video_detection.md

Detection for Video

This project supports multiple CNN models for detection. Please make sure you have already set up environment and installed this project correctly. You can refer to the following links for your interested models then.

1 CNN Models

• MobileNet_SSD
• TinyYolo_V1

2 Run with Other ROS Supported Cameras

3 Other Arguments

---

1 CNN Models

• MobileNet_SSD

Compile NCS graph.

cd /opt/movidius/ncappzoo/caffe/SSD_MobileNet
make

Launch video streaming nodelet.

• Option 1: RealSense

# Choose CNN model
cd ~/ros2_ws
echo -e "param_file: mobilenetssd.yaml\ninput_topic: /camera/color/image_raw" > src/ros2_intel_movidius_ncs/movidius_ncs_launch/config/default.yaml
ament build
source install/local_setup.bash
# Terminal 1, run realsense camera
realsense_ros2_camera
# Terminal 2, run video streaming composition manager
ros2 run composition api_composition
# Terminal 3, launch video streaming composistion
launch `ros2 pkg prefix movidius_ncs_launch`/share/movidius_ncs_launch/launch/ncs_stream_launch.py

• Option 2: Astra

# Choose CNN model
cd ~/ros2_ws
echo -e "param_file: mobilenetssd.yaml\ninput_topic: /image" > src/ros2_intel_movidius_ncs/movidius_ncs_launch/config/default.yaml
ament build
source install/local_setup.bash
# Terminal 1, run astra camera
ros2 run astra_camera astra_camera_node -w 640 -h 480 -I -D
# Terminal 2, run video streaming composition manager
ros2 run composition api_composition
# Terminal 3, launch video streaming composistion
launch `ros2 pkg prefix movidius_ncs_launch`/share/movidius_ncs_launch/launch/ncs_stream_launch.py

Launch image viewer to show the classification result on another console.

ros2 run movidius_ncs_example movidius_ncs_example_stream_detection

• TinyYolo_V1

Compile NCS graph.

cd /opt/movidius/ncappzoo/caffe/TinyYolo
make

Launch video streaming nodelet.

• Option 1: RealSense

# Choose CNN model
cd ~/ros2_ws
echo -e "param_file: tinyyolo_v1.yaml\ninput_topic: /camera/color/image_raw" > src/ros2_intel_movidius_ncs/movidius_ncs_launch/config/default.yaml
ament build
source install/local_setup.bash
# Terminal 1, run realsense camera
realsense_ros2_camera
# Terminal 2, run video streaming composition manager
ros2 run composition api_composition
# Terminal 3, launch video streaming composistion
launch `ros2 pkg prefix movidius_ncs_launch`/share/movidius_ncs_launch/launch/ncs_stream_launch.py

• Option 2: Astra

# Choose CNN model
cd ~/ros2_ws
echo -e "param_file: tinyyolo_v1.yaml\ninput_topic: /image" > src/ros2_intel_movidius_ncs/movidius_ncs_launch/config/default.yaml
ament build
source install/local_setup.bash
# Terminal 1, run astra camera
ros2 run astra_camera astra_camera_node -w 640 -h 480 -I -D
# Terminal 2, run video streaming composition manager
ros2 run composition api_composition
# Terminal 3, launch video streaming composistion
launch `ros2 pkg prefix movidius_ncs_launch`/share/movidius_ncs_launch/launch/ncs_stream_launch.py

Launch image viewer to show the classification result on another console.

ros2 run movidius_ncs_example movidius_ncs_example_stream_detection

2 Run with Other ROS Supported Cameras

TODO

3 Other Arguments

Arguments	Description	Default Value	Valid Values
device_index	ncs device index	0	0~N-1(N is the maximum number of inserted NCS devices)
log_level	ncs log level	0	0:Nothing / 1:Errors / 2:Verbose
cnn_type	indicate different cnn models	googlenet	mobilenetssd / tinyyolo_v1