From 7fca4fb90e6e11be8bea86969438db0cae74c223 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Fri, 23 Sep 2022 14:56:16 +0800 Subject: [PATCH 01/40] Adding the jenkinsfile for galactic branch Signed-off-by: huangjiafengx --- .ci_local_test/Jenkinsfile | 30 ++++++++++++++++++++++++++++++ .ci_local_test/README.md | 21 +++++++++++++++++++++ 2 files changed, 51 insertions(+) create mode 100644 .ci_local_test/Jenkinsfile create mode 100644 .ci_local_test/README.md diff --git a/.ci_local_test/Jenkinsfile b/.ci_local_test/Jenkinsfile new file mode 100644 index 00000000..8dcb84ac --- /dev/null +++ b/.ci_local_test/Jenkinsfile @@ -0,0 +1,30 @@ +pipeline { + agent any + environment { + // Test_Server is the local test machine. + Test_Server = "robotics-testNUC11" + WORKSPACE_PATH = "/home/intel/ros2_openvino_toolkit" + } + stages { + stage('Test Ros2 Galatic') { + steps { + script { + def flag = sh script: "ssh intel@$Test_Server 'cd $WORKSPACE_PATH && docker images | grep ros2_openvino_test'", returnStatus: true + if (flag == 0) { + docker rmi -f ros2_openvino_test + } + def test_result = sh script: "ssh intel@$Test_Server 'cd $WORKSPACE_PATH && ./self_host_test_ros2_openvino.sh '", returnStatus: true + if (test_result == 0) { + echo "test pass" + } else { + echo "test fail" + exit -1 + } + + } + } + } + + } + +} diff --git a/.ci_local_test/README.md b/.ci_local_test/README.md new file mode 100644 index 00000000..7830c823 --- /dev/null +++ b/.ci_local_test/README.md @@ -0,0 +1,21 @@ + + +The Jenkinsfile Introduce: + +1. The jenkins matchine would scan the ROS2_Openvion project regularly. + +it would trigger test when scan the PR or other change. + + +2. The test machine name robotics-testNUC11, it build and test the project refer as below the link. + + The Link: https://github.com/intel/ros2_openvino_toolkit/blob/master/doc/quick_start + + Dashing: getting_started_with_Dashing_Ubuntu18.04.md + + Foxy: getting_started_with_Foxy_Ubuntu20.04.md + + Galactic: getting_started_with_Galactic_Ubuntu20.04.md + +3. The test result would send by email. + From ebcdc604a27591dab2f00262db5edb9ea3c82870 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Mon, 26 Sep 2022 13:10:54 +0800 Subject: [PATCH 02/40] Updating the Jenkinsfile for PR test Signed-off-by: huangjiafengx --- .ci_local_test/Jenkinsfile | 23 ++++++++++++++--------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/.ci_local_test/Jenkinsfile b/.ci_local_test/Jenkinsfile index 8dcb84ac..3f0af8dd 100644 --- a/.ci_local_test/Jenkinsfile +++ b/.ci_local_test/Jenkinsfile @@ -3,28 +3,33 @@ pipeline { environment { // Test_Server is the local test machine. Test_Server = "robotics-testNUC11" - WORKSPACE_PATH = "/home/intel/ros2_openvino_toolkit" + Test_WORKSPACE = "/home/intel/ros2_openvino_toolkit_test" } stages { - stage('Test Ros2 Galatic') { + stage('Moving The Code To Test Machine') { steps { script { - def flag = sh script: "ssh intel@$Test_Server 'cd $WORKSPACE_PATH && docker images | grep ros2_openvino_test'", returnStatus: true - if (flag == 0) { - docker rmi -f ros2_openvino_test - } - def test_result = sh script: "ssh intel@$Test_Server 'cd $WORKSPACE_PATH && ./self_host_test_ros2_openvino.sh '", returnStatus: true + sh script: "ssh intel@$Test_Server 'rm -rf $Test_WORKSPACE/ros2_openvino_toolkit'", returnStatus: true + sh script: "scp -r $WORKSPACE intel@$Test_Server:$Test_WORKSPACE/ros2_openvino_toolkit", returnStatus: true + // sh script: "ssh intel@$Test_Server 'docker cp $Test_WORKSPACE/ros2_openvino_toolkit:/root/catkin_ws/src'", returnStatus: true + } + } + } + stage('The Ros2_openvino container run') { + steps { + script { + def test_result = sh script: "ssh intel@$Test_Server 'cd $Test_WORKSPACE && ./self_container_ros2_openvino_test.sh '", returnStatus: true if (test_result == 0) { echo "test pass" } else { echo "test fail" exit -1 } - + } + } } - } } From 4df6af5bd74aa389f0bc42da99096677138ecbf4 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Thu, 29 Sep 2022 10:45:21 +0800 Subject: [PATCH 03/40] Enable environment information for email. Signed-off-by: huangjiafengx --- .ci_local_test/Jenkinsfile | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/.ci_local_test/Jenkinsfile b/.ci_local_test/Jenkinsfile index 3f0af8dd..9736d326 100644 --- a/.ci_local_test/Jenkinsfile +++ b/.ci_local_test/Jenkinsfile @@ -6,6 +6,17 @@ pipeline { Test_WORKSPACE = "/home/intel/ros2_openvino_toolkit_test" } stages { + stage('Get The env') { + steps { + script { + // rm the old env + sh script: "ssh intel@$Test_Server 'rm -rf $Test_WORKSPACE/env'", returnStatus: true + // get new env + sh script: "export | tee -a env", returnStatus: true + sh script: "scp -r env intel@$Test_Server:$Test_WORKSPACE", returnStatus: true + } + } + } stage('Moving The Code To Test Machine') { steps { script { From 65346db92d3737ad3527ed9bf0649a4bc058bf3b Mon Sep 17 00:00:00 2001 From: "Fan,Tao" <83325325+fantao015@users.noreply.github.com> Date: Wed, 16 Nov 2022 10:47:40 +0800 Subject: [PATCH 04/40] Upgrade Code to support OpenVINO API2.0 (ver 2022.1/2) * adapt API 2.0 for engines Signed-off-by: Fan, Tao * fix callback Signed-off-by: Fan, Tao * base model: fix read model api Signed-off-by: Fan, Tao * fix start interence api Signed-off-by: Fan, Tao * fix updateLayerProperty parameter type Signed-off-by: Fan, Tao * adapt API2022.1 * fix inputinfo * fix inputinfo of segmentation model * fix version api * fix header files * fix get tensor of base_inference header file * fix version info Signed-off-by: Fan,Tao * adapt for object segmentation inferences API Signed-off-by: Fan,Tao * fix object segmentation enqueue and updateLayerProperty Signed-off-by: Fan,Tao * fix person_attribs_detection * age_gender_detection * fix age_gender_detection * fix face detection and object detection(ssd) Signed-off-by: Fan,Tao * fix emotions_detenction_model * fix variable name * fix updateLayerProperty param type * fix head_pose_detection * fix license plate detection Signed-off-by: Fan,Tao * fix vehicle attribs detection Signed-off-by: Fan,Tao * fix person_attribs_detection_model * fix base_attribute * fix object detection(yolov2) * fix person_reidentification and ssd_model_attr * fix age gender detection Signed-off-by: Fan,Tao * fix emotions_detection * fix head pose detection Signed-off-by: Fan,Tao * fix person reidentification Signed-off-by: Fan,Tao * fix person_attribs_detection * more fix to object segmentation, still bug Signed-off-by: Fan,Tao * update quick_start_doc for Galactic_Ubuntu20.04 * update quick_start_doc for Galactic_Ubuntu20.04_ov2.0 * Revert "update quick_start_doc for Galactic_Ubuntu20.04" This reverts commit 2e5646c7a6bf5339a3b99d2181b7443d20a8f540. * fix segmentation typo and correct fetch output Signed-off-by: Fan,Tao * clean up code and fix typo Signed-off-by: Fan,Tao * fix CMakeLists * add NCHW and NHWC layout compatibility for object_segmentation and object_detection_ssd model Signed-off-by: Fan, Tao * fix doc for branch galactic ov2.0 * clean code and fix CMakeLists * code refine: move input&output info definition to base attribute Signed-off-by: Fan, Tao * fix typo * fix param name for new API * fix param name getModel * fix typo * add mkdir for label Signed-off-by: Fan, Tao Signed-off-by: Fan,Tao Co-authored-by: wujiawei --- ...started_with_Galactic_Ubuntu20.04_ov2.0.md | 181 ++++++++++++++++++ dynamic_vino_lib/CMakeLists.txt | 29 +-- .../dynamic_vino_lib/engines/engine.hpp | 10 +- .../engines/engine_manager.hpp | 6 +- .../inferences/age_gender_detection.hpp | 3 +- .../inferences/base_inference.hpp | 13 +- .../inferences/emotions_detection.hpp | 2 +- .../inferences/face_detection.hpp | 1 - .../inferences/face_reidentification.hpp | 2 +- .../inferences/head_pose_detection.hpp | 2 +- .../inferences/landmarks_detection.hpp | 1 - .../inferences/license_plate_detection.hpp | 1 - .../inferences/object_detection.hpp | 1 - .../inferences/object_segmentation.hpp | 2 +- .../inferences/person_attribs_detection.hpp | 2 +- .../inferences/person_reidentification.hpp | 1 - .../inferences/vehicle_attribs_detection.hpp | 1 - .../models/age_gender_detection_model.hpp | 3 +- .../models/attributes/base_attribute.hpp | 17 +- .../dynamic_vino_lib/models/base_model.hpp | 14 +- .../models/emotion_detection_model.hpp | 8 +- .../models/face_reidentification_model.hpp | 3 +- .../models/head_pose_detection_model.hpp | 2 +- .../models/landmarks_detection_model.hpp | 2 - .../models/license_plate_detection_model.hpp | 5 +- .../models/object_detection_ssd_model.hpp | 2 +- .../models/object_detection_yolov2_model.hpp | 4 +- .../models/object_segmentation_model.hpp | 5 +- .../models/person_attribs_detection_model.hpp | 6 +- .../models/person_reidentification_model.hpp | 4 +- .../vehicle_attribs_detection_model.hpp | 4 +- .../include/dynamic_vino_lib/pipeline.hpp | 2 - .../dynamic_vino_lib/pipeline_manager.hpp | 1 - .../services/pipeline_processing_server.hpp | 1 - .../dynamic_vino_lib/utils/version_info.hpp | 21 +- dynamic_vino_lib/src/engines/engine.cpp | 4 +- .../src/engines/engine_manager.cpp | 16 +- .../src/inferences/age_gender_detection.cpp | 9 +- .../src/inferences/base_inference.cpp | 8 +- .../src/inferences/emotions_detection.cpp | 10 +- .../src/inferences/head_pose_detection.cpp | 12 +- .../inferences/license_plate_detection.cpp | 14 +- .../src/inferences/object_detection.cpp | 4 - .../src/inferences/object_segmentation.cpp | 34 ++-- .../inferences/person_attribs_detection.cpp | 18 +- .../inferences/person_reidentification.cpp | 4 +- .../inferences/vehicle_attribs_detection.cpp | 10 +- dynamic_vino_lib/src/inputs/image_topic.cpp | 4 - .../src/models/age_gender_detection_model.cpp | 62 +++--- .../src/models/attributes/ssd_model_attr.cpp | 40 ++-- dynamic_vino_lib/src/models/base_model.cpp | 19 +- .../src/models/emotion_detection_model.cpp | 64 +++---- .../models/face_reidentification_model.cpp | 8 +- .../src/models/head_pose_detection_model.cpp | 38 ++-- .../src/models/landmarks_detection_model.cpp | 12 +- .../models/license_plate_detection_model.cpp | 32 ++-- .../src/models/object_detection_ssd_model.cpp | 75 +++++--- .../models/object_detection_yolov2_model.cpp | 76 ++++---- .../src/models/object_segmentation_model.cpp | 146 ++++++-------- .../models/person_attribs_detection_model.cpp | 41 ++-- .../models/person_reidentification_model.cpp | 54 ++---- .../vehicle_attribs_detection_model.cpp | 35 ++-- .../src/outputs/image_window_output.cpp | 28 --- .../src/outputs/ros_topic_output.cpp | 26 --- dynamic_vino_lib/src/pipeline.cpp | 24 +-- dynamic_vino_lib/src/pipeline_manager.cpp | 3 - sample/CMakeLists.txt | 30 +-- sample/launch/pipeline_image.launch.py | 1 - sample/launch/pipeline_object.launch.py | 5 - sample/launch/pipeline_object_topic.launch.py | 4 - sample/launch/pipeline_object_yolo.launch.py | 1 - .../pipeline_object_yolo_topic.launch.py | 4 - sample/launch/pipeline_people.launch.py | 1 - sample/launch/pipeline_people_ip.launch.py | 1 - .../pipeline_person_attributes.launch.py | 1 - .../pipeline_reidentification.launch.py | 1 - sample/launch/pipeline_segmentation.launch.py | 4 - .../pipeline_segmentation_image.launch.py | 4 - .../pipeline_vehicle_detection.launch.py | 1 - sample/launch/pipeline_video.launch.py | 1 - sample/src/image_object_server.cpp | 2 +- sample/src/image_people_server.cpp | 2 +- sample/src/pipeline_composite.cpp | 4 +- sample/src/pipeline_with_params.cpp | 5 +- tests/CMakeLists.txt | 19 +- .../src/topic/unittest_faceDetectionCheck.cpp | 2 +- .../topic/unittest_face_reidentification.cpp | 2 +- tests/src/topic/unittest_imageCheck.cpp | 2 +- .../topic/unittest_objectDetectionCheck.cpp | 2 +- tests/src/topic/unittest_reidentification.cpp | 2 +- .../src/topic/unittest_segmentationCheck.cpp | 2 +- .../topic/unittest_vehicleDetectionCheck.cpp | 2 +- 92 files changed, 704 insertions(+), 693 deletions(-) create mode 100644 doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md diff --git a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md b/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md new file mode 100644 index 00000000..1952e364 --- /dev/null +++ b/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md @@ -0,0 +1,181 @@ +# 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: 2022.1 ([guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html)). + * Install from an achive file.([guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html)) + Tips: Both runtime and development tool are needed, `pip` is recommended for installing the development tool [guide](https://docs.openvino.ai/latest/openvino_docs_install_guides_install_dev_tools.html). + * Install from 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 +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 galactic +``` +* Install dependencies +``` +sudo apt-get install ros-galactic-diagnostic-updater +``` +* Build package +``` +source /opt/ros/galactic/setup.bash +source /setupvars.sh +cd ~/catkin_ws +colcon build --symlink-install +source ./install/local_setup.bash +``` + +## 3. Running the Demo +### Install OpenVINO 2022.1 by source code +* See all available models +``` +cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools +sudo python3 downloader.py --print_all +``` + +* Download the optimized Intermediate Representation (IR) of models (execute once), for example: +``` +cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools +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 the label file to model output_dir (execute once) + + **Note** Need to make label dirs if skip steps for set output dirs above. + ``` + mkdir -p /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/ + mkdir -p /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/ + mkdir -p /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/ + mkdir -p /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/ + mkdir -p /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/ + mkdir -p /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/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/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 (such as the model for object detection): + * mobilenet-ssd + ``` + cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools + sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output + cd ~/openvino/tools/mo/openvino/tools/mo + sudo python3 mo.py --input_model /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output + ``` + * deeplabv3 + ``` + cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools + sudo python3 downloader.py --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output + sudo python3 converter.py --name=deeplabv3 --mo ~/openvino/tools/mo/openvino/tools/mo.py + ``` + +### Install OpenVINO 2022.1 by PIP +* OMZ tools are provided for downloading and converting OMZ models in ov2022.([guide](https://pypi.org/project/openvino-dev/)) + +* See all available models +``` +omz_downloader --print_all +``` + +* Download the optimized Intermediate Representation (IR) of model (execute once), for example: +``` +omz_downloader --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output +omz_downloader --name age-gender-recognition-retail-0013 --output_dir /opt/openvino_toolkit/models/age-gender-recognition/output +omz_downloader --name emotions-recognition-retail-0003 --output_dir /opt/openvino_toolkit/models/emotions-recognition/output +omz_downloader --name head-pose-estimation-adas-0001 --output_dir /opt/openvino_toolkit/models/head-pose-estimation/output +omz_downloader --name person-detection-retail-0013 --output_dir /opt/openvino_toolkit/models/person-detection/output +omz_downloader --name person-reidentification-retail-0277 --output_dir /opt/openvino_toolkit/models/person-reidentification/output +omz_downloader --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output +omz_downloader --name semantic-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/semantic-segmentation/output +omz_downloader --name vehicle-license-plate-detection-barrier-0106 --output_dir /opt/openvino_toolkit/models/vehicle-license-plate-detection/output +omz_downloader --name vehicle-attributes-recognition-barrier-0039 --output_dir /opt/openvino_toolkit/models/vehicle-attributes-recognition/output +omz_downloader --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output +omz_downloader --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 (such as the model for object detection): + * mobilenet-ssd + ``` + omz_downloader --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output + omz_converter --name mobilenet-ssd -d /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output -o /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output/convert + ``` + * deeplabv3 + ``` + omz_downloader --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output + omz_converter --name deeplabv3 -d /opt/openvino_toolkit/models/deeplabv3/output -o /opt/openvino_toolkit/models/deeplabv3/output/convert + ``` + +* Please check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. + + * 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 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/dynamic_vino_lib/CMakeLists.txt b/dynamic_vino_lib/CMakeLists.txt index 09adf376..719a4246 100644 --- a/dynamic_vino_lib/CMakeLists.txt +++ b/dynamic_vino_lib/CMakeLists.txt @@ -24,10 +24,7 @@ set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") #################################### #################################### -## by default, new InferenceEngine API (InferenceEngine::Core) is used. -## If the deprecated InferenceEngine API (InferenceEngine::InferencePlugin) -## then, uncomment below line -## add_definitions(-DUSE_OLD_E_PLUGIN_API) +## by default, new OpenVINO API (ov::core) is used. #################################### #################################### @@ -36,16 +33,13 @@ set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") add_definitions(-DLOG_LEVEL_DEBUG) #################################### -# environment variable InferenceEngine_DIR can be use instead of relaive path to specify location of configuration file -#set(InferenceEngine_DIR /opt/intel/computer_vision_sdk_2018.2.299/deployment_tools/inference_engine/share) -#set(OpenCV_DIR /opt/intel/computer_vision_sdk_2018.2.299/opencv/share/OpenCV) - +# environment variable OpenVINO_DIR can be use instead of relaive path to specify location of configuration file -message(STATUS "Looking for inference engine configuration file at: ${CMAKE_PREFIX_PATH}") -find_package(InferenceEngine REQUIRED) -if(NOT InferenceEngine_FOUND) +find_package(OpenVINO REQUIRED) +if(NOT OpenVINO_FOUND) message(FATAL_ERROR "") endif() +set(OpenVINO_LIBRARIES openvino::runtime) # Find OpenCV libray if exists find_package(OpenCV REQUIRED) @@ -75,13 +69,6 @@ find_package(cv_bridge REQUIRED) find_package(vino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) -################### -#To be deleted -#set(CpuExtension_lib $ENV{CPU_EXTENSION_LIB}) -#add_library(cpu_extension SHARED IMPORTED) -#set_target_properties(cpu_extension PROPERTIES -# IMPORTED_LOCATION $ENV{CPU_EXTENSION_LIB}) - if("${CMAKE_BUILD_TYPE}" STREQUAL "") message(STATUS "CMAKE_BUILD_TYPE not defined, 'Release' will be used") set(CMAKE_BUILD_TYPE "Release") @@ -175,17 +162,15 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -Wno-deprecated-de # Properties->C/C++->General->Additional Include Directories include_directories( - # ${CMAKE_CURRENT_SOURCE_DIR}/common/format_reader ${CMAKE_CURRENT_SOURCE_DIR}/include - ${InferenceEngine_INCLUDE_DIRS} - #${realsense2_INCLUDE_DIRS} + ${OpenVINO_INCLUDE_DIRS} ) if(UNIX) set(LIB_DL dl) endif() -set(DEPENDENCIES ${realsense2_LIBRARY} ${OpenCV_LIBS} ${InferenceEngine_LIBRARIES}) +set(DEPENDENCIES ${realsense2_LIBRARY} ${OpenCV_LIBS} openvino::runtime) add_library(${PROJECT_NAME} SHARED src/services/pipeline_processing_server.cpp diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp index fbf974d4..95b01f93 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp @@ -22,7 +22,7 @@ #pragma once #include "dynamic_vino_lib/models/base_model.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" namespace Engines { @@ -47,12 +47,12 @@ class Engine /** * @brief Using an Inference Request to initialize the inference Engine. */ - Engine(InferenceEngine::InferRequest::Ptr &); + Engine(ov::InferRequest &); /** * @brief Get the inference request this instance holds. * @return The inference request this instance holds. */ - inline InferenceEngine::InferRequest::Ptr & getRequest() + inline ov::InferRequest & getRequest() { return request_; } @@ -64,11 +64,11 @@ class Engine template void setCompletionCallback(const T & callbackToSet) { - request_->SetCompletionCallback(callbackToSet); + request_.set_callback(callbackToSet); } private: - InferenceEngine::InferRequest::Ptr request_ = nullptr; + ov::InferRequest request_; }; } // namespace Engines diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp index ed5923f3..dad18b62 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp @@ -23,7 +23,7 @@ #include "dynamic_vino_lib/models/base_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" namespace Engines { @@ -35,7 +35,7 @@ class EngineManager { public: /** - * @brief Create InferenceEngine instance by given Engine Name and Network. + * @brief Create OpenVINO instance by given Engine Name and Network. * @return The shared pointer of created Engine instance. */ std::shared_ptr createEngine( @@ -52,7 +52,7 @@ class EngineManager const std::string &, const std::shared_ptr &); #endif - std::shared_ptr createEngine_V2019R2_plus( + std::shared_ptr createEngine_V2022( const std::string &, const std::shared_ptr &); }; diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp index 130041a5..238c3f73 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp @@ -24,11 +24,10 @@ #include #include #include - #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" #include "dynamic_vino_lib/models/age_gender_detection_model.