intel · LewisLiuPub · Jan 14, 2022 · Sep 8, 2021 · Sep 8, 2021 · Sep 8, 2021
diff --git a/doc/quick_start/getting_started_with_Dashing_Ubuntu18.04.md b/doc/quick_start/getting_started_with_Dashing_Ubuntu18.04.md
diff --git a/doc/quick_start/getting_started_with_Foxy_Ubuntu20.04.md b/doc/quick_start/getting_started_with_Foxy_Ubuntu20.04.md
diff --git a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04.md b/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04.md
@@ -0,0 +1,121 @@
+# ROS2_GALACTIC_OpenVINO_Toolkit
+
+**NOTE:**
+Below steps have been tested on **Ubuntu 20.04**.
+
+## 1. Environment Setup
+* Install ROS2 Galactic ([guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html))
+* Install Intel® OpenVINO™ Toolkit Version: 2021.4 ([guide](https://docs.openvino.ai/2021.4/openvino_docs_install_guides_installing_openvino_linux.html)) or building by source code ([guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingForLinux))
+* Install Intel®  RealSense ™ SDK ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md))
+
+## 2. Building and Installation
+* Install ROS2_OpenVINO_Toolkit packages
+```
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+git clone https://github.com/intel/ros2_openvino_toolkit -b galactic_dev
+git clone https://github.com/intel/ros2_object_msgs
+git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2
+git clone https://github.com/ros-perception/vision_opencv.git -b ros2
+```
+* Install dependencies
+```
+sudo apt-get install ros-galactic-diagnostic-updater
+```
+* Build package
+```
+source /opt/ros/galactic/setup.bash 
+source /opt/intel/openvino_2021/bin/setupvars.sh
+cd ~/catkin_ws
+colcon build --symlink-install
+source ./install/local_setup.bash
+```
+
+## 3. Running the Demo
+* See all available models
+```
+cd /opt/intel/openvino_2021/deployment_tools/open_model_zoo/tools/downloader
+sudo python3 downloader.py --print_all
+```
+
+* Download the optimized Intermediate Representation (IR) of model (execute once), for example:
+```
+cd /opt/intel/openvino_2021/deployment_tools/open_model_zoo/tools/downloader
+sudo python3 downloader.py --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output
+sudo python3 downloader.py --name age-gender-recognition-retail-0013 --output_dir /opt/openvino_toolkit/models/age-gender-recognition/output
+sudo python3 downloader.py --name emotions-recognition-retail-0003 --output_dir /opt/openvino_toolkit/models/emotions-recognition/output
+sudo python3 downloader.py --name head-pose-estimation-adas-0001 --output_dir /opt/openvino_toolkit/models/head-pose-estimation/output
+sudo python3 downloader.py --name person-detection-retail-0013 --output_dir /opt/openvino_toolkit/models/person-detection/output
+sudo python3 downloader.py --name person-reidentification-retail-0277 --output_dir /opt/openvino_toolkit/models/person-reidentification/output
+sudo python3 downloader.py --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output
+sudo python3 downloader.py --name semantic-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/semantic-segmentation/output
+sudo python3 downloader.py --name vehicle-license-plate-detection-barrier-0106 --output_dir /opt/openvino_toolkit/models/vehicle-license-plate-detection/output
+sudo python3 downloader.py --name vehicle-attributes-recognition-barrier-0039 --output_dir /opt/openvino_toolkit/models/vehicle-attributes-recognition/output
+sudo python3 downloader.py --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output
+sudo python3 downloader.py --name person-attributes-recognition-crossroad-0230 --output_dir /opt/openvino_toolkit/models/person-attributes/output
+```
+
+* copy label files (execute once)
+```
+ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/
+ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/
+ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/
+ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/
+ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/
+ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32
+
+```
+
+* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi)need to be converted to intermediate representation (For example the model for object detection)
+  * mobilenet-ssd
+    ```
+    sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output
+    cd /opt/intel/openvino_2021/deployment_tools/model_optimizer
+    sudo python3 mo.py --input_model /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output
+    ```
+  * deeplabv3
+    ```
+    cd /opt/intel/openvino_2021/deployment_tools/open_model_zoo/tools/downloader
+    sudo python3 downloader.py --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output
+    sudo python3 converter.py --name=deeplabv3 --mo /opt/intel/openvino_2021/deployment_tools/model_optimizer/mo.py 
+    ```
+
+* Before launch, check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml, make sure the paramter like model path, label path, inputs are right.
+  * run face detection sample code input from StandardCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_people.launch.py
+  ```
+  * run person reidentification sample code input from StandardCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py
+  ```
+  * run person face reidentification sample code input from RealSenseCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_face_reidentification.launch.py
+  ```
+  * run face detection sample code input from Image.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_image.launch.py
+  ```
+  * run object segmentation sample code input from RealSenseCameraTopic.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py
+  ```
+  <!-- * run object segmentation sample code input from Image.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_segmentation_image.launch.py
+  ``` -->
+  * run vehicle detection sample code input from StandardCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_vehicle_detection.launch.py
+  ```
+  * run person attributes sample code input from StandardCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_person_attributes.launch.py
+  ```
+
+# More Information
+* ROS2 OpenVINO discription writen in Chinese: https://mp.weixin.qq.com/s/BgG3RGauv5pmHzV_hkVAdw
+
+###### *Any security issue should be reported using process at https://01.org/security*
+
diff --git a/docker/Dockerfile b/docker/Dockerfile
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp
@@ -32,7 +32,7 @@ namespace Models
 class AgeGenderDetectionModel : public BaseModel
 {
 public:
-  AgeGenderDetectionModel(const std::string & model_loc, int batch_size = 1);
+  AgeGenderDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1);
   /**
    * @brief Get the input name.
    * @return Input name.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp
@@ -63,7 +63,7 @@ namespace Models
    * @param[in] batch_size The number of batch size (default: 1) the network should have.
    * @return Whether the input device is successfully turned on.
    */
-    BaseModel(const std::string &model_loc, int batch_size = 1);
+    BaseModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1);
 
