sharron.liu@intel.com>
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I've spent some efforts to enable this algorithm with OpenVINO technology as an option. https://software.intel.com/en-us/openvino-toolkit
By default, "USE_OPENVINO=OFF" and "device=0 (CPU)".
I tested my patches with 15 channels, single view.