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" namespace Outputs diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp index 8e830764..f83d4d10 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp @@ -22,11 +22,10 @@ #include #include #include - #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/models/base_model.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" namespace Outputs @@ -42,14 +41,14 @@ class BaseOutput; */ template void matU8ToBlob( - const cv::Mat & orig_image, InferenceEngine::Blob::Ptr & blob, + const cv::Mat & orig_image, ov::Tensor & input_tensor, float scale_factor = 1.0, int batch_index = 0) { - InferenceEngine::SizeVector blob_size = blob->getTensorDesc().getDims(); + ov::Shape blob_size = input_tensor.get_shape(); const size_t width = blob_size[3]; const size_t height = blob_size[2]; const size_t channels = blob_size[1]; - T * blob_data = blob->buffer().as(); + T * blob_data = input_tensor.data(); cv::Mat resized_image(orig_image); if (width != orig_image.size().width || height != orig_image.size().height) { @@ -194,8 +193,8 @@ class BaseInference ") processed by inference" << slog::endl; return false; } - InferenceEngine::Blob::Ptr input_blob = engine_->getRequest()->GetBlob(input_name); - matU8ToBlob(frame, input_blob, scale_factor, batch_index); + ov::Tensor input_tensor = engine_->getRequest().get_tensor(input_name); + matU8ToBlob(frame, input_tensor, scale_factor, batch_index); enqueued_frames_ += 1; return true; } diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp index a493c3f8..7f0a4609 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp @@ -24,7 +24,7 @@ #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" #include "dynamic_vino_lib/models/emotion_detection_model.hpp" diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp index f43a9f2e..960b2af7 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp @@ -31,7 +31,6 @@ #include "dynamic_vino_lib/models/face_detection_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "inference_engine.hpp" #include "opencv2/opencv.hpp" // namespace diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp index 3785b371..62215c4c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp @@ -26,7 +26,7 @@ #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" #include "dynamic_vino_lib/inferences/base_reidentification.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp index 06990cc5..23112af4 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp @@ -26,7 +26,7 @@ #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" #include "dynamic_vino_lib/models/head_pose_detection_model.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp index e706dd8c..a0f8aa3a 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp @@ -25,7 +25,6 @@ #include "dynamic_vino_lib/models/landmarks_detection_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "inference_engine.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp index 7d8b6e33..190d4338 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp @@ -25,7 +25,6 @@ #include "dynamic_vino_lib/models/license_plate_detection_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "inference_engine.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp index ac9304c0..6d207f88 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp @@ -31,7 +31,6 @@ #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" #include "dynamic_vino_lib/inferences/base_filter.hpp" -#include "inference_engine.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp index 68f90a1c..f8a64f9d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp @@ -28,7 +28,7 @@ #include "dynamic_vino_lib/models/object_segmentation_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp index fbea1e8c..af143533 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp @@ -25,7 +25,7 @@ #include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp index 2d47dc3e..9aa82d9d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp @@ -26,7 +26,6 @@ #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" #include "dynamic_vino_lib/inferences/base_reidentification.hpp" -#include "inference_engine.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp index 03ff1427..d011a1ff 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp @@ -25,7 +25,6 @@ #include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" #include "dynamic_vino_lib/engines/engine.hpp" #include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "inference_engine.hpp" #include "opencv2/opencv.hpp" // namespace namespace dynamic_vino_lib 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 index 7ef53bfd..c05530a4 100644 --- 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 @@ -61,8 +61,7 @@ class AgeGenderDetectionModel : public BaseModel const std::string getModelCategory() const override; protected: - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; - + bool updateLayerProperty(std::shared_ptr&) override; }; } // namespace Models diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp index 061a1c2b..90e6b187 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp @@ -25,7 +25,7 @@ #include #include -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "dynamic_vino_lib/slog.hpp" namespace Models @@ -86,7 +86,7 @@ class ModelAttribute } virtual bool updateLayerProperty( - const InferenceEngine::CNNNetwork&) + const std::shared_ptr&) { return false; } inline std::string getModelName() const @@ -101,7 +101,6 @@ class ModelAttribute inline std::string getInputName(std::string name = "input") const { - // std::map::iterator it; auto it = attr_.input_names.find(name); if(it == attr_.input_names.end()){ slog::warn << "No input named: " << name << slog::endl; @@ -113,7 +112,6 @@ class ModelAttribute inline std::string getOutputName(std::string name = "output") const { - //std::map::iterator it; auto it = attr_.output_names.find(name); if(it == attr_.output_names.end()){ slog::warn << "No output named: " << name << slog::endl; @@ -178,7 +176,10 @@ class ModelAttribute protected: ModelAttr attr_; - + std::string input_tensor_name_; + std::string output_tensor_name_; + std::vector> inputs_info_; + std::vector> outputs_info_; }; class SSDModelAttr : public ModelAttribute @@ -187,12 +188,10 @@ class SSDModelAttr : public ModelAttribute explicit SSDModelAttr(const std::string model_name = "SSDNet-like"); bool updateLayerProperty( - const InferenceEngine::CNNNetwork&); + const std::shared_ptr&); }; - - } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ +#endif // DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ \ No newline at end of file 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 index b3e19a52..6ab777d5 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp @@ -29,7 +29,7 @@ #include #include -#include "inference_engine.hpp" +#include #include "dynamic_vino_lib/slog.hpp" #include "dynamic_vino_lib/models/attributes/base_attribute.hpp" @@ -95,9 +95,9 @@ namespace Models virtual const std::string getModelCategory() const = 0; inline ModelAttr getAttribute() { return attr_; } - inline InferenceEngine::CNNNetwork getNetReader() const + inline std::shared_ptr getModel() const { - return net_reader_; + return model_; } protected: @@ -106,11 +106,9 @@ namespace Models * @brief Set the layer property (layer layout, layer precision, etc.). * @param[in] network_reader The reader of the network to be set. */ - virtual bool updateLayerProperty(InferenceEngine::CNNNetwork& network_reader) = 0; - - ///InferenceEngine::CNNNetReader::Ptr net_reader_; - InferenceEngine::Core engine; - InferenceEngine::CNNNetwork net_reader_; // = engine.ReadNetwork(model->getModelFileName()); + virtual bool updateLayerProperty(std::shared_ptr& network_reader) = 0; + ov::Core engine; + std::shared_ptr model_; void setFrameSize(const int &w, const int &h) { frame_size_.width = w; 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 index de5d4dfb..ab5a56ad 100644 --- 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 @@ -19,7 +19,7 @@ #ifndef DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ #define DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ - + #include #include "dynamic_vino_lib/models/base_model.hpp" @@ -39,11 +39,7 @@ class EmotionDetectionModel : public BaseModel * @return Name of the model. */ const std::string getModelCategory() const override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; - -private: - bool verifyOutputLayer(const InferenceEngine::DataPtr & ptr); - + bool updateLayerProperty(std::shared_ptr&) override; }; } // namespace Models 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 index 1939cf05..845eba62 100644 --- 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 @@ -20,6 +20,7 @@ #define DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ #include #include "dynamic_vino_lib/models/base_model.hpp" + namespace Models { /** @@ -39,8 +40,6 @@ class FaceReidentificationModel : public BaseModel const std::string getModelCategory() const override; protected: - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; - //void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override; std::string input_; std::string 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 index 5afce9b3..994c6307 100644 --- 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 @@ -63,7 +63,7 @@ class HeadPoseDetectionModel : public BaseModel * @return Name of the model. */ const std::string getModelCategory() const override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; + bool updateLayerProperty(std::shared_ptr&) override; private: 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 index 7bbb51e5..f20c3065 100644 --- 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 @@ -39,8 +39,6 @@ class LandmarksDetectionModel : public BaseModel const std::string getModelCategory() const override; protected: - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; - //void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override; std::string input_; std::string 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 index 9357160a..f9dfcebc 100644 --- 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 @@ -41,10 +41,7 @@ class LicensePlateDetectionModel : public BaseModel const std::string getModelCategory() const override; protected: - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; - //void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; - // up to 88 items per license plate, ended with "-1" + bool updateLayerProperty(std::shared_ptr&) override; const int max_sequence_size_ = 88; std::string input_; std::string seq_input_; 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 index 76bb6354..9243d1bb 100644 --- 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 @@ -55,7 +55,7 @@ class ObjectDetectionSSDModel : public ObjectDetectionModel */ const std::string getModelCategory() const override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; + bool updateLayerProperty(std::shared_ptr&) override; }; } // namespace Models 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 index efbe17e9..1778d228 100644 --- 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 @@ -54,11 +54,11 @@ class ObjectDetectionYolov2Model : public ObjectDetectionModel * @return Name of the model. */ const std::string getModelCategory() const override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; + bool updateLayerProperty(std::shared_ptr&) override; protected: + int getEntryIndex(int side, int lcoords, int lclasses, int location, int entry); - InferenceEngine::InputInfo::Ptr input_info_ = nullptr; }; } // namespace Models #endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV2_MODEL_HPP_ 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 index af047bcc..7268d26a 100644 --- 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 @@ -18,6 +18,7 @@ #ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ #define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ #include +#include #include "dynamic_vino_lib/models/base_model.hpp" namespace Models { @@ -50,13 +51,11 @@ class ObjectSegmentationModel : public BaseModel * @return Name of the model. */ const std::string getModelCategory() const override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; + bool updateLayerProperty(std::shared_ptr&) override; private: int max_proposal_count_; int object_size_; - - InferenceEngine::InputsDataMap input_info_; }; } // namespace Models #endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ 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 index d05e67a6..a87a0f8c 100644 --- 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 @@ -30,8 +30,6 @@ class PersonAttribsDetectionModel : public BaseModel { public: 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_;} /** * @brief Get the name of this detection model. * @return Name of the model. @@ -39,9 +37,7 @@ class PersonAttribsDetectionModel : public BaseModel const std::string getModelCategory() const override; protected: - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; - //void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; + bool updateLayerProperty(std::shared_ptr&) override; std::string input_; std::string 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 index 41ff85c7..36c4086d 100644 --- 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 @@ -39,9 +39,7 @@ class PersonReidentificationModel : public BaseModel const std::string getModelCategory() const override; protected: - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; - //void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override; + bool updateLayerProperty(std::shared_ptr&) override; std::string input_; std::string 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 index 9ed5acdc..222b897f 100644 --- 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 @@ -40,9 +40,7 @@ class VehicleAttribsDetectionModel : public BaseModel const std::string getModelCategory() const override; protected: - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; - //void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override; - bool updateLayerProperty(InferenceEngine::CNNNetwork&) override; + bool updateLayerProperty(std::shared_ptr&) override; std::string input_; std::string color_output_; std::string type_output_; diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp index 210b4e96..88c4cc15 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp @@ -31,7 +31,6 @@ #include "dynamic_vino_lib/inputs/standard_camera.hpp" #include "dynamic_vino_lib/outputs/base_output.hpp" #include "dynamic_vino_lib/pipeline_params.hpp" -// #include "dynamic_vino_lib/pipeline_filters.hpp" #include "opencv2/opencv.hpp" /** @@ -151,7 +150,6 @@ class Pipeline const int kCatagoryOrder_Output = 3; std::shared_ptr params_; - // PipelineFilters filters_; std::shared_ptr input_device_; std::string input_device_name_; diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp index 06c583c5..52016c24 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp @@ -85,7 +85,6 @@ class PipelineManager struct ServiceData { std::shared_ptr thread; - // std::shared_ptr node; PipelineState state; }; diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp index f7f41141..09917765 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp @@ -37,7 +37,6 @@ class PipelineProcessingServer : public rclcpp::Node private: void initPipelineService(); - // bool cbService(ros::ServiceEvent& event); void cbService( const std::shared_ptr request, std::shared_ptr response); diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp index abeac0c5..18b98227 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp @@ -52,22 +52,15 @@ inline std::string & trim(std::string & s) return s; } -static std::ostream & operator<<(std::ostream & os, const InferenceEngine::Version * version) +static std::ostream & operator<<(std::ostream & os, const ov::Version& version) { os << "\n\tAPI version ............ "; - if (nullptr == version) { - os << "UNKNOWN"; - } else { - os << version->apiVersion.major << "." << version->apiVersion.minor; - if (nullptr != version->buildNumber) { - os << "\n\t" << - "Build .................. " << version->buildNumber; - } - if (nullptr != version->description) { - os << "\n\t" << - "Description ............ " << version->description; - } - } + os << OPENVINO_VERSION_MAJOR << "." << OPENVINO_VERSION_MINOR << "." << OPENVINO_VERSION_PATCH; + os << "\n\t" << + "Build .................. " << version.buildNumber; + os << "\n\t" << + "Description ............ " << version.description; + return os; } diff --git a/dynamic_vino_lib/src/engines/engine.cpp b/dynamic_vino_lib/src/engines/engine.cpp index 6f16472f..6f4b0c2f 100644 --- a/dynamic_vino_lib/src/engines/engine.cpp +++ b/dynamic_vino_lib/src/engines/engine.cpp @@ -24,12 +24,12 @@ Engines::Engine::Engine( InferenceEngine::InferencePlugin plg, const Models::BaseModel::Ptr base_model) { - request_ = (plg.LoadNetwork(base_model->getNetReader()->getNetwork(), {})).CreateInferRequestPtr(); + request_ = (plg.LoadNetwork(base_model->getModel()->getNetwork(), {})).CreateInferRequestPtr(); } #endif Engines::Engine::Engine( - InferenceEngine::InferRequest::Ptr & request) + ov::InferRequest & request) { request_ = request; } diff --git a/dynamic_vino_lib/src/engines/engine_manager.cpp b/dynamic_vino_lib/src/engines/engine_manager.cpp index ed0e3efb..413182bb 100644 --- a/dynamic_vino_lib/src/engines/engine_manager.cpp +++ b/dynamic_vino_lib/src/engines/engine_manager.cpp @@ -22,7 +22,7 @@ #include "dynamic_vino_lib/models/base_model.hpp" #include "dynamic_vino_lib/utils/version_info.hpp" #include -#include +#include #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif @@ -33,18 +33,18 @@ std::shared_ptr Engines::EngineManager::createEngine( #if(defined(USE_OLD_E_PLUGIN_API)) return createEngine_beforeV2019R2(device, model); #else - return createEngine_V2019R2_plus(device, model); + return createEngine_V2022(device, model); #endif } -std::shared_ptr Engines::EngineManager::createEngine_V2019R2_plus( +std::shared_ptr Engines::EngineManager::createEngine_V2022( const std::string & device, const std::shared_ptr & model) { - InferenceEngine::Core core; - auto executable_network = core.LoadNetwork(model->getNetReader(), device); - auto request = executable_network.CreateInferRequestPtr(); + ov::Core core; + ov::CompiledModel executable_network = core.compile_model(model->getModel(), device); + ov::InferRequest infer_request = executable_network.create_infer_request(); - return std::make_shared(request); + return std::make_shared(infer_request); } #if(defined(USE_OLD_E_PLUGIN_API)) @@ -59,7 +59,7 @@ std::shared_ptr Engines::EngineManager::createEngine_beforeV201 } auto executeable_network = - plugins_for_devices_[device].LoadNetwork(model->getNetReader()->getNetwork(), {}); + plugins_for_devices_[device].LoadNetwork(model->getModel()->getNetwork(), {}); auto request = executeable_network.CreateInferRequestPtr(); return std::make_shared(request); diff --git a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp b/dynamic_vino_lib/src/inferences/age_gender_detection.cpp index 6cb2bc71..3136bbba 100644 --- a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp +++ b/dynamic_vino_lib/src/inferences/age_gender_detection.