   /**
    * @brief Get the maximum batch size of the model.
@@ -124,13 +124,14 @@ namespace Models
   private:
     int max_batch_size_;
     std::string model_loc_;
+    std::string label_loc_;
     cv::Size frame_size_;
   };
 
   class ObjectDetectionModel : public BaseModel
   {
   public:
-    ObjectDetectionModel(const std::string &model_loc, int batch_size = 1);
+    ObjectDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1);
     virtual bool fetchResults(
         const std::shared_ptr<Engines::Engine> &engine,
         std::vector<dynamic_vino_lib::ObjectDetectionResult> &result,

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp
@@ -32,7 +32,7 @@ namespace Models
 class EmotionDetectionModel : public BaseModel
 {
 public:
-  EmotionDetectionModel(const std::string & model_loc, int batch_size = 1);
+  EmotionDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1);
 
   /**
    * @brief Get the name of this detection model.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp
@@ -32,7 +32,7 @@ namespace Models
 class FaceDetectionModel : public ObjectDetectionModel
 {
 public:
-  FaceDetectionModel(const std::string & model_loc, int batch_size = 1);
+  FaceDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override;
   /**
    * @brief Get the name of this detection model.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp
@@ -29,7 +29,7 @@ namespace Models
 class FaceReidentificationModel : public BaseModel
 {
 public:
-  FaceReidentificationModel(const std::string & model_loc, int batch_size = 1);
+  FaceReidentificationModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   inline const std::string getInputName() {return input_;}
   inline const std::string getOutputName() {return output_;}
   /**

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp
@@ -32,7 +32,7 @@ namespace Models
 class HeadPoseDetectionModel : public BaseModel
 {
 public:
-  HeadPoseDetectionModel(const std::string & model_loc, int batch_size = 1);
+  HeadPoseDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
 