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include "dynamic_vino_lib/inferences/age_gender_detection.hpp" #include "dynamic_vino_lib/outputs/base_output.hpp" @@ -73,12 +74,12 @@ bool dynamic_vino_lib::AgeGenderDetection::fetchResults() return false; } auto request = getEngine()->getRequest(); - InferenceEngine::Blob::Ptr genderBlob = request->GetBlob(valid_model_->getOutputGenderName()); - InferenceEngine::Blob::Ptr ageBlob = request->GetBlob(valid_model_->getOutputAgeName()); + ov::Tensor gender_tensor = request.get_tensor(valid_model_->getOutputGenderName()); + ov::Tensor age_tensor = request.get_tensor(valid_model_->getOutputAgeName()); for (int i = 0; i < results_.size(); ++i) { - results_[i].age_ = ageBlob->buffer().as()[i] * 100; - results_[i].male_prob_ = genderBlob->buffer().as()[i * 2 + 1]; + results_[i].age_ = age_tensor.data()[i] * 100; + results_[i].male_prob_ = gender_tensor.data()[i * 2 + 1]; } return true; } diff --git a/dynamic_vino_lib/src/inferences/base_inference.cpp b/dynamic_vino_lib/src/inferences/base_inference.cpp index b17a8c21..8abe0059 100644 --- a/dynamic_vino_lib/src/inferences/base_inference.cpp +++ b/dynamic_vino_lib/src/inferences/base_inference.cpp @@ -40,7 +40,7 @@ void dynamic_vino_lib::BaseInference::loadEngine(const std::shared_ptrgetRequest() == nullptr) { + if (!engine_->getRequest()) { return false; } if (!enqueued_frames_) { @@ -48,14 +48,14 @@ bool dynamic_vino_lib::BaseInference::submitRequest() } enqueued_frames_ = 0; results_fetched_ = false; - engine_->getRequest()->StartAsync(); + engine_->getRequest().start_async(); slog::debug << "Async Inference started!" << slog::endl; return true; } bool dynamic_vino_lib::BaseInference::SynchronousRequest() { - if (engine_->getRequest() == nullptr) { + if (!engine_->getRequest()) { return false; } if (!enqueued_frames_) { @@ -63,7 +63,7 @@ bool dynamic_vino_lib::BaseInference::SynchronousRequest() } enqueued_frames_ = 0; results_fetched_ = false; - engine_->getRequest()->Infer(); + engine_->getRequest().infer(); return true; } diff --git a/dynamic_vino_lib/src/inferences/emotions_detection.cpp b/dynamic_vino_lib/src/inferences/emotions_detection.cpp index ab3313fc..73561a29 100644 --- a/dynamic_vino_lib/src/inferences/emotions_detection.cpp +++ b/dynamic_vino_lib/src/inferences/emotions_detection.cpp @@ -18,9 +18,10 @@ * @file emotions_recognition.cpp */ -#include +#include #include #include +#include #include "dynamic_vino_lib/inferences/emotions_detection.hpp" #include "dynamic_vino_lib/outputs/base_output.hpp" #include "dynamic_vino_lib/slog.hpp" @@ -78,11 +79,12 @@ bool dynamic_vino_lib::EmotionsDetection::fetchResults() } int label_length = static_cast(valid_model_->getLabels().size()); std::string output_name = valid_model_->getOutputName(); - InferenceEngine::Blob::Ptr emotions_blob = getEngine()->getRequest()->GetBlob(output_name); + ov::Tensor emotions_tensor = getEngine()->getRequest().get_tensor(output_name); /** emotions vector must have the same size as number of channels in model output. Default output format is NCHW so we check index 1 */ - int64 num_of_channels = emotions_blob->getTensorDesc().getDims().at(1); + ov::Shape shape = emotions_tensor.get_shape(); + int64 num_of_channels = shape[1]; if (num_of_channels != label_length) { slog::err << "Output size (" << num_of_channels << ") of the Emotions Recognition network is not equal " << @@ -95,7 +97,7 @@ bool dynamic_vino_lib::EmotionsDetection::fetchResults() /** we identify an index of the most probable emotion in output array for idx image to return appropriate emotion name */ - auto emotions_values = emotions_blob->buffer().as(); + auto emotions_values = emotions_tensor.data(); for (int idx = 0; idx < results_.size(); ++idx) { auto output_idx_pos = emotions_values + label_length * idx; int64 max_prob_emotion_idx = diff --git a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp b/dynamic_vino_lib/src/inferences/head_pose_detection.cpp index 0c5b3170..25b66768 100644 --- a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp +++ b/dynamic_vino_lib/src/inferences/head_pose_detection.cpp @@ -74,14 +74,14 @@ bool dynamic_vino_lib::HeadPoseDetection::fetchResults() return false; } auto request = getEngine()->getRequest(); - InferenceEngine::Blob::Ptr angle_r = request->GetBlob(valid_model_->getOutputOutputAngleR()); - InferenceEngine::Blob::Ptr angle_p = request->GetBlob(valid_model_->getOutputOutputAngleP()); - InferenceEngine::Blob::Ptr angle_y = request->GetBlob(valid_model_->getOutputOutputAngleY()); + ov::Tensor angle_r = request.get_tensor(valid_model_->getOutputOutputAngleR()); + ov::Tensor angle_p = request.get_tensor(valid_model_->getOutputOutputAngleP()); + ov::Tensor angle_y = request.get_tensor(valid_model_->getOutputOutputAngleY()); for (int i = 0; i < getResultsLength(); ++i) { - results_[i].angle_r_ = angle_r->buffer().as()[i]; - results_[i].angle_p_ = angle_p->buffer().as()[i]; - results_[i].angle_y_ = angle_y->buffer().as()[i]; + results_[i].angle_r_ = angle_r.data()[i]; + results_[i].angle_p_ = angle_p.data()[i]; + results_[i].angle_y_ = angle_y.data()[i]; } return true; } diff --git a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp b/dynamic_vino_lib/src/inferences/license_plate_detection.cpp index bb42f285..44f5959c 100644 --- a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp +++ b/dynamic_vino_lib/src/inferences/license_plate_detection.cpp @@ -43,14 +43,14 @@ void dynamic_vino_lib::LicensePlateDetection::loadNetwork( void dynamic_vino_lib::LicensePlateDetection::fillSeqBlob() { - InferenceEngine::Blob::Ptr seq_blob = getEngine()->getRequest()->GetBlob( + ov::Tensor seq_tensor = getEngine()->getRequest().get_tensor( valid_model_->getSeqInputName()); - int max_sequence_size = seq_blob->getTensorDesc().getDims()[0]; + int max_sequence_size = seq_tensor.get_shape()[0]; // second input is sequence, which is some relic from the training // it should have the leading 0.0f and rest 1.0f - float * blob_data = seq_blob->buffer().as(); - blob_data[0] = 0.0f; - std::fill(blob_data + 1, blob_data + max_sequence_size, 1.0f); + float * tensor_data = seq_tensor.data(); + tensor_data[0] = 0.0f; + std::fill(tensor_data + 1, tensor_data + max_sequence_size, 1.0f); } bool dynamic_vino_lib::LicensePlateDetection::enqueue( @@ -80,9 +80,9 @@ bool dynamic_vino_lib::LicensePlateDetection::fetchResults() bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; - InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); + ov::InferRequest request = getEngine()->getRequest(); std::string output = valid_model_->getOutputName(); - const float * output_values = request->GetBlob(output)->buffer().as(); + const float * output_values = request.get_tensor(output).data(); for (int i = 0; i < getResultsLength(); i++) { std::string license = ""; int max_size = valid_model_->getMaxSequenceSize(); diff --git a/dynamic_vino_lib/src/inferences/object_detection.cpp b/dynamic_vino_lib/src/inferences/object_detection.cpp index 36f30f89..cb46e773 100644 --- a/dynamic_vino_lib/src/inferences/object_detection.cpp +++ b/dynamic_vino_lib/src/inferences/object_detection.cpp @@ -70,10 +70,6 @@ bool dynamic_vino_lib::ObjectDetection::enqueue( return false; } - // nonsense!! - // Result r(input_frame_loc); - // results_.clear(); - // results_.emplace_back(r); enqueued_frames_ += 1; return true; } diff --git a/dynamic_vino_lib/src/inferences/object_segmentation.cpp b/dynamic_vino_lib/src/inferences/object_segmentation.cpp index e4772c06..a891b401 100644 --- a/dynamic_vino_lib/src/inferences/object_segmentation.cpp +++ b/dynamic_vino_lib/src/inferences/object_segmentation.cpp @@ -23,6 +23,7 @@ #include #include +#include #include "dynamic_vino_lib/inferences/object_segmentation.hpp" #include "dynamic_vino_lib/outputs/base_output.hpp" #include "dynamic_vino_lib/slog.hpp" @@ -119,26 +120,37 @@ bool dynamic_vino_lib::ObjectSegmentation::fetchResults() } bool found_result = false; results_.clear(); - InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); + ov::InferRequest infer_request = getEngine()->getRequest(); slog::debug << "Analyzing Detection results..." << slog::endl; std::string detection_output = valid_model_->getOutputName("detection"); std::string mask_output = valid_model_->getOutputName("masks"); - const InferenceEngine::Blob::Ptr do_blob = request->GetBlob(detection_output.c_str()); - const auto do_data = do_blob->buffer().as(); - const auto masks_blob = request->GetBlob(mask_output.c_str()); - const auto masks_data = masks_blob->buffer().as(); - const size_t output_w = masks_blob->getTensorDesc().getDims().at(3); - const size_t output_h = masks_blob->getTensorDesc().getDims().at(2); - const size_t output_des = masks_blob-> getTensorDesc().getDims().at(1); - const size_t output_extra = masks_blob-> getTensorDesc().getDims().at(0); + ov::Tensor output_tensor = infer_request.get_tensor(detection_output); + const auto out_data = output_tensor.data(); + ov::Shape out_shape = output_tensor.get_shape(); + ov::Tensor masks_tensor = infer_request.get_tensor(detection_output.c_str()); + const auto masks_data = masks_tensor.data(); + size_t output_w, output_h, output_des, output_extra = 0; + if (out_shape.size() == 3) { + output_w = out_shape[2]; + output_h = out_shape[1]; + output_des = out_shape[0]; + } else if (out_shape.size() == 4) { + output_w = out_shape[3]; + output_h = out_shape[2]; + output_des = out_shape[1]; + output_extra = out_shape[0]; + } else { + slog::warn << "unexpected output shape: " <GetBlob(detection_output)->buffer().as(); + const float *detections = output_tensor.data(); std::vector &labels = valid_model_->getLabels(); slog::debug << "label size " <(rowId, colId)[ch] = colors_[classId][ch]; } - //classId = static_cast(predictions[rowId * output_w + colId]); } else { for (int chId = 0; chId < output_des; ++chId) { float prob = detections[chId * output_h * output_w + rowId * output_w+ colId]; - //float prob = predictions[chId * output_h * output_w + rowId * output_w+ colId]; if (prob > maxProb) { classId = chId; diff --git a/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp b/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp index 3831c70a..f614db48 100644 --- a/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp +++ b/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" #include "dynamic_vino_lib/outputs/base_output.hpp" #include "dynamic_vino_lib/slog.hpp" @@ -67,22 +68,19 @@ bool dynamic_vino_lib::PersonAttribsDetection::fetchResults() bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; - InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); + ov::InferRequest request = getEngine()->getRequest(); slog::debug << "Analyzing Attributes Detection results..." << slog::endl; std::string attribute_output = valid_model_->getOutputName("attributes_output_"); std::string top_output = valid_model_->getOutputName("top_output_"); std::string bottom_output = valid_model_->getOutputName("bottom_output_"); - /*auto attri_values = request->GetBlob(attribute_output)->buffer().as(); - auto top_values = request->GetBlob(top_output)->buffer().as(); - auto bottom_values = request->GetBlob(bottom_output)->buffer().as();*/ - InferenceEngine::Blob::Ptr attribBlob = request->GetBlob(attribute_output); - InferenceEngine::Blob::Ptr topBlob = request->GetBlob(top_output); - InferenceEngine::Blob::Ptr bottomBlob = request->GetBlob(bottom_output); + ov::Tensor attrib_tensor = request.get_tensor(attribute_output); + ov::Tensor top_tensor = request.get_tensor(top_output); + ov::Tensor bottom_tensor = request.get_tensor(bottom_output); - auto attri_values = attribBlob->buffer().as(); - auto top_values = topBlob->buffer().as(); - auto bottom_values = bottomBlob->buffer().as(); + auto attri_values = attrib_tensor.data(); + auto top_values = top_tensor.data(); + auto bottom_values = bottom_tensor.data(); int net_attrib_length = net_attributes_.size(); for (int i = 0; i < getResultsLength(); i++) { diff --git a/dynamic_vino_lib/src/inferences/person_reidentification.cpp b/dynamic_vino_lib/src/inferences/person_reidentification.cpp index 34280bd1..a65920fc 100644 --- a/dynamic_vino_lib/src/inferences/person_reidentification.cpp +++ b/dynamic_vino_lib/src/inferences/person_reidentification.cpp @@ -70,9 +70,9 @@ bool dynamic_vino_lib::PersonReidentification::fetchResults() bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; - InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); + ov::InferRequest request = getEngine()->getRequest(); std::string output = valid_model_->getOutputName(); - const float * output_values = request->GetBlob(output)->buffer().as(); + const float * output_values = request.get_tensor(output).data(); for (int i = 0; i < getResultsLength(); i++) { std::vector new_person = std::vector( output_values + 256 * i, output_values + 256 * i + 256); diff --git a/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp b/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp index 14cf4e3e..26a0697e 100644 --- a/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp +++ b/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp @@ -67,13 +67,13 @@ bool dynamic_vino_lib::VehicleAttribsDetection::fetchResults() bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; - InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); - //std::string color_name = valid_model_->getColorOutputName(); - //std::string type_name = valid_model_->getTypeOutputName(); + + ov::InferRequest infer_request = getEngine()->getRequest(); std::string color_name = valid_model_->getOutputName("color_output_"); std::string type_name = valid_model_->getOutputName("type_output_"); - const float * color_values = request->GetBlob(color_name)->buffer().as(); - const float * type_values = request->GetBlob(type_name)->buffer().as(); + const float * color_values = infer_request.get_tensor(color_name).data(); + const float * type_values = infer_request.get_tensor(type_name).data(); + for (int i = 0; i < getResultsLength(); i++) { auto color_id = std::max_element(color_values, color_values + 7) - color_values; auto type_id = std::max_element(type_values, type_values + 4) - type_values; diff --git a/dynamic_vino_lib/src/inputs/image_topic.cpp b/dynamic_vino_lib/src/inputs/image_topic.cpp index 5d356289..6b099560 100644 --- a/dynamic_vino_lib/src/inputs/image_topic.cpp +++ b/dynamic_vino_lib/src/inputs/image_topic.cpp @@ -59,10 +59,6 @@ void Input::ImageTopic::cb(const sensor_msgs::msg::Image::SharedPtr image_msg) setHeader(image_msg->header); image_ = cv_bridge::toCvCopy(image_msg, "bgr8")->image; - //Suppose Image Topic is sent within BGR order, so the below line would work. - //image_ = cv::Mat(image_msg->height, image_msg->width, CV_8UC3, - // const_cast(&image_msg->data[0]), image_msg->step); - image_count_.increaseCounter(); } diff --git a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp b/dynamic_vino_lib/src/models/age_gender_detection_model.cpp index fa7e6f2d..9c9cf6c0 100644 --- a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp +++ b/dynamic_vino_lib/src/models/age_gender_detection_model.cpp @@ -18,7 +18,7 @@ */ #include #include - +#include #include "dynamic_vino_lib/models/age_gender_detection_model.hpp" #include "dynamic_vino_lib/slog.hpp" @@ -31,33 +31,37 @@ Models::AgeGenderDetectionModel::AgeGenderDetectionModel( { } bool Models::AgeGenderDetectionModel::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; // set input property - InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo()); - if (input_info_map.size() != 1) { - slog::warn << "This model seems not Age-Gender-like, which should have only one input," - <<" but we got " << std::to_string(input_info_map.size()) << "inputs" + inputs_info_ = model->inputs(); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + + ov::Shape input_tensor_shape = model->input().get_shape(); + if (inputs_info_.size() != 1) { + slog::warn << "This model seems not Age-Gender-like, which should have only one input, but we got" + << std::to_string(input_tensor_shape.size()) << "inputs" << slog::endl; return false; } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::FP32); - input_info->setLayout(InferenceEngine::Layout::NCHW); - addInputInfo("input", input_info_map.begin()->first); + + addInputInfo("input", input_tensor_name_); + const ov::Layout tensor_layout{"NCHW"}; + input_info.tensor(). + set_element_type(ov::element::f32). + set_layout(tensor_layout); + // set output property - InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo()); - if (output_info_map.size() != 2) { - // throw std::logic_error("Age/Gender Recognition network should have two output layers"); - slog::warn << "This model seems not Age-gender like, which should have and only have 2" - " outputs, but we got " << std::to_string(output_info_map.size()) << "outputs" + outputs_info_ = model->outputs(); + if (outputs_info_.size() != 2) { + slog::warn << "This model seems not Age-Gender-like, which should have and only have 2 outputs, but we got" + << std::to_string(outputs_info_.size()) << "outputs" << slog::endl; return false; } - auto it = output_info_map.begin(); - InferenceEngine::DataPtr age_output_ptr = (it++)->second; - InferenceEngine::DataPtr gender_output_ptr = (it++)->second; #if(0) /// //Check More Configuration: @@ -83,16 +87,22 @@ bool Models::AgeGenderDetectionModel::updateLayerProperty( slog::info << "Gender layer: " << gender_output_ptr->getCreatorLayer().lock()->name << slog::endl; #endif - age_output_ptr->setPrecision(InferenceEngine::Precision::FP32); - age_output_ptr->setLayout(InferenceEngine::Layout::NCHW); - gender_output_ptr->setPrecision(InferenceEngine::Precision::FP32); - gender_output_ptr->setLayout(InferenceEngine::Layout::NCHW); + auto age_output_info = outputs_info_[1]; + ppp.output(age_output_info.get_any_name()). + tensor(). + set_element_type(ov::element::f32). + set_layout(tensor_layout); + auto gender_output_info = outputs_info_[0]; + ppp.output(gender_output_info.get_any_name()). + tensor(). + set_element_type(ov::element::f32). + set_layout(tensor_layout); - //output_age_ = age_output_ptr->name; - addOutputInfo("age", age_output_ptr->getName()); - //output_gender_ = gender_output_ptr->name; - addOutputInfo("gender", gender_output_ptr->getName()); + model = ppp.build(); + ov::set_batch(model, getMaxBatchSize()); + addOutputInfo("age", age_output_info.get_any_name()); + addOutputInfo("gender", gender_output_info.get_any_name()); printAttribute(); return true; } diff --git a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp b/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp index c2924c62..c95e61e6 100644 --- a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp +++ b/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp @@ -18,7 +18,7 @@ */ #include - + #include "dynamic_vino_lib/models/attributes/base_attribute.hpp" #include "dynamic_vino_lib/slog.hpp" @@ -30,43 +30,46 @@ Models::SSDModelAttr::SSDModelAttr( } bool Models::SSDModelAttr::updateLayerProperty( - const InferenceEngine::CNNNetwork & net_reader) + const std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - - InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { slog::warn << "This model seems not SSDNet-like, SSDnet has only one input, but we got " << std::to_string(input_info_map.size()) << "inputs" << slog::endl; return false; } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - addInputInfo("input", input_info_map.begin()->first); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + input_info.tensor().set_element_type(ov::element::u8); + addInputInfo("input", input_tensor_name_); - const InferenceEngine::SizeVector input_dims = input_info->getTensorDesc().getDims(); + ov::Shape input_dims = input_info_map[0].get_shape(); setInputHeight(input_dims[2]); setInputWidth(input_dims[3]); slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl; - InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo()); - if (output_info_map.size() != 1) { + auto outputs_info = model->outputs(); + if (outputs_info.size() != 1) { slog::warn << "This model seems not SSDNet-like! We got " - << std::to_string(output_info_map.size()) << "outputs, but SSDnet has only one." + << std::to_string(outputs_info.size()) << "outputs, but SSDnet has only one." << slog::endl; return false; } - InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; - addOutputInfo("output", output_info_map.begin()->first); - slog::info << "Checking Object Detection output ... Name=" << output_info_map.begin()->first + + ov::preprocess::OutputInfo& output_info = ppp.output(); + addOutputInfo("output", model->output().get_any_name()); + slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; - output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); + + output_info.tensor().set_element_type(ov::element::f32); ///TODO: double check this part: BEGIN #if(0) /// const InferenceEngine::CNNLayerPtr output_layer = - net_reader->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); + model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); // output layer should have attribute called num_classes slog::info << "Checking Object Detection num_classes" << slog::endl; if (output_layer->params.find("num_classes") == output_layer->params.end()) { @@ -91,7 +94,9 @@ bool Models::SSDModelAttr::updateLayerProperty( ///TODO: double check this part: END // last dimension of output layer should be 7 - const InferenceEngine::SizeVector output_dims = output_data_ptr->getTensorDesc().getDims(); + auto outputsDataMap = model->outputs(); + auto & data = outputsDataMap[0]; + ov::Shape output_dims = data.get_shape(); setMaxProposalCount(static_cast(output_dims[2])); slog::info << "max proposal count is: " << getMaxProposalCount() << slog::endl; @@ -114,4 +119,3 @@ bool Models::SSDModelAttr::updateLayerProperty( slog::info << "This model is SSDNet-like, Layer Property updated!" << slog::endl; return true; } - diff --git a/dynamic_vino_lib/src/models/base_model.cpp b/dynamic_vino_lib/src/models/base_model.cpp index f9ddeaa6..a3171a44 100644 --- a/dynamic_vino_lib/src/models/base_model.cpp +++ b/dynamic_vino_lib/src/models/base_model.cpp @@ -39,41 +39,36 @@ Models::BaseModel::BaseModel( throw std::logic_error("model file name is empty!"); } - ///net_reader_ = std::make_shared(); } void Models::BaseModel::modelInit() { 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_); + model_ = engine.read_model(model_loc_); + // Extract model name and load it's weights // remove extension size_t last_index = model_loc_.find_last_of("."); std::string raw_name = model_loc_.substr(0, last_index); - ///std::string bin_file_name = raw_name + ".bin"; - ///net_reader_->ReadWeights(bin_file_name); + // Read labels (if any) 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; - ///net_reader_->getNetwork().setBatchSize(max_batch_size_); - net_reader_.setBatchSize(max_batch_size_); - - updateLayerProperty(net_reader_); + updateLayerProperty(model_); } #if 0 bool Models::BaseModel::updateLayerProperty( - InferenceEngine::CNNNetReader::Ptr net_reader) + InferenceEngine::CNNNetReader::Ptr model) { #if 0 - if (!updateLayerProperty(net_reader)){ + if (!updateLayerProperty(model)){ slog::warn << "The model(name: " << getModelName() << ") failed to update Layer Property!" << slog::endl; return false; diff --git a/dynamic_vino_lib/src/models/emotion_detection_model.cpp b/dynamic_vino_lib/src/models/emotion_detection_model.cpp index 0c4f78e0..8fc8a13b 100644 --- a/dynamic_vino_lib/src/models/emotion_detection_model.cpp +++ b/dynamic_vino_lib/src/models/emotion_detection_model.cpp @@ -17,10 +17,11 @@ * @file emotion_detection_model.cpp */ #include - +#include #include "dynamic_vino_lib/models/emotion_detection_model.hpp" #include "dynamic_vino_lib/slog.hpp" + // Validated Emotions Detection Network Models::EmotionDetectionModel::EmotionDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) @@ -29,53 +30,46 @@ Models::EmotionDetectionModel::EmotionDetectionModel( } bool Models::EmotionDetectionModel::updateLayerProperty -(InferenceEngine::CNNNetwork& net_reader) +(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; // set input property - InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo()); - if (input_info_map.size() != 1) { - slog::warn << "This model seems not Age-Gender-like, which should have only one input," - <<" but we got " << std::to_string(input_info_map.size()) << "inputs" + inputs_info_ = model->inputs(); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + + ov::Shape input_tensor_shape = model->input().get_shape(); + if (inputs_info_.size() != 1) { + slog::warn << "This model seems not Emotion-detection-model-like, which should have only one input, but we got" + << std::to_string(input_tensor_shape.size()) << "inputs" << slog::endl; return false; } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::FP32); - input_info->setLayout(InferenceEngine::Layout::NCHW); - addInputInfo("input", input_info_map.begin()->first); + + addInputInfo("input", input_tensor_name_); + const ov::Layout tensor_layout{"NHWC"}; + input_info.tensor(). + set_element_type(ov::element::f32). + set_layout(tensor_layout); // set output property - InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo()); - if (output_info_map.size() != 1) { - // throw std::logic_error("Age/Gender Recognition network should have two output layers"); + outputs_info_ = model->outputs(); + output_tensor_name_ = model->output().get_any_name(); + ov::preprocess::OutputInfo& output_info = ppp.output(output_tensor_name_); + if (outputs_info_.size() != 1) { slog::warn << "This model should have and only have 1 output, but we got " - << std::to_string(output_info_map.size()) << "outputs" << slog::endl; + << std::to_string(outputs_info_.size()) << "outputs" + << slog::endl; return false; } - ///InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; - ///slog::info << "Emotions layer: " << output_data_ptr->getCreatorLayer().lock()->name << - /// slog::endl; - ///output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); - ///output_data_ptr->setLayout(InferenceEngine::Layout::NCHW); - addOutputInfo("output", output_info_map.begin()->first); - printAttribute(); - return true; ///verifyOutputLayer(output_data_ptr); -} + model = ppp.build(); + ov::set_batch(model, getMaxBatchSize()); + addOutputInfo("output", output_tensor_name_); -bool Models::EmotionDetectionModel::verifyOutputLayer(const InferenceEngine::DataPtr & ptr) -{ -/// if (ptr->getCreatorLayer().lock()->type != "SoftMax") { -/// slog::err <<"In Emotion network, gender layer (" -/// << ptr->getCreatorLayer().lock()->name -/// << ") should be a SoftMax, but was: " -/// << ptr->getCreatorLayer().lock()->type -/// << slog::endl; -/// return false; -/// } - - return true; + printAttribute(); + return true; } const std::string Models::EmotionDetectionModel::getModelCategory() const diff --git a/dynamic_vino_lib/src/models/face_reidentification_model.cpp b/dynamic_vino_lib/src/models/face_reidentification_model.cpp index a5d4572c..6221d306 100644 --- a/dynamic_vino_lib/src/models/face_reidentification_model.cpp +++ b/dynamic_vino_lib/src/models/face_reidentification_model.cpp @@ -25,17 +25,17 @@ Models::FaceReidentificationModel::FaceReidentificationModel( : BaseModel(label_loc, model_loc, max_batch_size) {} void Models::FaceReidentificationModel::setLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + InferenceEngine::CNNNetwork& model) { // set input property InferenceEngine::InputsDataMap input_info_map( - net_reader.getInputsInfo()); + model.getInputsInfo()); InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; input_info->setPrecision(InferenceEngine::Precision::U8); input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); // set output property InferenceEngine::OutputsDataMap output_info_map( - net_reader.getOutputsInfo()); + model.getOutputsInfo()); InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); output_data_ptr->setLayout(InferenceEngine::Layout::NCHW); @@ -45,7 +45,7 @@ void Models::FaceReidentificationModel::setLayerProperty( } void Models::FaceReidentificationModel::checkLayerProperty( - const InferenceEngine::CNNNetwork & net_reader) {} + const InferenceEngine::CNNNetwork & model) {} const std::string Models::FaceReidentificationModel::getModelCategory() const { diff --git a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp b/dynamic_vino_lib/src/models/head_pose_detection_model.cpp index faaa6dcf..316d960c 100644 --- a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp +++ b/dynamic_vino_lib/src/models/head_pose_detection_model.cpp @@ -31,31 +31,45 @@ Models::HeadPoseDetectionModel::HeadPoseDetectionModel( } bool Models::HeadPoseDetectionModel::updateLayerProperty -(InferenceEngine::CNNNetwork& net_reader) +(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; // set input property - InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { slog::warn << "This model should have only one input, but we got" << std::to_string(input_info_map.size()) << "inputs" - << slog::endl; + << slog::endl; return false; } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); - addInputInfo("input", input_info_map.begin()->first); + + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + const ov::Layout input_tensor_layout{"NCHW"}; + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(input_tensor_layout); + addInputInfo("input", input_tensor_name_); // set output property - InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo()); - for (auto & output : output_info_map) { - output.second->setPrecision(InferenceEngine::Precision::FP32); - output.second->setLayout(InferenceEngine::Layout::NC); + auto output_info_map = model->outputs(); + std::vector outputs_name; + for (auto & output_item : output_info_map) { + std::string output_tensor_name_ = output_item.get_any_name(); + const ov::Layout output_tensor_layout{"NC"}; + ppp.output(output_tensor_name_). + tensor(). + set_element_type(ov::element::f32). + set_layout(output_tensor_layout); + outputs_name.push_back(output_tensor_name_); } + model = ppp.build(); + ov::set_batch(model, getMaxBatchSize()); + for (const std::string& outName : {output_angle_r_, output_angle_p_, output_angle_y_}) { - if (output_info_map.find(outName) == output_info_map.end()) { + if (find(outputs_name.begin(), outputs_name.end(), outName) == outputs_name.end()) { throw std::logic_error("There is no " + outName + " output in Head Pose Estimation network"); } else { addOutputInfo(outName, outName); diff --git a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp b/dynamic_vino_lib/src/models/landmarks_detection_model.cpp index 42aa5319..110fa19a 100644 --- a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp +++ b/dynamic_vino_lib/src/models/landmarks_detection_model.cpp @@ -25,17 +25,17 @@ Models::LandmarksDetectionModel::LandmarksDetectionModel( : BaseModel(label_loc, model_loc, max_batch_size) {} void Models::LandmarksDetectionModel::setLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + InferenceEngine::CNNNetwork& model) { // set input property InferenceEngine::InputsDataMap input_info_map( - net_reader.getInputsInfo()); + model.getInputsInfo()); InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; input_info->setPrecision(InferenceEngine::Precision::U8); input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); // set output property InferenceEngine::OutputsDataMap output_info_map( - net_reader.getOutputsInfo()); + model.getOutputsInfo()); InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); output_data_ptr->setLayout(InferenceEngine::Layout::NCHW); @@ -45,15 +45,15 @@ void Models::LandmarksDetectionModel::setLayerProperty( } void Models::LandmarksDetectionModel::checkLayerProperty( - const InferenceEngine::CNNNetReader::Ptr & net_reader) + const InferenceEngine::CNNNetReader::Ptr & model) { InferenceEngine::InputsDataMap input_info_map( - net_reader->getNetwork().getInputsInfo()); + model->getNetwork().getInputsInfo()); if (input_info_map.size() != 1) { throw std::logic_error("Landmarks Detection topology should have only one input"); } InferenceEngine::OutputsDataMap output_info_map( - net_reader->getNetwork().getOutputsInfo()); + model->getNetwork().getOutputsInfo()); if (output_info_map.size() != 1) { throw std::logic_error("Landmarks Detection Network expects networks having one output"); } diff --git a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp b/dynamic_vino_lib/src/models/license_plate_detection_model.cpp index 171764f5..6f323106 100644 --- a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp +++ b/dynamic_vino_lib/src/models/license_plate_detection_model.cpp @@ -25,32 +25,36 @@ Models::LicensePlateDetectionModel::LicensePlateDetectionModel( : BaseModel(label_loc, model_loc, max_batch_size) {} bool Models::LicensePlateDetectionModel::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - InferenceEngine::InputsDataMap input_info_map( - net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 2) { throw std::logic_error("Vehicle Attribs topology should have only two inputs"); } - auto sequence_input = (++input_info_map.begin()); - if (sequence_input->second->getTensorDesc().getDims()[0] != getMaxSequenceSize()) { + + auto sequence_input = input_info_map[1]; + if (sequence_input.get_shape()[0] != getMaxSequenceSize()) { throw std::logic_error("License plate detection max sequence size dismatch"); } - InferenceEngine::OutputsDataMap output_info_map( - net_reader.getOutputsInfo()); + + auto output_info_map = model->outputs(); if (output_info_map.size() != 1) { throw std::logic_error("Vehicle Attribs Network expects networks having one output"); } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = input_info_map[0].get_any_name(); + const ov::Layout tensor_layout{"NCHW"}; + ppp.input(input_tensor_name_). + tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout); + model = ppp.build(); - // set input and output layer name - input_ = input_info_map.begin()->first; - seq_input_ = (++input_info_map.begin())->first; - output_ = output_info_map.begin()->first; + input_ = input_tensor_name_; + seq_input_ = sequence_input.get_any_name(); + output_ = model->output().get_any_name(); return true; } diff --git a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp b/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp index d0996fdc..c78933b8 100644 --- a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp +++ b/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp @@ -31,7 +31,6 @@ Models::ObjectDetectionSSDModel::ObjectDetectionSSDModel( : ObjectDetectionModel(label_loc, model_loc, max_batch_size) { slog::debug << "TESTING: in ObjectDetectionSSDModel" << slog::endl; - //addCandidatedAttr(std::make_shared()); } const std::string Models::ObjectDetectionSSDModel::getModelCategory() const @@ -63,14 +62,15 @@ bool Models::ObjectDetectionSSDModel::matToBlob( std::string input_name = getInputName(); slog::debug << "add input image to blob: " << input_name << slog::endl; - InferenceEngine::Blob::Ptr input_blob = - engine->getRequest()->GetBlob(input_name); - InferenceEngine::SizeVector blob_size = input_blob->getTensorDesc().getDims(); - const int width = blob_size[3]; - const int height = blob_size[2]; - const int channels = blob_size[1]; - u_int8_t * blob_data = input_blob->buffer().as(); + ov::Tensor in_tensor = engine->getRequest().get_tensor(input_name); + + ov::Shape in_shape = in_tensor.get_shape(); + const int width = in_shape[3]; + const int height = in_shape[2]; + const int channels = in_shape[1]; + + u_int8_t * blob_data = (u_int8_t *)in_tensor.data(); cv::Mat resized_image(orig_image); if (width != orig_image.size().width || height != orig_image.size().height) { @@ -104,9 +104,9 @@ bool Models::ObjectDetectionSSDModel::fetchResults( } slog::debug << "Fetching Detection Results ..." << slog::endl; - InferenceEngine::InferRequest::Ptr request = engine->getRequest(); + ov::InferRequest request = engine->getRequest(); std::string output = getOutputName(); - const float * detections = request->GetBlob(output)->buffer().as(); + const float * detections = (float * )request.get_tensor(output).data(); slog::debug << "Analyzing Detection results..." << slog::endl; auto max_proposal_count = getMaxProposalCount(); @@ -116,7 +116,6 @@ bool Models::ObjectDetectionSSDModel::fetchResults( for (int i = 0; i < max_proposal_count; i++) { float image_id = detections[i * object_size + 0]; if (image_id < 0) { - //slog::info << "Found objects: " << i << "|" << results.size() << slog::endl; break; } @@ -136,7 +135,7 @@ bool Models::ObjectDetectionSSDModel::fetchResults( std::string("label #") + std::to_string(label_num); result.setLabel(label); float confidence = detections[i * object_size + 2]; - if (confidence <= confidence_thresh /* || r.x == 0 */) { // why r.x needs to be checked? + if (confidence <= confidence_thresh ) { continue; } result.setConfidence(confidence); @@ -148,43 +147,63 @@ bool Models::ObjectDetectionSSDModel::fetchResults( } bool Models::ObjectDetectionSSDModel::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { slog::warn << "This model seems not SSDNet-like, SSDnet has only one input, but we got " << std::to_string(input_info_map.size()) << "inputs" << slog::endl; return false; } + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - addInputInfo("input", input_info_map.begin()->first); + input_info.tensor().set_element_type(ov::element::u8); + addInputInfo("input", input_tensor_name_); - const InferenceEngine::SizeVector input_dims = input_info->getTensorDesc().getDims(); + ov::Shape input_dims = input_info_map[0].get_shape(); + + ov::Layout tensor_layout = ov::Layout("NCHW"); + ov::Layout expect_layout = ov::Layout("NHWC"); setInputHeight(input_dims[2]); setInputWidth(input_dims[3]); + if (input_dims[1] == 3) + expect_layout = ov::Layout("NCHW"); + else if (input_dims[3] == 3) + expect_layout = ov::Layout("NHWC"); + else + slog::warn << "unexpect input shape " << input_dims << slog::endl; + + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout); + input_info.preprocess(). + convert_layout(expect_layout). + resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl; - InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo()); - if (output_info_map.size() != 1) { + auto outputs_info = model->outputs(); + if (outputs_info.size() != 1) { slog::warn << "This model seems not SSDNet-like! We got " - << std::to_string(output_info_map.size()) << "outputs, but SSDnet has only one." + << std::to_string(outputs_info.size()) << "outputs, but SSDnet has only one." << slog::endl; return false; } - InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; - addOutputInfo("output", output_info_map.begin()->first); - slog::info << "Checking Object Detection output ... Name=" << output_info_map.begin()->first + ov::preprocess::OutputInfo& output_info = ppp.output(); + addOutputInfo("output", model->output().get_any_name()); + slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; - output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); + + output_info.tensor().set_element_type(ov::element::f32); + model = ppp.build(); ///TODO: double check this part: BEGIN #if(0) const InferenceEngine::CNNLayerPtr output_layer = - net_reader->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); + model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); // output layer should have attribute called num_classes slog::info << "Checking Object Detection num_classes" << slog::endl; if (output_layer->params.find("num_classes") == output_layer->params.end()) { @@ -209,7 +228,9 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty( ///TODO: double check this part: END // last dimension of output layer should be 7 - const InferenceEngine::SizeVector output_dims = output_data_ptr->getTensorDesc().getDims(); + auto outputsDataMap = model->outputs(); + auto & data = outputsDataMap[0]; + ov::Shape output_dims = data.get_shape(); setMaxProposalCount(static_cast(output_dims[2])); slog::info << "max proposal count is: " << getMaxProposalCount() << slog::endl; diff --git a/dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp b/dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp index df1388ab..487381aa 100644 --- a/dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp +++ b/dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -/** +/** * @brief a header file with declaration of ObjectDetectionModel class * @file object_detection_yolov2_model.cpp */ @@ -34,40 +34,44 @@ Models::ObjectDetectionYolov2Model::ObjectDetectionYolov2Model( } bool Models::ObjectDetectionYolov2Model::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - - InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { slog::warn << "This model seems not Yolo-like, which has only one input, but we got " << std::to_string(input_info_map.size()) << "inputs" << slog::endl; return false; } + // set input property + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + const ov::Layout input_tensor_layout{"NHWC"}; + input_info.tensor(). + set_element_type(ov::element::f32). + set_layout(input_tensor_layout); + addInputInfo("input", input_tensor_name_); - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::FP32); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); - input_info_ = input_info; - addInputInfo("input", input_info_map.begin()->first); // set output property - InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo()); + auto output_info_map = model -> outputs(); if (output_info_map.size() != 1) { slog::warn << "This model seems not Yolo-like! We got " << std::to_string(output_info_map.size()) << "outputs, but SSDnet has only one." << slog::endl; return false; } - InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; - output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); - addOutputInfo("output", output_info_map.begin()->first); - slog::info << "Checking Object Detection output ... Name=" << output_info_map.begin()->first + ov::preprocess::OutputInfo& output_info = ppp.output(); + addOutputInfo("output", model->output().get_any_name()); + output_info.tensor().set_element_type(ov::element::f32); + slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; + model = ppp.build(); #if(0) /// const InferenceEngine::CNNLayerPtr output_layer = - net_reader->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); + model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); // output layer should have attribute called num_classes slog::info << "Checking Object Detection num_classes" << slog::endl; if (output_layer == nullptr || @@ -90,7 +94,9 @@ bool Models::ObjectDetectionYolov2Model::updateLayerProperty( #endif // last dimension of output layer should be 7 - const InferenceEngine::SizeVector output_dims = output_data_ptr->getTensorDesc().getDims(); + auto outputsDataMap = model->outputs(); + auto & data = outputsDataMap[0]; + ov::Shape output_dims = data.get_shape(); setMaxProposalCount(static_cast(output_dims[2])); slog::info << "max proposal count is: " << getMaxProposalCount() << slog::endl; @@ -142,14 +148,14 @@ bool Models::ObjectDetectionYolov2Model::matToBlob( } std::string input_name = getInputName(); - InferenceEngine::Blob::Ptr input_blob = - engine->getRequest()->GetBlob(input_name); + ov::Tensor input_tensor = + engine->getRequest().get_tensor(input_name); - InferenceEngine::SizeVector blob_size = input_blob->getTensorDesc().getDims(); + ov::Shape blob_size = input_tensor.get_shape(); const int width = blob_size[3]; const int height = blob_size[2]; const int channels = blob_size[1]; - float * blob_data = input_blob->buffer().as(); + float * blob_data = input_tensor.data(); int dx = 0; @@ -221,28 +227,26 @@ bool Models::ObjectDetectionYolov2Model::fetchResults( return false; } - InferenceEngine::InferRequest::Ptr request = engine->getRequest(); + ov::InferRequest request = engine->getRequest(); std::string output = getOutputName(); std::vector & labels = getLabels(); - const float * detections = - request->GetBlob(output)->buffer().as::value_type *>(); - ///InferenceEngine::CNNLayerPtr layer = - /// getNetReader()->getNetwork().getLayerByName(output.c_str()); - int input_height = input_info_->getTensorDesc().getDims()[2]; - int input_width = input_info_->getTensorDesc().getDims()[3]; - - // --------------------------- Validating output parameters -------------------------------- - ///if (layer != nullptr && layer->type != "RegionYolo") { - /// throw std::runtime_error("Invalid output type: " + layer->type + ". RegionYolo expected"); - ///} + const float * detections = (float * )request.get_tensor(output).data(); + + std::string input = getInputName(); + auto input_tensor = request.get_tensor(input); + ov::Shape input_shape = input_tensor.get_shape(); + int input_height = input_shape[2]; + int input_width = input_shape[3]; + // --------------------------- Extracting layer parameters -------------------------------- const int num = 3; ///layer->GetParamAsInt("num"); const int coords = 9; ///layer->GetParamAsInt("coords"); const int classes = 21; ///layer->GetParamAsInt("classes"); - auto blob = request->GetBlob(output); - const int out_blob_h = static_cast(blob->getTensorDesc().getDims()[2]);; + + auto output_tensor = request.get_tensor(output); + ov::Shape