   /**
    * @brief Get the output angle roll.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp
@@ -29,7 +29,7 @@ namespace Models
 class LandmarksDetectionModel : public BaseModel
 {
 public:
-  LandmarksDetectionModel(const std::string & model_loc, int batch_size = 1);
+  LandmarksDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   inline const std::string getInputName() {return input_;}
   inline const std::string getOutputName() {return output_;}
   /**

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp
@@ -29,7 +29,7 @@ namespace Models
 class LicensePlateDetectionModel : public BaseModel
 {
 public:
-  LicensePlateDetectionModel(const std::string & model_loc, int batch_size = 1);
+  LicensePlateDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   inline const std::string getInputName() {return input_;}
   inline const std::string getSeqInputName() {return seq_input_;}
   inline const std::string getOutputName() {return output_;}

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp
@@ -32,7 +32,7 @@ class ObjectDetectionSSDModel : public ObjectDetectionModel
   using Result = dynamic_vino_lib::ObjectDetectionResult;
 
 public:
-  ObjectDetectionSSDModel(const std::string & model_loc, int batch_size = 1);
+  ObjectDetectionSSDModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
 
   bool fetchResults(
     const std::shared_ptr<Engines::Engine> & engine,

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov2_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov2_model.hpp
@@ -32,7 +32,7 @@ class ObjectDetectionYolov2Model : public ObjectDetectionModel
   using Result = dynamic_vino_lib::ObjectDetectionResult;
 
 public:
-  ObjectDetectionYolov2Model(const std::string & model_loc, int batch_size = 1);
+  ObjectDetectionYolov2Model(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
 
   bool fetchResults(
     const std::shared_ptr<Engines::Engine> & engine,

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp
@@ -28,7 +28,7 @@ namespace Models
 class ObjectSegmentationModel : public BaseModel
 {
 public:
-  ObjectSegmentationModel(const std::string & model_loc, int batch_size = 1);
+  ObjectSegmentationModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   inline int getMaxProposalCount() const
   {
     return max_proposal_count_;

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp
@@ -29,7 +29,7 @@ namespace Models
 class PersonAttribsDetectionModel : public BaseModel
 {
 public:
-  PersonAttribsDetectionModel(const std::string & model_loc, int batch_size = 1);
+  PersonAttribsDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   //inline const std::string getInputName() {return input_;}
   //inline const std::string getOutputName() {return output_;}
   /**

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp
@@ -29,7 +29,7 @@ namespace Models
 class PersonReidentificationModel : public BaseModel
 {
 public:
-  PersonReidentificationModel(const std::string & model_loc, int batch_size = 1);
+  PersonReidentificationModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   inline const std::string getInputName() {return input_;}
   inline const std::string getOutputName() {return output_;}
   /**

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp
@@ -29,7 +29,7 @@ namespace Models
 class VehicleAttribsDetectionModel : public BaseModel
 {
 public:
-  VehicleAttribsDetectionModel(const std::string & model_loc, int batch_size = 1);
+  VehicleAttribsDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1);
   inline const std::string getInputName() {return input_;}
   inline const std::string getColorOutputName() {return color_output_;}
   inline const std::string getTypeOutputName() {return type_output_;}

diff --git a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp b/dynamic_vino_lib/src/models/age_gender_detection_model.cpp
@@ -24,9 +24,10 @@
 
 // Validated Age Gender Classification Network
 Models::AgeGenderDetectionModel::AgeGenderDetectionModel(
+  const std::string & label_loc,
   const std::string & model_loc,
   int max_batch_size)
-: BaseModel(model_loc, max_batch_size)
+: BaseModel(label_loc,model_loc, max_batch_size)
 {
 }
 bool Models::AgeGenderDetectionModel::updateLayerProperty(

diff --git a/dynamic_vino_lib/src/models/base_model.cpp b/dynamic_vino_lib/src/models/base_model.cpp
@@ -29,8 +29,9 @@
 