output_shape = output_tensor.get_shape(); + const int out_tensor_h = static_cast(output_shape[2]);; std::vector anchors = { 0.572730, 0.677385, @@ -251,7 +255,7 @@ bool Models::ObjectDetectionYolov2Model::fetchResults( 7.882820, 3.527780, 9.770520, 9.168280 }; - auto side = out_blob_h; + auto side = out_tensor_h; auto side_square = side * side; // --------------------------- Parsing YOLO Region output ------------------------------------- diff --git a/dynamic_vino_lib/src/models/object_segmentation_model.cpp b/dynamic_vino_lib/src/models/object_segmentation_model.cpp index ab4797f0..bc5bc2e7 100644 --- a/dynamic_vino_lib/src/models/object_segmentation_model.cpp +++ b/dynamic_vino_lib/src/models/object_segmentation_model.cpp @@ -18,7 +18,7 @@ */ #include #include -#include +#include #include "dynamic_vino_lib/models/object_segmentation_model.hpp" #include "dynamic_vino_lib/slog.hpp" #include "dynamic_vino_lib/engines/engine.hpp" @@ -42,25 +42,26 @@ bool Models::ObjectSegmentationModel::enqueue( return false; } - for (const auto &inputInfoItem : input_info_) + for (const auto &inputInfoItem : inputs_info_) { // Fill first input tensor with images. First b channel, then g and r channels - slog::debug<<"first tensor"<getTensorDesc().getDims().size()<getTensorDesc().getDims().size()==4) + auto dims = inputInfoItem.get_shape(); + if (dims.size()==4) { matToBlob(frame, input_frame_loc, 1.0, 0, engine); } // Fill second input tensor with image info - if (inputInfoItem.second->getTensorDesc().getDims().size() == 2) + if (dims.size() == 2) { - InferenceEngine::Blob::Ptr input = engine->getRequest()->GetBlob(inputInfoItem.first); - auto data = input->buffer().as::value_type *>(); + ov::Tensor in_tensor = engine->getRequest().get_tensor(inputInfoItem); + auto data = in_tensor.data(); data[0] = static_cast(frame.rows); // height data[1] = static_cast(frame.cols); // width data[2] = 1; } } + return true; } @@ -94,12 +95,8 @@ bool Models::ObjectSegmentationModel::matToBlob( return false; } - InferenceEngine::TensorDesc tDesc(InferenceEngine::Precision::U8, - {1, channels, height, width}, - InferenceEngine::Layout::NHWC); - - auto shared_blob = InferenceEngine::make_shared_blob(tDesc, orig_image.data); - engine->getRequest()->SetBlob(getInputName(), shared_blob); + ov::Tensor input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, orig_image.data); + engine->getRequest().set_tensor(input_tensor_name_, input_tensor); return true; } @@ -110,57 +107,64 @@ const std::string Models::ObjectSegmentationModel::getModelCategory() const } bool Models::ObjectSegmentationModel::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + std::shared_ptr& model) { slog::info<< "Checking INPUTS for Model" <inputs(); + slog::debug<<"input size"<second; - slog::debug<<"channel size"<input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + + ov::Layout tensor_layout = ov::Layout("NHWC"); + ov::Layout expect_layout = ov::Layout("NCHW"); + ov::Shape input_shape = model->input().get_shape(); + if (input_shape[1] == 3) + expect_layout = ov::Layout("NCHW"); + else if (input_shape[3] == 3) + expect_layout = ov::Layout("NHWC"); + else + slog::warn << "unexpect input shape " << input_shape << slog::endl; + + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout). + set_spatial_dynamic_shape(); + input_info.preprocess(). + convert_layout(expect_layout). + resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); + addInputInfo("input", input_tensor_name_); + + auto outputs_info = model->outputs(); + if (outputs_info.size() != 1) { + slog::warn << "This inference sample should have only one output, but we got" + << std::to_string(outputs_info.size()) << "outputs" + << slog::endl; return false; } - in_size_vector[0] = 1; - network.reshape(inputShapes); - - InferenceEngine:: InputInfo &inputInfo = *network.getInputsInfo().begin()->second; - inputInfo.getPreProcess().setResizeAlgorithm(InferenceEngine::ResizeAlgorithm::RESIZE_BILINEAR); - inputInfo.setLayout(InferenceEngine::Layout::NHWC); - inputInfo.setPrecision(InferenceEngine::Precision::U8); - //InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - //addInputInfo("input", input_info_map.begin()->first.c_str()); - addInputInfo("input", inputShapes.begin()->first); + output_tensor_name_ = model->output().get_any_name(); + auto data = model->output(); - InferenceEngine::OutputsDataMap outputsDataMap = network.getOutputsInfo(); - if (outputsDataMap.size() != 1) { - //throw std::runtime_error("Demo supports topologies only with 1 output"); - slog::warn << "This inference sample should have only one output, but we got" - << std::to_string(outputsDataMap.size()) << "outputs" - << slog::endl; + ov::preprocess::OutputInfo& output_info = ppp.output(output_tensor_name_); + output_info.tensor().set_element_type(ov::element::f32); + model = ppp.build(); + std::vector &in_size_vector = input_shape; + slog::debug<<"dimensional"<second; - data.setPrecision(InferenceEngine::Precision::FP32); - - const InferenceEngine::SizeVector& outSizeVector = data.getTensorDesc().getDims(); + auto& outSizeVector = data.get_shape(); int outChannels, outHeight, outWidth; slog::debug << "output size vector " << outSizeVector.size() << slog::endl; switch(outSizeVector.size()){ @@ -182,44 +186,16 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( if(outHeight == 0 || outWidth == 0){ slog::err << "output_height or output_width is not set, please check the MaskOutput Info " << "is set correctly." << slog::endl; - //throw std::runtime_error("output_height or output_width is not set, please check the MaskOutputInfo"); return false; } - slog::debug << "output width " << outWidth<< slog::endl; - slog::debug << "output hEIGHT " << outHeight<< slog::endl; - slog::debug << "output CHANNALS " << outChannels<< slog::endl; - addOutputInfo("masks", (outputsDataMap.begin()++)->first); - addOutputInfo("detection", outputsDataMap.begin()->first); - - //const InferenceEngine::CNNLayerPtr output_layer = - //network.getLayerByName(outputsDataMap.begin()->first.c_str()); - ///const InferenceEngine::CNNLayerPtr output_layer = - /// network.getLayerByName(getOutputName("detection").c_str()); - //const int num_classes = output_layer->GetParamAsInt("num_classes"); - //slog::info << "Checking Object Segmentation output ... num_classes=" << num_classes << slog::endl; - -#if 0 - if (getLabels().size() != num_classes) - { - if (getLabels().size() == (num_classes - 1)) - { - getLabels().insert(getLabels().begin(), "fake"); - } - else - { - getLabels().clear(); - } - } -#endif -/* - const InferenceEngine::SizeVector output_dims = data.getTensorDesc().getDims(); - setMaxProposalCount(static_cast(output_dims[2])); - slog::info << "max proposal count is: " << getMaxProposalCount() << slog::endl; - auto object_size = static_cast(output_dims[3]); - setObjectSize(object_size); - - slog::debug << "model size" << output_dims.size() << slog::endl;*/ + slog::debug << "output WIDTH " << outWidth<< slog::endl; + slog::debug << "output HEIGHT " << outHeight<< slog::endl; + slog::debug << "output CHANNELS " << outChannels<< slog::endl; + slog::debug << "output NAME " << output_tensor_name_<< slog::endl; + addOutputInfo("masks", output_tensor_name_); + addOutputInfo("detection", output_tensor_name_); + printAttribute(); slog::info << "This model is SSDNet-like, Layer Property updated!" << slog::endl; return true; diff --git a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp b/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp index c12e4071..0039b62e 100644 --- a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp +++ b/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp @@ -17,6 +17,7 @@ * @file person_attribs_detection_model.cpp */ #include +#include #include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" #include "dynamic_vino_lib/slog.hpp" // Validated Person Attributes Detection Network @@ -25,37 +26,33 @@ Models::PersonAttribsDetectionModel::PersonAttribsDetectionModel( : BaseModel(label_loc, model_loc, max_batch_size) {} bool Models::PersonAttribsDetectionModel::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) -{ + std::shared_ptr& model) +{ slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - InferenceEngine::InputsDataMap input_info_map( - net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { throw std::logic_error("Person Attribs topology should have only one input"); } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); - addInputInfo("input", input_info_map.begin()->first); - + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + const ov::Layout tensor_layout{"NHWC"}; + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout); + slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl; - InferenceEngine::OutputsDataMap output_info_map( - net_reader.getOutputsInfo()); + auto output_info_map = model->outputs(); if (output_info_map.size() != 3) { throw std::logic_error("Person Attribs Network expects networks having 3 output"); } - input_ = input_info_map.begin()->first; - output_ = output_info_map.begin()->first; - auto output_iter = output_info_map.begin(); - InferenceEngine::DataPtr attribute_output_ptr = (output_iter++)->second; - InferenceEngine::DataPtr top_output_ptr = (output_iter++)->second; - InferenceEngine::DataPtr bottom_output_ptr = (output_iter++)->second; - - addOutputInfo("attributes_output_", attribute_output_ptr->getName()); - //output_gender_ = gender_output_ptr->name; - addOutputInfo("top_output_", top_output_ptr->getName()); - addOutputInfo("bottom_output_", bottom_output_ptr->getName()); + model = ppp.build(); + addInputInfo("input", input_tensor_name_); + addOutputInfo("attributes_output_",output_info_map[2].get_any_name()); + addOutputInfo("top_output_", output_info_map[1].get_any_name()); + addOutputInfo("bottom_output_", output_info_map[0].get_any_name()); + printAttribute(); return true; } diff --git a/dynamic_vino_lib/src/models/person_reidentification_model.cpp b/dynamic_vino_lib/src/models/person_reidentification_model.cpp index e9e2834c..68b783c9 100644 --- a/dynamic_vino_lib/src/models/person_reidentification_model.cpp +++ b/dynamic_vino_lib/src/models/person_reidentification_model.cpp @@ -23,51 +23,27 @@ Models::PersonReidentificationModel::PersonReidentificationModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) : BaseModel(label_loc, model_loc, max_batch_size) {} -/* -void Models::PersonReidentificationModel::setLayerProperty( - InferenceEngine::CNNNetReader::Ptr net_reader) -{ - // set input property - InferenceEngine::InputsDataMap input_info_map( - net_reader->getNetwork().getInputsInfo()); - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); - // set output property - InferenceEngine::OutputsDataMap output_info_map( - net_reader->getNetwork().getOutputsInfo()); - // set input and output layer name - input_ = input_info_map.begin()->first; - output_ = output_info_map.begin()->first; -} -void Models::PersonReidentificationModel::checkLayerProperty( - const InferenceEngine::CNNNetReader::Ptr & net_reader) {} - -const std::string Models::PersonReidentificationModel::getModelCategory() const -{ - return "Person Reidentification"; -} -*/ bool Models::PersonReidentificationModel::updateLayerProperty( - InferenceEngine::CNNNetwork& netreader) + std::shared_ptr& model) { slog::info << "Checking Inputs for Model" << getModelName() << slog::endl; + auto input_info_map = model->inputs(); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_ = input_info_map[0].get_any_name(); + const ov::Layout input_tensor_layout{"NCHW"}; + ppp.input(input_). + tensor(). + set_element_type(ov::element::u8). + set_layout(input_tensor_layout); - auto network = netreader; - - InferenceEngine::InputsDataMap input_info_map(network.getInputsInfo()); - - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); // set output property - InferenceEngine::OutputsDataMap output_info_map( - network.getOutputsInfo()); - // set input and output layer name - input_ = input_info_map.begin()->first; - output_ = output_info_map.begin()->first; - + auto output_info_map = model->outputs(); + output_ = output_info_map[0].get_any_name(); + + model = ppp.build(); + ov::set_batch(model, getMaxBatchSize()); + return true; } diff --git a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp b/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp index 0637f3f6..9251299e 100644 --- a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp +++ b/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp @@ -25,36 +25,33 @@ Models::VehicleAttribsDetectionModel::VehicleAttribsDetectionModel( : BaseModel(label_loc, model_loc, max_batch_size) {} bool Models::VehicleAttribsDetectionModel::updateLayerProperty( - InferenceEngine::CNNNetwork& net_reader) + std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - // set input property - InferenceEngine::InputsDataMap input_info_map( - net_reader.getInputsInfo()); + auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { throw std::logic_error("Vehicle Attribs topology should have only one input"); } - InferenceEngine::OutputsDataMap output_info_map( - net_reader.getOutputsInfo()); + + auto output_info_map = model->outputs(); if (output_info_map.size() != 2) { throw std::logic_error("Vehicle Attribs Network expects networks having two outputs"); } - InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; - input_info->setPrecision(InferenceEngine::Precision::U8); - input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + input_tensor_name_ = model->input().get_any_name(); + ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); + const ov::Layout tensor_layout{"NCHW"}; + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout); + model = ppp.build(); + + addInputInfo("input", input_tensor_name_); // set input and output layer name - input_ = input_info_map.begin()->first; - auto output_iter = output_info_map.begin(); - // color_output_ = (output_iter++)->second->name; - // type_output_ = (output_iter++)->second->name; - InferenceEngine::DataPtr color_output_ptr = (output_iter++)->second; - InferenceEngine::DataPtr type_output_ptr = (output_iter++)->second; - - addOutputInfo("color_output_", color_output_ptr->getName()); - //output_gender_ = gender_output_ptr->name; - addOutputInfo("type_output_", type_output_ptr->getName()); + addOutputInfo("color_output_", output_info_map[1].get_any_name()); + addOutputInfo("type_output_", output_info_map[0].get_any_name()); printAttribute(); return true; diff --git a/dynamic_vino_lib/src/outputs/image_window_output.cpp b/dynamic_vino_lib/src/outputs/image_window_output.cpp index 1653b6f6..654cd5ad 100644 --- a/dynamic_vino_lib/src/outputs/image_window_output.cpp +++ b/dynamic_vino_lib/src/outputs/image_window_output.cpp @@ -146,34 +146,6 @@ void Outputs::ImageWindowOutput::accept( void Outputs::ImageWindowOutput::mergeMask( const std::vector & results) { - /* - std::map class_color; - for (unsigned i = 0; i < results.size(); i++) { - std::string class_label = results[i].getLabel(); - if (class_color.find(class_label) == class_color.end()) { - class_color[class_label] = class_color.size(); - } - auto & color = colors_[class_color[class_label]]; - const float alpha = 0.7f; - const float MASK_THRESHOLD = 0.5; - - cv::Rect location = results[i].getLocation(); - cv::Mat roi_img = frame_(location); - cv::Mat mask = results[i].getMask(); - cv::Mat colored_mask(location.height, location.width, frame_.type()); - - for (int h = 0; h < mask.size().height; ++h) { - for (int w = 0; w < mask.size().width; ++w) { - for (int ch = 0; ch < colored_mask.channels(); ++ch) { - colored_mask.at(h, w)[ch] = mask.at(h, w) > MASK_THRESHOLD ? - 255 * color[ch] : - roi_img.at(h, w)[ch]; - } - } - } - cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); - } - */ const float alpha = 0.5f; cv::Mat roi_img = frame_; cv::Mat colored_mask = results[0].getMask(); diff --git a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp b/dynamic_vino_lib/src/outputs/ros_topic_output.cpp index 1d24fbac..6aa8a9ee 100644 --- a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp +++ b/dynamic_vino_lib/src/outputs/ros_topic_output.cpp @@ -29,10 +29,6 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, const rclcpp::Node::SharedPtr node) : BaseOutput(output_name) { - // rmw_qos_profile_t qos = rmw_qos_profile_default; - // qos.depth = 10; - // qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; - // qos.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL; if(node != nullptr){ node_ = node; } else { @@ -90,7 +86,6 @@ void Outputs::RosTopicOutput::accept( vehicle_attribs_topic_ = std::make_shared(); people_msgs::msg::VehicleAttribs attribs; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); attribs.roi.x_offset = loc.x; attribs.roi.y_offset = loc.y; @@ -108,7 +103,6 @@ void Outputs::RosTopicOutput::accept( license_plate_topic_ = std::make_shared(); people_msgs::msg::LicensePlate plate; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); plate.roi.x_offset = loc.x; plate.roi.y_offset = loc.y; @@ -125,7 +119,6 @@ void Outputs::RosTopicOutput::accept( face_reid_topic_ = std::make_shared(); people_msgs::msg::Reidentification face; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); face.roi.x_offset = loc.x; face.roi.y_offset = loc.y; @@ -142,7 +135,6 @@ void Outputs::RosTopicOutput::accept( landmarks_topic_ = std::make_shared(); people_msgs::msg::Landmark landmark; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); landmark.roi.x_offset = loc.x; landmark.roi.y_offset = loc.y; @@ -165,7 +157,6 @@ void Outputs::RosTopicOutput::accept( person_attribs_topic_ = std::make_shared(); people_msgs::msg::PersonAttribute person_attrib; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); person_attrib.roi.x_offset = loc.x; person_attrib.roi.y_offset = loc.y; @@ -182,7 +173,6 @@ void Outputs::RosTopicOutput::accept( person_reid_topic_ = std::make_shared(); people_msgs::msg::Reidentification person; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); person.roi.x_offset = loc.x; person.roi.y_offset = loc.y; @@ -199,7 +189,6 @@ void Outputs::RosTopicOutput::accept( segmented_objects_topic_ = std::make_shared(); people_msgs::msg::ObjectInMask object; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); object.roi.x_offset = loc.x; object.roi.y_offset = loc.y; @@ -223,7 +212,6 @@ void Outputs::RosTopicOutput::accept( detected_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInBox object; for (auto & r : results) { - // slog::info << ">"; auto loc = r.getLocation(); object.roi.x_offset = loc.x; object.roi.y_offset = loc.y; @@ -242,7 +230,6 @@ void Outputs::RosTopicOutput::accept( object_msgs::msg::ObjectInBox face; for (auto r : results) { - // slog::info << ">"; auto loc = r.getLocation(); face.roi.x_offset = loc.x; face.roi.y_offset = loc.y; @@ -261,7 +248,6 @@ void Outputs::RosTopicOutput::accept(const std::vector"; auto loc = r.getLocation(); emotion.roi.x_offset = loc.x; emotion.roi.y_offset = loc.y; @@ -278,7 +264,6 @@ void Outputs::RosTopicOutput::accept(const std::vector"; auto loc = r.getLocation(); ag.roi.x_offset = loc.x; ag.roi.y_offset = loc.y; @@ -319,67 +304,56 @@ void Outputs::RosTopicOutput::handleOutput() { auto header = getPipeline()->getInputDevice()->getLockedHeader(); if (vehicle_attribs_topic_ != nullptr) { - // slog::info << "publishing landmarks detection outputs." << slog::endl; vehicle_attribs_topic_->header = header; pub_vehicle_attribs_->publish(*vehicle_attribs_topic_); vehicle_attribs_topic_ = nullptr; } if (license_plate_topic_ != nullptr) { - // slog::info << "publishing face reidentification outputs." << slog::endl; license_plate_topic_->header = header; pub_license_plate_->publish(*license_plate_topic_); license_plate_topic_ = nullptr; } if (landmarks_topic_ != nullptr) { - // slog::info << "publishing landmarks detection outputs." << slog::endl; landmarks_topic_->header = header; pub_landmarks_->publish(*landmarks_topic_); landmarks_topic_ = nullptr; } if (face_reid_topic_ != nullptr) { - // slog::info << "publishing face reidentification outputs." << slog::endl; face_reid_topic_->header = header; pub_face_reid_->publish(*face_reid_topic_); face_reid_topic_ = nullptr; } if (person_attribs_topic_ != nullptr) { - // slog::info << "publishing person attributes outputs." << slog::endl; person_attribs_topic_->header = header; pub_person_attribs_->publish(*person_attribs_topic_); person_attribs_topic_ = nullptr; } if (person_reid_topic_ != nullptr) { - // slog::info << "publishing preson reidentification outputs." << slog::endl; person_reid_topic_->header = header; pub_person_reid_->publish(*person_reid_topic_); person_reid_topic_ = nullptr; } if (segmented_objects_topic_ != nullptr) { - // slog::info << "publishing segmented objects outputs." << slog::endl; segmented_objects_topic_->header = header; pub_segmented_object_->publish(*segmented_objects_topic_); segmented_objects_topic_ = nullptr; } if (detected_objects_topic_ != nullptr) { - // slog::info << "publishing detected objects outputs." << slog::endl; detected_objects_topic_->header = header; pub_detected_object_->publish(*detected_objects_topic_); detected_objects_topic_ = nullptr; } if (faces_topic_ != nullptr) { - // slog::info << "publishing faces outputs." << slog::endl; faces_topic_->header = header; pub_face_->publish(*faces_topic_); faces_topic_ = nullptr; } if (emotions_topic_ != nullptr) { - // slog::info << "publishing emotions outputs." << slog::endl; emotions_topic_->header = header; pub_emotion_->publish(*emotions_topic_); emotions_topic_ = nullptr; } if (age_gender_topic_ != nullptr) { - // slog::info << "publishing age gender outputs." << slog::endl; age_gender_topic_->header = header; pub_age_gender_->publish(*age_gender_topic_); age_gender_topic_ = nullptr; diff --git a/dynamic_vino_lib/src/pipeline.cpp b/dynamic_vino_lib/src/pipeline.cpp index 25ba0f55..92987f4b 100644 --- a/dynamic_vino_lib/src/pipeline.cpp +++ b/dynamic_vino_lib/src/pipeline.cpp @@ -23,6 +23,7 @@ #include #include #include +#include #include "dynamic_vino_lib/inputs/base_input.hpp" #include "dynamic_vino_lib/inputs/image_input.hpp" @@ -187,14 +188,12 @@ void Pipeline::runOnce() initInferenceCounter(); if (!input_device_->read(&frame_)) { - // throw std::logic_error("Failed to get frame from cv::VideoCapture"); - // slog::warn << "Failed to get frame from input_device." << slog::endl; return; //do nothing if now frame read out } width_ = frame_.cols; height_ = frame_.rows; slog::debug << "DEBUG: in Pipeline run process..." << slog::endl; - // auto t0 = std::chrono::high_resolution_clock::now(); + for (auto pos = next_.equal_range(input_device_name_); pos.first != pos.second; ++pos.first) { std::string detection_name = pos.first->second; slog::debug << "DEBUG: Enqueue for detection: " << detection_name << slog::endl; @@ -215,12 +214,8 @@ void Pipeline::runOnce() std::unique_lock lock(counter_mutex_); cv_.wait(lock, [self = this]() {return self->counter_ == 0;}); - //auto t1 = std::chrono::high_resolution_clock::now(); - //typedef std::chrono::duration> ms; - slog::debug << "DEBUG: in Pipeline run process...handleOutput" << slog::endl; for (auto & pair : name_to_output_map_) { - // slog::info << "Handling Output ..." << pair.first << slog::endl; pair.second->handleOutput(); } } @@ -236,14 +231,17 @@ void Pipeline::setCallback() { for (auto & pair : name_to_detection_map_) { std::string detection_name = pair.first; - std::function callb; - callb = [detection_name, self = this]() + std::function callb; + callb = [detection_name, self = this](std::exception_ptr ex) { + if (ex) + throw ex; + self->callback(detection_name); return; }; - pair.second->getEngine()->getRequest()->SetCompletionCallback(callb); - } + pair.second->getEngine()->getRequest().set_callback(callb); + } } void Pipeline::callback(const std::string & detection_name) @@ -274,7 +272,7 @@ void Pipeline::callback(const std::string & detection_name) increaseInferenceCounter(); next_detection_ptr->submitRequest(); auto request = next_detection_ptr->getEngine()->getRequest(); - request->Wait(InferenceEngine::IInferRequest::WaitMode::RESULT_READY); + request.wait(); } } } @@ -296,14 +294,12 @@ void Pipeline::increaseInferenceCounter() { std::lock_guard lk(counter_mutex_); ++counter_; - // slog::info << "counter = " << counter_ << slog::endl; } void Pipeline::decreaseInferenceCounter() { std::lock_guard lk(counter_mutex_); --counter_; - // slog::info << "counter = " << counter_ << slog::endl; } void Pipeline::countFPS() diff --git a/dynamic_vino_lib/src/pipeline_manager.cpp b/dynamic_vino_lib/src/pipeline_manager.cpp index 5d348255..74ef0d72 100644 --- a/dynamic_vino_lib/src/pipeline_manager.cpp +++ b/dynamic_vino_lib/src/pipeline_manager.cpp @@ -111,9 +111,6 @@ PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData & pa pipeline->add(it->first, it->second); } - // slog::info << "Updateing filters ..." << slog::endl; - // pipeline->addFilters(params.filters); - pipelines_.insert({params.name, data}); pipeline->setCallback(); diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 656f0a19..25b7b447 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -9,6 +9,7 @@ # See the License for the specific language governing permissions and # limitations under the License. +set(OpenVINO_LIBRARIES openvino::runtime) cmake_minimum_required(VERSION 3.5) project(dynamic_vino_sample) @@ -30,14 +31,13 @@ else() endif() set(CMAKE_CXX_FLAGS "-fPIE -fPIC -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") - find_package(ament_cmake REQUIRED) find_package(ament_index_cpp REQUIRED) find_package(rclcpp REQUIRED) find_package(rcutils) find_package(OpenCV REQUIRED) find_package(cv_bridge REQUIRED) -find_package(InferenceEngine REQUIRED) +find_package(OpenVINO REQUIRED) find_package(dynamic_vino_lib REQUIRED) find_package(object_msgs REQUIRED) find_package(people_msgs REQUIRED) @@ -99,19 +99,10 @@ include_directories(${OpenCV_INCLUDE_DIRS}) include_directories(${PROJECT_SOURCE_DIR}/include) include_directories(${dynamic_vino_lib_INCLUDE_DIRS}) include_directories(${vino_param_lib_INCLUDE_DIRS}) -include_directories(${InferenceEngine_INCLUDE_DIRS}) -include_directories(${InferenceEngine_INCLUDE_DIRS}/../samples) -include_directories(${InferenceEngine_INCLUDE_DIRS}/../samples/extension) -include_directories(${InferenceEngine_INCLUDE_DIRS}/../src) -#include_directories(${InferenceEngine_INCLUDE_DIRS}/../samples/build/thirdparty/gflags/include) -#include_directories(${InferenceEngine_INCLUDE_DIRS}/../build/samples/thirdparty/gflags/include) - +include_directories(${OpenVINO_DIRS}) include_directories(${realsense2_INCLUDE_DIRS}) -#include_directories (/opt/ros2_openvino/include) # Create library file from sources. -#add_executable(${PROJECT_NAME} ${MAIN_SRC} ${MAIN_HEADERS}) - if(UNIX) set(LIB_DL dl) endif() @@ -143,7 +134,7 @@ ament_target_dependencies(pipeline_with_params "ament_index_cpp" "class_loader" "dynamic_vino_lib" - "InferenceEngine" + "OpenVINO" "people_msgs" "pipeline_srv_msgs" "vino_param_lib" @@ -167,7 +158,7 @@ ament_target_dependencies(composable_pipeline "ament_index_cpp" "class_loader" "dynamic_vino_lib" - "InferenceEngine" + "OpenVINO" "people_msgs" "pipeline_srv_msgs" "vino_param_lib" @@ -176,9 +167,6 @@ ament_target_dependencies(composable_pipeline "realsense2" ) rclcpp_components_register_nodes(composable_pipeline "ComposablePipeline") -#set(node_plugins "") -#set(node_plugins "${node_plugins}ComposablePipeline;$\n") - add_executable(image_object_server src/image_object_server.cpp @@ -194,7 +182,7 @@ ament_target_dependencies(image_object_server "ament_index_cpp" "class_loader" "dynamic_vino_lib" - "InferenceEngine" + "OpenVINO" "people_msgs" "pipeline_srv_msgs" "vino_param_lib" @@ -215,7 +203,7 @@ ament_target_dependencies(image_people_server "ament_index_cpp" "class_loader" "dynamic_vino_lib" - "InferenceEngine" + "OpenVINO" "people_msgs" "pipeline_srv_msgs" "vino_param_lib" @@ -236,7 +224,7 @@ ament_target_dependencies(image_object_client "ament_index_cpp" "class_loader" "dynamic_vino_lib" - "InferenceEngine" + "OpenVINO" "people_msgs" "pipeline_srv_msgs" "vino_param_lib" @@ -257,7 +245,7 @@ ament_target_dependencies(image_people_client "ament_index_cpp" "class_loader" "dynamic_vino_lib" - "InferenceEngine" + "OpenVINO" "people_msgs" "pipeline_srv_msgs" "vino_param_lib" diff --git a/sample/launch/pipeline_image.launch.py b/sample/launch/pipeline_image.launch.py index 8b272141..4aa1c41a 100644 --- a/sample/launch/pipeline_image.launch.py +++ b/sample/launch/pipeline_image.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/people/faces', diff --git a/sample/launch/pipeline_object.launch.py b/sample/launch/pipeline_object.launch.py index fd9aaafb..c61ac818 100644 --- a/sample/launch/pipeline_object.launch.py +++ b/sample/launch/pipeline_object.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/object/detected_objects', @@ -44,8 +43,4 @@ def generate_launch_description(): '/ros2_openvino_toolkit/image_rviz')], output='screen'), - # Rviz - #launch_ros.actions.Node( - # package='rviz2', node_executable='rviz2', output='screen', - # arguments=['--display-config', default_rviz]), ]) diff --git a/sample/launch/pipeline_object_topic.launch.py b/sample/launch/pipeline_object_topic.launch.py index cac7cc28..aca2810b 100644 --- a/sample/launch/pipeline_object_topic.launch.py +++ b/sample/launch/pipeline_object_topic.launch.py @@ -34,15 +34,11 @@ def generate_launch_description(): # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. - #launch_ros.actions.Node( - # package='realsense_ros2_camera', node_executable='realsense_ros2_camera', - # output='screen'), # Openvino detection launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/sample/launch/pipeline_object_yolo.launch.py b/sample/launch/pipeline_object_yolo.launch.py index a4bbd01d..0cd67db9 100644 --- a/sample/launch/pipeline_object_yolo.launch.py +++ b/sample/launch/pipeline_object_yolo.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/sample/launch/pipeline_object_yolo_topic.launch.py b/sample/launch/pipeline_object_yolo_topic.launch.py index 7f6c0d22..28ec64ed 100644 --- a/sample/launch/pipeline_object_yolo_topic.launch.py +++ b/sample/launch/pipeline_object_yolo_topic.launch.py @@ -34,15 +34,11 @@ def generate_launch_description(): # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. - #launch_ros.actions.Node( - # package='realsense_ros2_camera', node_executable='realsense_ros2_camera', - # output='screen'), # Openvino detection launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), diff --git a/sample/launch/pipeline_people.launch.py b/sample/launch/pipeline_people.launch.py index 3c10c216..b1c9e213 100644 --- a/sample/launch/pipeline_people.launch.py +++ b/sample/launch/pipeline_people.launch.py @@ -37,7 +37,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/sample/launch/pipeline_people_ip.launch.py b/sample/launch/pipeline_people_ip.launch.py index 2cd41a3b..8f97e5d7 100644 --- a/sample/launch/pipeline_people_ip.launch.py +++ b/sample/launch/pipeline_people_ip.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/sample/launch/pipeline_person_attributes.launch.py b/sample/launch/pipeline_person_attributes.launch.py index ce6d6d50..467e7b07 100644 --- a/sample/launch/pipeline_person_attributes.launch.py +++ b/sample/launch/pipeline_person_attributes.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/sample/launch/pipeline_reidentification.launch.py b/sample/launch/pipeline_reidentification.launch.py index 630aa61c..591a6180 100644 --- a/sample/launch/pipeline_reidentification.launch.py +++ b/sample/launch/pipeline_reidentification.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/sample/launch/pipeline_segmentation.launch.py b/sample/launch/pipeline_segmentation.launch.py index 9b511f6a..8dee1812 100644 --- a/sample/launch/pipeline_segmentation.launch.py +++ b/sample/launch/pipeline_segmentation.launch.py @@ -34,15 +34,11 @@ def generate_launch_description(): # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. - #launch_ros.actions.Node( - # package='realsense_ros2_camera', node_executable='realsense_ros2_camera', - # output='screen'), # Openvino detection launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), diff --git a/sample/launch/pipeline_segmentation_image.launch.py b/sample/launch/pipeline_segmentation_image.launch.py index bf460736..81e5bea0 100644 --- a/sample/launch/pipeline_segmentation_image.launch.py +++ b/sample/launch/pipeline_segmentation_image.launch.py @@ -34,15 +34,11 @@ def generate_launch_description(): # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. - #launch_ros.actions.Node( - # package='realsense_ros2_camera', node_executable='realsense_ros2_camera', - # output='screen'), # Openvino detection launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), diff --git a/sample/launch/pipeline_vehicle_detection.launch.py b/sample/launch/pipeline_vehicle_detection.launch.py index 56cb722d..1cfd6899 100644 --- a/sample/launch/pipeline_vehicle_detection.launch.py +++ b/sample/launch/pipeline_vehicle_detection.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/object/detected_license_plates', diff --git a/sample/launch/pipeline_video.launch.py b/sample/launch/pipeline_video.launch.py index a232fee9..5ace9324 100644 --- a/sample/launch/pipeline_video.launch.py +++ b/sample/launch/pipeline_video.launch.py @@ -35,7 +35,6 @@ def generate_launch_description(): launch_ros.actions.Node( package='dynamic_vino_sample', executable='pipeline_with_params', - #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ ('/openvino_toolkit/segmentation/segmented_obejcts', diff --git a/sample/src/image_object_server.cpp b/sample/src/image_object_server.cpp index 9b28edb5..45b5c019 100644 --- a/sample/src/image_object_server.cpp +++ b/sample/src/image_object_server.cpp @@ -24,7 +24,7 @@ #include "dynamic_vino_lib/slog.hpp" #include "dynamic_vino_lib/inputs/base_input.hpp" #include "dynamic_vino_lib/inputs/image_input.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif diff --git a/sample/src/image_people_server.cpp b/sample/src/image_people_server.cpp index c8e0ced8..ca017849 100644 --- a/sample/src/image_people_server.cpp +++ b/sample/src/image_people_server.cpp @@ -25,7 +25,7 @@ #include "dynamic_vino_lib/slog.hpp" #include "dynamic_vino_lib/inputs/base_input.hpp" #include "dynamic_vino_lib/inputs/image_input.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif diff --git a/sample/src/pipeline_composite.cpp b/sample/src/pipeline_composite.cpp index 227c57ab..f895fc33 100644 --- a/sample/src/pipeline_composite.cpp +++ b/sample/src/pipeline_composite.cpp @@ -43,7 +43,7 @@ #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" //#include "utility.hpp" @@ -85,13 +85,11 @@ class ComposablePipeline : public rclcpp::Node } std::shared_ptr node_handler(this); - // auto createPipeline = PipelineManager::getInstance().createPipeline; for (auto & p : pipelines) { PipelineManager::getInstance().createPipeline(p, node_handler); } PipelineManager::getInstance().runAll(); - //PipelineManager::getInstance().joinAll(); } std::string getConfigPath() diff --git a/sample/src/pipeline_with_params.cpp b/sample/src/pipeline_with_params.cpp index 7bfa8ca8..8f662be6 100644 --- a/sample/src/pipeline_with_params.cpp +++ b/sample/src/pipeline_with_params.cpp @@ -44,7 +44,7 @@ #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" #include "utility.hpp" @@ -70,7 +70,7 @@ int main(int argc, char * argv[]) //signal(SIGINT, signalHandler); try { - std::cout << "InferenceEngine: " << InferenceEngine::GetInferenceEngineVersion() << std::endl; + std::cout << "OpenVINO: " << ov::get_openvino_version() << std::endl; // ----- Parsing and validation of input args----------------------- std::string config = getConfigPath(argc, argv); @@ -86,7 +86,6 @@ int main(int argc, char * argv[]) if (pipelines.size() < 1) { throw std::logic_error("Pipeline parameters should be set!"); } - // auto createPipeline = PipelineManager::getInstance().createPipeline; for (auto & p : pipelines) { PipelineManager::getInstance().createPipeline(p, main_node); } diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 59509625..88344197 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -25,11 +25,11 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") #################################### -message(STATUS "Looking for inference engine configuration file at: ${CMAKE_PREFIX_PATH}") -find_package(InferenceEngine) -if(NOT InferenceEngine_FOUND) +find_package(OpenVINO) +if(NOT OpenVINO_FOUND) message(FATAL_ERROR "") endif() +set(OpenVINO_LIBRARIES openvino::runtime) # Find OpenCV libray if exists find_package(OpenCV REQUIRED) @@ -119,10 +119,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -Wno-deprecated-de include_directories( ${CMAKE_CURRENT_SOURCE_DIR}/common/format_reader ${CMAKE_CURRENT_SOURCE_DIR}/include - ${InferenceEngine_INCLUDE_DIRS} - ${InferenceEngine_INCLUDE_DIRS}/../samples - ${InferenceEngine_INCLUDE_DIRS}/../samples/extention - ${InferenceEngine_INCLUDE_DIRS}/../src + ${OpenVINO_DIRS} ${realsense2_INCLUDE_DIRS} ) @@ -151,13 +148,13 @@ if(BUILD_TESTING) "object_msgs" "people_msgs" "pipeline_srv_msgs" - "InferenceEngine" - "OpenCV" - "realsense2" + "OpenVINO" + "OpenCV" + "realsense2" "ament_index_cpp" "yaml_cpp_vendor" "class_loader" - "dynamic_vino_lib") + "dynamic_vino_lib") endif() endmacro() diff --git a/tests/src/topic/unittest_faceDetectionCheck.cpp b/tests/src/topic/unittest_faceDetectionCheck.cpp index 95fc2118..3a987c77 100644 --- a/tests/src/topic/unittest_faceDetectionCheck.cpp +++ b/tests/src/topic/unittest_faceDetectionCheck.cpp @@ -40,7 +40,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" diff --git a/tests/src/topic/unittest_face_reidentification.cpp b/tests/src/topic/unittest_face_reidentification.cpp index 395e1bb4..d2aa01a3 100644 --- a/tests/src/topic/unittest_face_reidentification.cpp +++ b/tests/src/topic/unittest_face_reidentification.cpp @@ -39,7 +39,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" diff --git a/tests/src/topic/unittest_imageCheck.cpp b/tests/src/topic/unittest_imageCheck.cpp index 7f4a333a..9959887d 100644 --- a/tests/src/topic/unittest_imageCheck.cpp +++ b/tests/src/topic/unittest_imageCheck.cpp @@ -40,7 +40,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" diff --git a/tests/src/topic/unittest_objectDetectionCheck.cpp b/tests/src/topic/unittest_objectDetectionCheck.cpp index ad5facf2..4a610e1f 100644 --- a/tests/src/topic/unittest_objectDetectionCheck.cpp +++ b/tests/src/topic/unittest_objectDetectionCheck.cpp @@ -35,7 +35,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" diff --git a/tests/src/topic/unittest_reidentification.cpp b/tests/src/topic/unittest_reidentification.cpp index 05c10b11..5fb79813 100644 --- a/tests/src/topic/unittest_reidentification.cpp +++ b/tests/src/topic/unittest_reidentification.cpp @@ -37,7 +37,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" diff --git a/tests/src/topic/unittest_segmentationCheck.cpp b/tests/src/topic/unittest_segmentationCheck.cpp index 52d6e278..a97053b0 100644 --- a/tests/src/topic/unittest_segmentationCheck.cpp +++ b/tests/src/topic/unittest_segmentationCheck.cpp @@ -36,7 +36,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" diff --git a/tests/src/topic/unittest_vehicleDetectionCheck.cpp b/tests/src/topic/unittest_vehicleDetectionCheck.cpp index e325ba31..670e111d 100644 --- a/tests/src/topic/unittest_vehicleDetectionCheck.cpp +++ b/tests/src/topic/unittest_vehicleDetectionCheck.cpp @@ -39,7 +39,7 @@ #include "dynamic_vino_lib/pipeline.hpp" #include "dynamic_vino_lib/pipeline_manager.hpp" #include "dynamic_vino_lib/slog.hpp" -#include "inference_engine.hpp" +#include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" From 3f3a62af15a69132419ab6e41f9eb2149f306e20 Mon Sep 17 00:00:00 2001 From: Chloe Wu Date: Tue, 6 Dec 2022 15:29:37 +0800 Subject: [PATCH 05/40] add dockerfile and instruction (#247) * add dockerfile and instruction * add build arg of proxy * add model lists for omz tools and fix instruction * add lsb param and declare support version * remove opencv4.5.5 install --- data/model_list/convert_model.lst | 5 ++ data/model_list/download_model.lst | 17 ++++ docker/Dockerfile | 70 +++++++++++++++ docker/docker_instructions_ov2.0.md | 133 ++++++++++++++++++++++++++++ 4 files changed, 225 insertions(+) create mode 100644 data/model_list/convert_model.lst create mode 100644 data/model_list/download_model.lst create mode 100644 docker/Dockerfile create mode 100644 docker/docker_instructions_ov2.0.md diff --git a/data/model_list/convert_model.lst b/data/model_list/convert_model.lst new file mode 100644 index 00000000..0cfc7f5b --- /dev/null +++ b/data/model_list/convert_model.lst @@ -0,0 +1,5 @@ +# This file can be used with the --list option of the model converter. +mobilenet-ssd +deeplabv3 +mask_rcnn_inception_resnet_v2_atrous_coco + diff --git a/data/model_list/download_model.lst b/data/model_list/download_model.lst new file mode 100644 index 00000000..965a7a66 --- /dev/null +++ b/data/model_list/download_model.lst @@ -0,0 +1,17 @@ +# This file can be used with the --list option of the model downloader. +face-detection-adas-0001 +age-gender-recognition-retail-0013 +emotions-recognition-retail-0003 +landmarks-regression-retail-0009 +license-plate-recognition-barrier-0001 +person-detection-retail-0013 +person-attributes-recognition-crossroad-0230 +person-reidentification-retail-0277 +vehicle-attributes-recognition-barrier-0039 +vehicle-license-plate-detection-barrier-0106 +head-pose-estimation-adas-0001 +human-pose-estimation-0001 +semantic-segmentation-adas-0001 +mobilenet-ssd +deeplabv3 + diff --git a/docker/Dockerfile b/docker/Dockerfile new file mode 100644 index 00000000..6f04c23d --- /dev/null +++ b/docker/Dockerfile @@ -0,0 +1,70 @@ +# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80 + +ARG ROS_VERSION +FROM osrf/ros:${ROS_VERSION} +ARG VERSION + +# setting proxy env --option +# If needed, enable the below ENV setting by correct proxies. +# ENV HTTP_PROXY="your_proxy" +# ENV HTTPS_PROXY="your_proxy" +# ENV FTP_PROXY="your_proxy" + +LABEL maintainer="Jiawei Wu " + +SHELL ["/bin/bash", "-c"] + +# ignore the warning +ARG DEBIAN_FRONTEND=noninteractive +ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 +RUN apt-get update && apt-get install --assume-yes apt-utils + +# install openvino 2022.1 +# https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_apt.html +RUN apt update && apt install --assume-yes curl gnupg2 lsb-release +RUN curl -s https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB |apt-key add - +RUN echo "deb https://apt.repos.intel.com/openvino/2022 $(lsb_release -cs) main" |tee /etc/apt/sources.list.d/intel-openvino-2022.list +RUN apt update && apt-cache search openvino-2022.1.0 +RUN apt install --assume-yes openvino-2022.1.0 +RUN ls -lh /opt/intel/openvino_2022 +RUN source /opt/intel/openvino_2022/setupvars.sh + +# install librealsense2 +RUN apt-get install -y --no-install-recommends \ +software-properties-common +# https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md +# Make sure you set http-proxy in below commands if your environment needs. +# RUN apt-key adv --keyserver-options http-proxy=your_proxy --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options http-proxy=your_proxy --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ +&& apt-get install -y --no-install-recommends \ +librealsense2-dkms \ +librealsense2-utils \ +librealsense2-dev \ +librealsense2-dbg \ +libgflags-dev \ +libboost-all-dev \ +&& rm -rf /var/lib/apt/lists/* + +# other dependencies +RUN apt-get update && apt-get install -y python3-pip && python3 -m pip install -U \ +numpy \ +networkx \ +pyyaml \ +requests \ +&& apt-get install -y --no-install-recommends libboost-all-dev +WORKDIR /usr/lib/x86_64-linux-gnu +RUN ln -sf libboost_python-py36.so libboost_python37.so + +# build ros2 openvino toolkit +WORKDIR /root +RUN mkdir -p catkin_ws/src +WORKDIR /root/catkin_ws/src +RUN git clone https://github.com/intel/ros2_object_msgs.git +RUN git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git +RUN git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git +RUN git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git +RUN apt-get install ros-${VERSION}-diagnostic-updater +WORKDIR /root/catkin_ws +RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release + diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md new file mode 100644 index 00000000..0fa45a92 --- /dev/null +++ b/docker/docker_instructions_ov2.0.md @@ -0,0 +1,133 @@ +# Run Docker Images For ROS2_OpenVINO_Toolkit + +**NOTE:** +Below steps have been tested on **Ubuntu 20.04**. +Supported ROS2 versions include foxy and galactic. + +## 1. Environment Setup +* Install docker ([guide](https://docs.docker.com/engine/install/ubuntu/)) + +## 2. Build docker image by dockerfile +``` +cd ~/ros2_openvino_toolkit/docker/Dockerfile +vi ~/ros2_openvino_toolkit/docker/Dockerfile +docker build --build-arg ROS_VERSION= --build-arg VERSION= --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 . +``` +For example: +* Build image for ros_galactic +``` +cd ~/ros2_openvino_toolkit/docker/Dockerfile +vi ~/ros2_openvino_toolkit/docker/Dockerfile +docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 . +``` +* Build image for ros_foxy +``` +cd ~/ros2_openvino_toolkit/docker/Dockerfile +vi ~/ros2_openvino_toolkit/docker/Dockerfile +docker build --build-arg ROS_VERSION=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 . +``` + +## 3. Download and load docker image +* Download docker image +``` + # ros2_openvino_202201 for demo + cd ~/Downloads/ + wget +``` +* Load docker image +``` +cd ~/Downloads/ +docker load -i +docker images +// (show in the list) +``` + +## 4. Running the Demos +* Install dependency +``` + sudo apt install x11-xserver-utils + xhost + +``` +* Run docker image +``` + docker images + docker run -itd  -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev  --privileged=true --name +``` +* In Docker Container + +* Preparation +``` +source /opt/intel/openvino_2022/setupvars.sh +source /opt/ros//setup.bash +cd ~/catkin_ws +source ./install/local_setup.bash +``` + +* See all available models +OMZ tools are provided for downloading and converting OMZ models in ov2022.