 // Validated Base Network
 Models::BaseModel::BaseModel(
-  const std::string & model_loc, int max_batch_size)
-: model_loc_(model_loc),
+  const std::string& label_loc, const std::string& model_loc, int max_batch_size)
+: label_loc_(label_loc),
+  model_loc_(model_loc),
   max_batch_size_(max_batch_size),
   ModelAttribute(model_loc)
 {
@@ -43,7 +44,8 @@ Models::BaseModel::BaseModel(
 
 void Models::BaseModel::modelInit()
 {
-  slog::info << "Loading network files" << slog::endl;
+  slog::info << "Loading network files" << model_loc_ << slog::endl;
+  slog::info << label_loc_ << slog::endl;
   // Read network model
   ///net_reader_->ReadNetwork(model_loc_);
   net_reader_ = engine.ReadNetwork(model_loc_);
@@ -54,8 +56,9 @@ void Models::BaseModel::modelInit()
   ///std::string bin_file_name = raw_name + ".bin";
   ///net_reader_->ReadWeights(bin_file_name);
   // Read labels (if any)
-  std::string label_file_name = raw_name + ".labels";
-  loadLabelsFromFile(label_file_name);
+  std::string label_file_name = label_loc_.substr(0, last_index);
+  //std::string label_file_name = raw_name + ".labels";
+  loadLabelsFromFile(label_loc_);
 
   // Set batch size to given max_batch_size_
   slog::info << "Batch size is set to  " << max_batch_size_ << slog::endl;
@@ -87,6 +90,7 @@ bool Models::BaseModel::updateLayerProperty(
 #endif
 
 Models::ObjectDetectionModel::ObjectDetectionModel(
-  const std::string & model_loc,
+  const std::string& label_loc, 
+  const std::string& model_loc,
   int max_batch_size)
-: BaseModel(model_loc, max_batch_size) {}
+: BaseModel(label_loc, model_loc, max_batch_size) {}
diff --git a/dynamic_vino_lib/src/models/emotion_detection_model.cpp b/dynamic_vino_lib/src/models/emotion_detection_model.cpp
@@ -23,8 +23,8 @@
 
 // Validated Emotions Detection Network
 Models::EmotionDetectionModel::EmotionDetectionModel(
-  const std::string & model_loc, int max_batch_size)
-: BaseModel(model_loc, max_batch_size)
+  const std::string & label_loc, const std::string & model_loc, int max_batch_size)
+: BaseModel(label_loc, model_loc, max_batch_size)
 {
 }
 

diff --git a/dynamic_vino_lib/src/models/face_detection_model.cpp b/dynamic_vino_lib/src/models/face_detection_model.cpp
@@ -24,8 +24,8 @@
 
 // Validated Face Detection Network
 Models::FaceDetectionModel::FaceDetectionModel(
-  const std::string & model_loc, int max_batch_size)
-: ObjectDetectionModel(model_loc, max_batch_size)
+  const std::string & label_loc, const std::string & model_loc, int max_batch_size)
+: ObjectDetectionModel(label_loc, model_loc, max_batch_size)
 {
 }
 

diff --git a/dynamic_vino_lib/src/models/face_reidentification_model.cpp b/dynamic_vino_lib/src/models/face_reidentification_model.cpp
@@ -21,8 +21,8 @@
 #include "dynamic_vino_lib/slog.hpp"
 // Validated Face Reidentification Network
 Models::FaceReidentificationModel::FaceReidentificationModel(
-  const std::string & model_loc, int max_batch_size)
-: BaseModel(model_loc, max_batch_size) {}
+  const std::string & label_loc, const std::string & model_loc, int max_batch_size)
+: BaseModel(label_loc, model_loc, max_batch_size) {}
 
 void Models::FaceReidentificationModel::setLayerProperty(
   InferenceEngine::CNNNetwork& net_reader)

diff --git a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp b/dynamic_vino_lib/src/models/head_pose_detection_model.cpp
@@ -25,8 +25,8 @@
 
 // Validated Head Pose Network
 Models::HeadPoseDetectionModel::HeadPoseDetectionModel(
-  const std::string & model_loc, int max_batch_size)
-: BaseModel(model_loc, max_batch_size)
+  const std::string & label_loc, const std::string & model_loc, int max_batch_size)
+: BaseModel(label_loc, model_loc, max_batch_size)
 {
 }