([guide](https://pypi.org/project/openvino-dev/)) + +``` +omz_downloader --print_all +``` + +* Download the optimized Intermediate Representation (IR) of model (execute once), for example: +``` +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list +omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ +``` + +* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to intermediate representation (such as the model for object detection): +``` +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list +omz_converter --list convert_model.lst -o /opt/openvino_toolkit/models/convert +``` +* Copy label files (execute once) +**Note**:Need to make label_dirs if skip steps for set output_dirs above. +``` +sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/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/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/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/intel/semantic-segmentation-adas-0001/FP32/ +sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/ +sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32 +``` + +* 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* + From 526c61b6931427879ade2d48f50620b745c6fdf7 Mon Sep 17 00:00:00 2001 From: Chloe Wu Date: Tue, 6 Dec 2022 15:31:18 +0800 Subject: [PATCH 06/40] Add the pipeline of segmentation_maskrcnn (#249) * upgrade maskrcnn * add maskrcnn segmentation * add output * fix class name * fix pipeline manager and output * fix segmentation pipeline --- dynamic_vino_lib/CMakeLists.txt | 2 + .../object_segmentation_maskrcnn.hpp | 146 +++++++++++ .../object_segmentation_maskrcnn_model.hpp | 61 +++++ .../dynamic_vino_lib/outputs/base_output.hpp | 7 + .../outputs/image_window_output.hpp | 7 + .../outputs/ros_topic_output.hpp | 6 + .../dynamic_vino_lib/outputs/rviz_output.hpp | 6 + .../dynamic_vino_lib/pipeline_manager.hpp | 2 + .../dynamic_vino_lib/pipeline_params.hpp | 1 + .../src/inferences/object_segmentation.cpp | 7 - .../object_segmentation_maskrcnn.cpp | 238 ++++++++++++++++++ .../object_segmentation_maskrcnn_model.cpp | 229 +++++++++++++++++ .../src/models/object_segmentation_model.cpp | 3 +- .../src/outputs/image_window_output.cpp | 83 +++++- .../src/outputs/ros_topic_output.cpp | 23 ++ dynamic_vino_lib/src/outputs/rviz_output.cpp | 6 + dynamic_vino_lib/src/pipeline_manager.cpp | 20 ++ .../pipeline_segmentation_maskrcnn.launch.py | 55 ++++ .../param/pipeline_segmentation_maskrcnn.yaml | 24 ++ 19 files changed, 912 insertions(+), 14 deletions(-) create mode 100644 dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp create mode 100644 dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp create mode 100644 dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp create mode 100644 dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp create mode 100644 sample/launch/pipeline_segmentation_maskrcnn.launch.py create mode 100644 sample/param/pipeline_segmentation_maskrcnn.yaml diff --git a/dynamic_vino_lib/CMakeLists.txt b/dynamic_vino_lib/CMakeLists.txt index 719a4246..6e893116 100644 --- a/dynamic_vino_lib/CMakeLists.txt +++ b/dynamic_vino_lib/CMakeLists.txt @@ -189,6 +189,7 @@ add_library(${PROJECT_NAME} SHARED src/inferences/object_detection.cpp src/inferences/head_pose_detection.cpp src/inferences/object_segmentation.cpp + src/inferences/object_segmentation_maskrcnn.cpp src/inferences/person_reidentification.cpp src/inferences/person_attribs_detection.cpp #src/inferences/landmarks_detection.cpp @@ -208,6 +209,7 @@ add_library(${PROJECT_NAME} SHARED src/models/face_detection_model.cpp src/models/head_pose_detection_model.cpp src/models/object_segmentation_model.cpp + src/models/object_segmentation_maskrcnn_model.cpp src/models/person_reidentification_model.cpp src/models/person_attribs_detection_model.cpp #src/models/landmarks_detection_model.cpp diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp new file mode 100644 index 00000000..11dbb044 --- /dev/null +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp @@ -0,0 +1,146 @@ +// Copyright (c) 2018 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief A header file with declaration for ObjectSegmentation Class + * @file object_detection.hpp + */ +#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ +#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ +#include +#include +#include +#include +#include +#include +#include +#include "dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp" +#include "dynamic_vino_lib/engines/engine.hpp" +#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino/openvino.hpp" +#include "opencv2/opencv.hpp" +// namespace +namespace dynamic_vino_lib +{ +/** + * @class ObjectSegmentationMaskrcnnResult + * @brief Class for storing and processing object segmentation result. + */ +class ObjectSegmentationMaskrcnnResult : public Result +{ +public: + friend class ObjectSegmentationMaskrcnn; + explicit ObjectSegmentationMaskrcnnResult(const cv::Rect & location); + std::string getLabel() const + { + return label_; + } + /** + * @brief Get the confidence that the detected area is a face. + * @return The confidence value. + */ + float getConfidence() const + { + return confidence_; + } + cv::Mat getMask() const + { + return mask_; + } + +private: + std::string label_ = ""; + float confidence_ = -1; + cv::Mat mask_; +}; +/** + * @class ObjectSegmentation + * @brief Class to load object segmentation model and perform object segmentation. + */ +class ObjectSegmentationMaskrcnn : public BaseInference +{ +public: + using Result = dynamic_vino_lib::ObjectSegmentationMaskrcnnResult; + explicit ObjectSegmentationMaskrcnn(double); + ~ObjectSegmentationMaskrcnn() override; + /** + * @brief Load the object segmentation model. + */ + void loadNetwork(std::shared_ptr); + /** + * @brief Enqueue a frame to this class. + * The frame will be buffered but not infered yet. + * @param[in] frame The frame to be enqueued. + * @param[in] input_frame_loc The location of the enqueued frame with respect + * to the frame generated by the input device. + * @return Whether this operation is successful. + */ + bool enqueue(const cv::Mat &, const cv::Rect &) override; + + //Deprecated!! + bool enqueue_for_one_input(const cv::Mat &, const cv::Rect &); + + /** + * @brief Start inference for all buffered frames. + * @return Whether this operation is successful. + */ + bool submitRequest() override; + /** + * @brief This function will fetch the results of the previous inference and + * stores the results in a result buffer array. All buffered frames will be + * cleared. + * @return Whether the Inference object fetches a result this time + */ + bool fetchResults() override; + /** + * @brief Get the length of the buffer result array. + * @return The length of the buffer result array. + */ + int getResultsLength() const override; + /** + * @brief Get the location of result with respect + * to the frame generated by the input device. + * @param[in] idx The index of the result. + */ + const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + /** + * @brief Show the observed detection result either through image window + or ROS topic. + */ + void observeOutput(const std::shared_ptr & output); + /** + * @brief Get the name of the Inference instance. + * @return The name of the Inference instance. + */ + const std::string getName() const override; + const std::vector getFilteredROIs( + const std::string filter_conditions) const override; + +private: + std::shared_ptr valid_model_; + std::vector results_; + int width_ = 0; + int height_ = 0; + double show_output_thresh_ = 0; + + std::vector colors_ = { + {128, 64, 128}, {232, 35, 244}, {70, 70, 70}, {156, 102, 102}, {153, 153, 190}, + {153, 153, 153}, {30, 170, 250}, {0, 220, 220}, {35, 142, 107}, {152, 251, 152}, + {180, 130, 70}, {60, 20, 220}, {0, 0, 255}, {142, 0, 0}, {70, 0, 0}, + {100, 60, 0}, {90, 0, 0}, {230, 0, 0}, {32, 11, 119}, {0, 74, 111}, + {81, 0, 81} + }; +}; +} // namespace dynamic_vino_lib +#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp new file mode 100644 index 00000000..81d45bc5 --- /dev/null +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp @@ -0,0 +1,61 @@ +// Copyright (c) 2018 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +/** + * @brief A header file with declaration for ObjectSegmentationMaskrcnnModel Class + * @file face_detection_model.h + */ +#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#include +#include +#include "dynamic_vino_lib/models/base_model.hpp" +namespace Models +{ +/** + * @class ObjectSegmentationMaskrcnnModel + * @brief This class generates the object segmentation model. + */ +class ObjectSegmentationMaskrcnnModel : public BaseModel +{ +public: + ObjectSegmentationMaskrcnnModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + inline int getMaxProposalCount() const + { + return max_proposal_count_; + } + inline int getObjectSize() const + { + return object_size_; + } + + bool enqueue(const std::shared_ptr & ,const cv::Mat &, + const cv::Rect & ) override; + + bool matToBlob( + const cv::Mat & , const cv::Rect &, float , + int , const std::shared_ptr & ); + + /** + * @brief Get the name of this segmentation model. + * @return Name of the model. + */ + const std::string getModelCategory() const override; + bool updateLayerProperty(std::shared_ptr&) override; + +private: + int max_proposal_count_; + int object_size_; +}; +} // namespace Models +#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp index 7d25944c..3bae23c2 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp @@ -50,6 +50,7 @@ #include "dynamic_vino_lib/inferences/face_reidentification.hpp" #include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" #include "dynamic_vino_lib/inferences/license_plate_detection.hpp" +#include "dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp" #include "opencv2/opencv.hpp" class Pipeline; @@ -108,6 +109,12 @@ class BaseOutput virtual void accept(const std::vector &) { } + /** + * @brief Generate output content according to the object segmentation maskrcnn result. + */ + virtual void accept(const std::vector &) + { + } /** * @brief Generate output content according to the object detection result. */ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp index e34950af..9ea76ef5 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp @@ -98,6 +98,12 @@ class ImageWindowOutput : public BaseOutput * @param[in] An obejct segmentation result objetc. */ void accept(const std::vector &) override; + /** + * @brief Generate image window output content according to + * the object segmentation maskrcnn result. + * @param[in] An obejct segmentation result objetc. + */ + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the face detection result. @@ -145,6 +151,7 @@ class ImageWindowOutput : public BaseOutput cv::Mat getRotationTransform(double yaw, double pitch, double roll); void mergeMask(const std::vector &); + void mergeMask(const std::vector &); struct OutputData { diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp index c102e44e..cbfaf9d3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp @@ -114,6 +114,12 @@ class RosTopicOutput : public BaseOutput * @param[in] results a bundle of object segmentation results. */ void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object segmentation result. + * @param[in] results a bundle of object segmentation maskrcnn results. + */ + void accept(const std::vector &) override; /** * @brief Generate ros topic infomation according to * the object detection result. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp index 359f8313..54e7e3ec 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp @@ -91,6 +91,12 @@ class RvizOutput : public BaseOutput * @param[in] results A bundle of object segmentation results. */ void accept(const std::vector &) override; + /** + * @brief Generate rviz output content according to + * the object segmentation result. + * @param[in] results A bundle of object segmentation maskrcnn results. + */ + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the emotion detection result. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp index 52016c24..3c464684 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp @@ -125,6 +125,8 @@ class PipelineManager std::shared_ptr createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer); std::shared_ptr + createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer); + std::shared_ptr createPersonReidentification(const Params::ParamManager::InferenceRawData & infer); std::shared_ptr createPersonAttribsDetection(const Params::ParamManager::InferenceRawData & infer); diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp index 9de08354..ff833276 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp @@ -53,6 +53,7 @@ const char kInferTpye_EmotionRecognition[] = "EmotionRecognition"; const char kInferTpye_HeadPoseEstimation[] = "HeadPoseEstimation"; const char kInferTpye_ObjectDetection[] = "ObjectDetection"; const char kInferTpye_ObjectSegmentation[] = "ObjectSegmentation"; +const char kInferTpye_ObjectSegmentationMaskrcnn[] = "ObjectSegmentationMaskrcnn"; const char kInferTpye_ObjectDetectionTypeSSD[] = "SSD"; const char kInferTpye_ObjectDetectionTypeYolov2[] = "yolov2"; const char kInferTpye_PersonReidentification[] = "PersonReidentification"; diff --git a/dynamic_vino_lib/src/inferences/object_segmentation.cpp b/dynamic_vino_lib/src/inferences/object_segmentation.cpp index a891b401..ba2a5610 100644 --- a/dynamic_vino_lib/src/inferences/object_segmentation.cpp +++ b/dynamic_vino_lib/src/inferences/object_segmentation.cpp @@ -123,13 +123,10 @@ bool dynamic_vino_lib::ObjectSegmentation::fetchResults() ov::InferRequest infer_request = getEngine()->getRequest(); slog::debug << "Analyzing Detection results..." << slog::endl; std::string detection_output = valid_model_->getOutputName("detection"); - std::string mask_output = valid_model_->getOutputName("masks"); ov::Tensor output_tensor = infer_request.get_tensor(detection_output); const auto out_data = output_tensor.data(); ov::Shape out_shape = output_tensor.get_shape(); - ov::Tensor masks_tensor = infer_request.get_tensor(detection_output.c_str()); - const auto masks_data = masks_tensor.data(); size_t output_w, output_h, output_des, output_extra = 0; if (out_shape.size() == 3) { output_w = out_shape[2]; @@ -236,9 +233,5 @@ const std::vector dynamic_vino_lib::ObjectSegmentation::getFilteredROI << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; - for (auto res : results_) - { - filtered_rois.push_back(res.getLocation()); - } return filtered_rois; } diff --git a/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp b/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp new file mode 100644 index 00000000..2858d42a --- /dev/null +++ b/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp @@ -0,0 +1,238 @@ +// Copyright (c) 2018 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief a header file with declaration of ObjectSegmentation class and + * ObjectSegmentationResult class + * @file object_segmentation.cpp + */ +#include +#include +#include +#include +#include + +#include +#include "dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp" +#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "dynamic_vino_lib/slog.hpp" + +// ObjectSegmentationResult +dynamic_vino_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect &location) + : Result(location) +{ +} + +// ObjectSegmentation +dynamic_vino_lib::ObjectSegmentationMaskrcnn::ObjectSegmentationMaskrcnn(double show_output_thresh) + : show_output_thresh_(show_output_thresh), dynamic_vino_lib::BaseInference() +{ +} + +dynamic_vino_lib::ObjectSegmentationMaskrcnn::~ObjectSegmentationMaskrcnn() = default; + +void dynamic_vino_lib::ObjectSegmentationMaskrcnn::loadNetwork( + const std::shared_ptr network) +{ + slog::info << "Loading Network: " << network->getModelCategory() << slog::endl; + valid_model_ = network; + setMaxBatchSize(network->getMaxBatchSize()); +} + +/** + * Deprecated! + * This function only support OpenVINO version <=2018R5 + */ +bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( + const cv::Mat &frame, + const cv::Rect &input_frame_loc) +{ + if (width_ == 0 && height_ == 0) + { + width_ = frame.cols; + height_ = frame.rows; + } + if (!dynamic_vino_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) + { + return false; + } + Result r(input_frame_loc); + results_.clear(); + results_.emplace_back(r); + return true; +} + +bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue( + const cv::Mat &frame, + const cv::Rect &input_frame_loc) +{ + if (width_ == 0 && height_ == 0) + { + width_ = frame.cols; + height_ = frame.rows; + } + + if (valid_model_ == nullptr || getEngine() == nullptr) + { + throw std::logic_error("Model or Engine is not set correctly!"); + return false; + } + + if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) + { + slog::warn << "Number of " << getName() << "input more than maximum(" << + max_batch_size_ << ") processed by inference" << slog::endl; + return false; + } + + if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) + { + return false; + } + + enqueued_frames_ += 1; + return true; +} + +bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::submitRequest() +{ + return dynamic_vino_lib::BaseInference::submitRequest(); +} + +bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::fetchResults() +{ + + bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + if (!can_fetch) + { + return false; + } + bool found_result = false; + results_.clear(); + ov::InferRequest infer_request = getEngine()->getRequest(); + slog::debug << "Analyzing Detection results..." << slog::endl; + std::string detection_output = valid_model_->getOutputName("detection"); + std::string mask_output = valid_model_->getOutputName("masks"); + slog::debug << "Detection_output=" << detection_output << ", Mask_output=" << mask_output << slog::endl; + + //get detection data + ov::Tensor do_tensor = infer_request.get_tensor(detection_output.c_str()); + const auto do_data = do_tensor.data(); + ov::Shape do_shape = do_tensor.get_shape(); + slog::debug << "Detection Blob getDims = " <(); + ov::Shape mask_shape = mask_tensor.get_shape(); + + // determine models + size_t box_description_size = do_shape.back(); + OPENVINO_ASSERT(mask_shape.size() == 4); + size_t box_num = mask_shape[0]; + size_t C = mask_shape[1]; + size_t H = mask_shape[2]; + size_t W = mask_shape[3]; + size_t box_stride = W * H * C; + slog::debug << "box_description is:" << box_description_size << slog::endl; + slog::debug << "box_num is:" << box_num<< slog::endl; + slog::debug << "C is:" << C << slog::endl; + slog::debug << "H is:" << H << slog::endl; + slog::debug << "W is:" << W << slog::endl; + + for (size_t box = 0; box < box_num; ++box) { + // box description: batch, label, prob, x1, y1, x2, y2 + float * box_info = do_data + box * box_description_size; + auto batch = static_cast(box_info[0]); + slog::debug << "batch =" << batch << slog::endl; + if (batch < 0) { + slog::warn << "Batch size should be greater than 0. [batch=" << batch <<"]." << slog::endl; + break; + } + float prob = box_info[2]; + if (prob > show_output_thresh_) { + float x1 = std::min(std::max(0.0f, box_info[3] * width_), static_cast(width_)); + float y1 = std::min(std::max(0.0f, box_info[4] * height_), static_cast(height_)); + float x2 = std::min(std::max(0.0f, box_info[5] * width_), static_cast(width_)); + float y2 = std::min(std::max(0.0f, box_info[6] * height_), static_cast(height_)); + int box_width = static_cast(x2 - x1); + int box_height = static_cast(y2 - y1); + slog::debug << "Box[" << box_width << "x" << box_height << "]" << slog::endl; + if (box_width <= 0 || box_height <=0) break; + int class_id = static_cast(box_info[1] + 1e-6f); + float * mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); + slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch + << ": [" << x1 << ", " << y1 << "], [" << x2 << ", " << y2 << "]" << slog::endl; + cv::Mat mask_mat(H, W, CV_32FC1, mask_arr); + cv::Rect roi = cv::Rect(static_cast(x1), static_cast(y1), box_width, box_height); + cv::Mat resized_mask_mat(box_height, box_width, CV_32FC1); + cv::resize(mask_mat, resized_mask_mat, cv::Size(box_width, box_height)); + Result result(roi); + result.confidence_ = prob; + std::vector & labels = valid_model_->getLabels(); + result.label_ = class_id < labels.size() ? labels[class_id] : + std::string("label #") + std::to_string(class_id); + result.mask_ = resized_mask_mat; + found_result = true; + slog::debug << "adding one segmentation Box ..." << slog::endl; + results_.emplace_back(result); + } + } + if (!found_result) { + slog::debug << "No Segmentation Result Found!" << slog::endl; + results_.clear(); + } + return true; +} + +int dynamic_vino_lib::ObjectSegmentationMaskrcnn::getResultsLength() const +{ + return static_cast(results_.size()); +} + +const dynamic_vino_lib::Result * +dynamic_vino_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const +{ + return &(results_[idx]); +} + +const std::string dynamic_vino_lib::ObjectSegmentationMaskrcnn::getName() const +{ + return valid_model_->getModelCategory(); +} + +void dynamic_vino_lib::ObjectSegmentationMaskrcnn::observeOutput( + const std::shared_ptr &output) +{ + if (output != nullptr) + { + output->accept(results_); + } +} + +const std::vector dynamic_vino_lib::ObjectSegmentationMaskrcnn::getFilteredROIs( + const std::string filter_conditions) const +{ + if (!filter_conditions.empty()) + { + slog::err << "Object segmentation does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; + } + std::vector filtered_rois; + for (auto res : results_) + { + filtered_rois.push_back(res.getLocation()); + } + return filtered_rois; +} diff --git a/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp b/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp new file mode 100644 index 00000000..5b8934f0 --- /dev/null +++ b/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp @@ -0,0 +1,229 @@ +// Copyright (c) 2018 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief a header file with declaration of ObjectSegmentationModel class + * @file object_segmentation_model.cpp + */ +#include +#include +#include +#include "dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp" +#include "dynamic_vino_lib/slog.hpp" +#include "dynamic_vino_lib/engines/engine.hpp" + +// Validated Object Segmentation Network +Models::ObjectSegmentationMaskrcnnModel::ObjectSegmentationMaskrcnnModel( + const std::string & label_loc, + const std::string & model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} + +bool Models::ObjectSegmentationMaskrcnnModel::enqueue( + const std::shared_ptr &engine, + const cv::Mat &frame, + const cv::Rect &input_frame_loc) +{ + if (engine == nullptr) + { + slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; + return false; + } + + for (const auto &inputInfoItem : inputs_info_) + { + // Fill first input tensor with images. First b channel, then g and r channels + auto dims = inputInfoItem.get_shape(); + slog::debug << "input tensor shape is:"<< dims.size() <getRequest().get_tensor(inputInfoItem); + auto data = in_tensor.data(); + data[0] = static_cast(frame.rows); // height + data[1] = static_cast(frame.cols); // width + data[2] = 1; + } + } + + return true; +} + +bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( + const cv::Mat &orig_image, const cv::Rect &, float scale_factor, + int batch_index, const std::shared_ptr &engine) +{ + (void)scale_factor; + (void)batch_index; + + if (engine == nullptr) + { + slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; + return false; + } + + ov::InferRequest infer_request = engine->getRequest(); + ov::Tensor input_tensor = infer_request.get_tensor(getInputName("input")); + ov::Shape input_shape = input_tensor.get_shape(); + + OPENVINO_ASSERT(input_shape.size() == 4); + // For frozen graph model: + const size_t width = input_shape[3]; + const size_t height = input_shape[2]; + const size_t channels = input_shape[1]; + + slog::debug <<"width is:"<< width << slog::endl; + slog::debug <<"height is:"<< height << slog::endl; + slog::debug <<"channels is:"<< channels << slog::endl; + slog::debug <<"origin channels is:"<< orig_image.channels() << slog::endl; + slog::debug <<"input shape is:"<< input_shape << slog::endl; + + if (static_cast(orig_image.channels()) != channels) { + throw std::runtime_error("The number of channels for net input and image must match"); + } + + const auto input_data = input_tensor.data(); + cv::Mat resized_image(orig_image); + if (static_cast(width) != orig_image.size().width || + static_cast(height) != orig_image.size().height) { + cv::resize(orig_image, resized_image, cv::Size(width, height)); + } + + int batchOffset = batch_index * width * height * channels; + if (channels == 1) { + for (size_t h = 0; h < height; h++) { + for (size_t w = 0; w < width; w++) { + input_data[batchOffset + h * width + w] = resized_image.at(h, w); + } + } + } else if (channels == 3) { + for (size_t c = 0; c < channels; c++) { + for (size_t h = 0; h < height; h++) { + for (size_t w = 0; w < width; w++) { + input_data[batchOffset + c * width * height + h * width + w] = + resized_image.at(h, w)[c]; + } + } + } + } else { + throw std::runtime_error("Unsupported number of channels"); + } + + return true; +} + +const std::string Models::ObjectSegmentationMaskrcnnModel::getModelCategory() const +{ + return "Object Segmentation"; +} + +bool Models::ObjectSegmentationMaskrcnnModel::updateLayerProperty( + std::shared_ptr& model) +{ + slog::info<< "Checking INPUTS for Model" <inputs(); + slog::debug<<"input size="<input("image_tensor").get_shape(); + slog::debug<<"image_tensor shape is:"<< input_shape.size() <input("image_info").get_shape(); + slog::debug<<"image_info shape is:"<< info_shape.size() <output("masks").get_shape(); + slog::debug<<"masks shape is:"<< mask_shape.size() <output("reshape_do_2d").get_shape(); + slog::debug<< "detection shape is:" << detection_shape.size() <& model) { slog::info<< "Checking INPUTS for Model" <inputs(); slog::debug<<"input size"< & results) { - const float alpha = 0.5f; - cv::Mat roi_img = frame_; - cv::Mat colored_mask = results[0].getMask(); - cv::resize(colored_mask,colored_mask,cv::Size(frame_.size().width,frame_.size().height)); - cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); + std::map class_color; + for (unsigned i = 0; i < results.size(); i++) { + std::string class_label = results[i].getLabel(); + if (class_color.find(class_label) == class_color.end()) { + class_color[class_label] = class_color.size(); + } + auto & color = colors_[class_color[class_label] % colors_.size() ]; + const float alpha = 0.7f; + const float MASK_THRESHOLD = 0.5; + + cv::Rect location = results[i].getLocation(); + cv::Mat roi_img = frame_(location); + cv::Mat mask = results[i].getMask(); + cv::Mat colored_mask(location.height, location.width, frame_.type(), + cv::Scalar(color[2], color[1], color[0]) ); + roi_img.copyTo(colored_mask, mask <= MASK_THRESHOLD); + +/** + for (int h = 0; h < mask.size().height; ++h) { + for (int w = 0; w < mask.size().width; ++w) { + for (int ch = 0; ch < colored_mask.channels(); ++ch) { + colored_mask.at(h, w)[ch] = mask.at(h, w) > MASK_THRESHOLD ? + 255 * color[ch] : + roi_img.at(h, w)[ch]; + } + } + } +*/ + cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); + } } void Outputs::ImageWindowOutput::accept( @@ -172,6 +197,54 @@ void Outputs::ImageWindowOutput::accept( mergeMask(results); } + + + + +void Outputs::ImageWindowOutput::mergeMask( + const std::vector & results) +{ + std::map class_color; + for (unsigned i = 0; i < results.size(); i++) { + std::string class_label = results[i].getLabel(); + if (class_color.find(class_label) == class_color.end()) { + class_color[class_label] = class_color.size(); + } + auto & color = colors_[class_color[class_label] % colors_.size() ]; + const float alpha = 0.7f; + const float MASK_THRESHOLD = 0.5; + + cv::Rect location = results[i].getLocation(); + cv::Mat roi_img = frame_(location); + cv::Mat mask = results[i].getMask(); + cv::Mat colored_mask(location.height, location.width, frame_.type(), + cv::Scalar(color[2], color[1], color[0]) ); + roi_img.copyTo(colored_mask, mask <= MASK_THRESHOLD); + cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); + } +} +void Outputs::ImageWindowOutput::accept( + const std::vector & results) +{ + for (unsigned i = 0; i < results.size(); i++) { + cv::Rect result_rect = results[i].getLocation(); + unsigned target_index = findOutput(result_rect); + outputs_[target_index].rect = result_rect; + auto fd_conf = results[i].getConfidence(); + if (fd_conf >= 0) { + std::ostringstream ostream; + ostream << "[" << std::fixed << std::setprecision(3) << fd_conf << "]"; + outputs_[target_index].desc += ostream.str(); + } + auto label = results[i].getLabel(); + outputs_[target_index].desc += "[" + label + "]"; + } + mergeMask(results); +} + + + + void Outputs::ImageWindowOutput::accept( const std::vector & results) { diff --git a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp b/dynamic_vino_lib/src/outputs/ros_topic_output.cpp index 6aa8a9ee..c041a64b 100644 --- a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp +++ b/dynamic_vino_lib/src/outputs/ros_topic_output.cpp @@ -206,6 +206,29 @@ void Outputs::RosTopicOutput::accept( } } +void Outputs::RosTopicOutput::accept( + const std::vector & results) +{ + segmented_objects_topic_ = std::make_shared(); + people_msgs::msg::ObjectInMask object; + for (auto & r : results) { + auto loc = r.getLocation(); + object.roi.x_offset = loc.x; + object.roi.y_offset = loc.y; + object.roi.width = loc.width; + object.roi.height = loc.height; + object.object_name = r.getLabel(); + object.probability = r.getConfidence(); + cv::Mat mask = r.getMask(); + for (int h = 0; h < mask.size().height; ++h) { + for (int w = 0; w < mask.size().width; ++w) { + object.mask_array.push_back(mask.at(h, w)); + } + } + segmented_objects_topic_->objects_vector.push_back(object); + } +} + void Outputs::RosTopicOutput::accept( const std::vector & results) { diff --git a/dynamic_vino_lib/src/outputs/rviz_output.cpp b/dynamic_vino_lib/src/outputs/rviz_output.cpp index a9778ccf..5a98273e 100644 --- a/dynamic_vino_lib/src/outputs/rviz_output.cpp +++ b/dynamic_vino_lib/src/outputs/rviz_output.cpp @@ -85,6 +85,12 @@ void Outputs::RvizOutput::accept( image_window_output_->accept(results); } +void Outputs::RvizOutput::accept( + const std::vector & results) +{ + image_window_output_->accept(results); +} + void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); diff --git a/dynamic_vino_lib/src/pipeline_manager.cpp b/dynamic_vino_lib/src/pipeline_manager.cpp index 74ef0d72..172a1f45 100644 --- a/dynamic_vino_lib/src/pipeline_manager.cpp +++ b/dynamic_vino_lib/src/pipeline_manager.cpp @@ -209,6 +209,8 @@ PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & pa object = createObjectDetection(infer); } else if (infer.name == kInferTpye_ObjectSegmentation) { object = createObjectSegmentation(infer); + } else if (infer.name == kInferTpye_ObjectSegmentationMaskrcnn) { + object = createObjectSegmentationMaskrcnn(infer); } else if (infer.name == kInferTpye_PersonReidentification) { object = createPersonReidentification(infer); } else if (infer.name == kInferTpye_PersonAttribsDetection) { @@ -330,6 +332,24 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR return segmentation_inference_ptr; } +std::shared_ptr +PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer) +{ + auto model = + std::make_shared(infer.label, infer.model, infer.batch); + model->modelInit(); + slog::info << "Segmentation model initialized." << slog::endl; + auto engine = engine_manager_.createEngine(infer.engine, model); + slog::info << "Segmentation Engine initialized." << slog::endl; + auto segmentation_inference_ptr = std::make_shared( + infer.confidence_threshold); + slog::info << "Segmentation Inference instanced." << slog::endl; + segmentation_inference_ptr->loadNetwork(model); + segmentation_inference_ptr->loadEngine(engine); + + return segmentation_inference_ptr; +} + std::shared_ptr PipelineManager::createPersonReidentification( const Params::ParamManager::InferenceRawData & infer) diff --git a/sample/launch/pipeline_segmentation_maskrcnn.launch.py b/sample/launch/pipeline_segmentation_maskrcnn.launch.py new file mode 100644 index 00000000..5ccd9c52 --- /dev/null +++ b/sample/launch/pipeline_segmentation_maskrcnn.launch.py @@ -0,0 +1,55 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #'pipeline_segmentation.yaml') + default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation_maskrcnn.yaml')), + # Realsense + # NOTE: Split realsense_node launching from OpenVINO package, which + # will be launched by RDK launching file or manually. + + # Openvino detection + launch_ros.actions.Node( + package='dynamic_vino_sample', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), + ('/openvino_toolkit/segmentation/segmented_obejcts', + '/ros2_openvino_toolkit/segmented_obejcts'), + ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + launch_ros.actions.Node( + package='rviz2', + executable='rviz2', output='screen', + arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/param/pipeline_segmentation_maskrcnn.yaml b/sample/param/pipeline_segmentation_maskrcnn.yaml new file mode 100644 index 00000000..667f6211 --- /dev/null +++ b/sample/param/pipeline_segmentation_maskrcnn.yaml @@ -0,0 +1,24 @@ +Pipelines: +- name: segmentation + inputs: [Video] + # input_path: /home/jiawei/test-seg-2022/src/ros2_openvino_toolkit/data/images/road-segmentation.png + input_path: /home/jiawei/openvino_test_video/sample-videos/car-detection.mp4 + infers: + - name: ObjectSegmentationMaskrcnn + model: /home/jiawei/mask_rcnn_inception_v2_coco_2018_01_28/OUT/frozen_inference_graph.xml + engine: CPU #"HETERO:CPU,GPU,MYRIAD" + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.5 + outputs: [ImageWindow, RosTopic, RViz] + connects: + - left: Video + right: [ObjectSegmentationMaskrcnn] + - left: ObjectSegmentationMaskrcnn + right: [ImageWindow] + - left: ObjectSegmentationMaskrcnn + right: [RosTopic] + - left: ObjectSegmentationMaskrcnn + right: [RViz] + +OpenvinoCommon: From 34034059341c6d48b8febd7715d1decaea229b14 Mon Sep 17 00:00:00 2001 From: Chloe Wu Date: Tue, 6 Dec 2022 15:32:37 +0800 Subject: [PATCH 07/40] Update ros2 doc for quick start (#248) * update ros2 doc for quick start * fix typo * fix yaml model path --- ...started_with_Galactic_Ubuntu20.04_ov2.0.md | 181 ------------------ .../getting_started_with_ros2_ov2.0.md | 132 +++++++++++++ sample/param/image_object_server.yaml | 5 +- sample/param/image_people_server.yaml | 14 +- sample/param/multi_pipleine_service.yaml | 4 +- .../pipeline_composite_object_topic.yaml | 2 +- .../param/pipeline_face_reidentification.yaml | 8 +- sample/param/pipeline_image.yaml | 16 +- sample/param/pipeline_image_video.yaml | 14 +- sample/param/pipeline_object.yaml | 2 +- sample/param/pipeline_object_topic.yaml | 2 +- sample/param/pipeline_people.yaml | 14 +- sample/param/pipeline_people_ip.yaml | 12 +- sample/param/pipeline_person_attributes.yaml | 4 +- sample/param/pipeline_reidentification.yaml | 4 +- sample/param/pipeline_segmentation.yaml | 2 +- sample/param/pipeline_segmentation_image.yaml | 4 +- sample/param/pipeline_vehicle_detection.yaml | 8 +- sample/param/pipeline_video.yaml | 4 +- .../param/image_object_service_test.yaml | 4 +- .../param/image_people_service_test.yaml | 14 +- .../testParam/param/pipeline_anormal.yaml | 4 +- .../param/pipeline_face_reid_video.yaml | 10 +- .../pipeline_face_reidentification_test.yaml | 8 +- .../testParam/param/pipeline_face_test.yaml | 14 +- .../testParam/param/pipeline_image_test.yaml | 14 +- .../testParam/param/pipeline_object_test.yaml | 2 +- .../param/pipeline_reidentification_test.yaml | 6 +- .../param/pipeline_segmentation_test.yaml | 2 +- .../pipeline_vehicle_detection_test.yaml | 10 +- tests/param/image_object_service_test.yaml | 4 +- tests/param/image_people_service_test.yaml | 14 +- tests/param/pipeline_anormal.yaml | 4 +- tests/param/pipeline_face_reid_video.yaml | 10 +- .../pipeline_face_reidentification_test.yaml | 8 +- tests/param/pipeline_face_test.yaml | 14 +- tests/param/pipeline_image_test.yaml | 14 +- tests/param/pipeline_object_test.yaml | 2 +- .../param/pipeline_reidentification_test.yaml | 6 +- tests/param/pipeline_segmentation_test.yaml | 2 +- .../pipeline_vehicle_detection_test.yaml | 10 +- 41 files changed, 280 insertions(+), 328 deletions(-) delete mode 100644 doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md create mode 100644 doc/quick_start/getting_started_with_ros2_ov2.0.md diff --git a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md b/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md deleted file mode 100644 index 1952e364..00000000 --- a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md +++ /dev/null @@ -1,181 +0,0 @@ -# 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: 2022.1 ([guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html)). - * Install from an achive file.([guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html)) - Tips: Both runtime and development tool are needed, `pip` is recommended for installing the development tool [guide](https://docs.openvino.ai/latest/openvino_docs_install_guides_install_dev_tools.html). - * Install from 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 -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 galactic -``` -* Install dependencies -``` -sudo apt-get install ros-galactic-diagnostic-updater -``` -* Build package -``` -source /opt/ros/galactic/setup.bash -source /setupvars.sh -cd ~/catkin_ws -colcon build --symlink-install -source ./install/local_setup.bash -``` - -## 3. Running the Demo -### Install OpenVINO 2022.1 by source code -* See all available models -``` -cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools -sudo python3 downloader.py --print_all -``` - -* Download the optimized Intermediate Representation (IR) of models (execute once), for example: -``` -cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools -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 the label file to model output_dir (execute once) - - **Note** Need to make label dirs if skip steps for set output dirs above. - ``` - mkdir -p /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/ - mkdir -p /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/ - mkdir -p /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/ - mkdir -p /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/ - mkdir -p /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/ - mkdir -p /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/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/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 (such as the model for object detection): - * mobilenet-ssd - ``` - cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools - sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output - cd ~/openvino/tools/mo/openvino/tools/mo - sudo python3 mo.py --input_model /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output - ``` - * deeplabv3 - ``` - cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools - sudo python3 downloader.py --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output - sudo python3 converter.py --name=deeplabv3 --mo ~/openvino/tools/mo/openvino/tools/mo.py - ``` - -### Install OpenVINO 2022.1 by PIP -* OMZ tools are provided for downloading and converting OMZ models in ov2022.([guide](https://pypi.org/project/openvino-dev/)) - -* See all available models -``` -omz_downloader --print_all -``` - -* Download the optimized Intermediate Representation (IR) of model (execute once), for example: -``` -omz_downloader --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output -omz_downloader --name age-gender-recognition-retail-0013 --output_dir /opt/openvino_toolkit/models/age-gender-recognition/output -omz_downloader --name emotions-recognition-retail-0003 --output_dir /opt/openvino_toolkit/models/emotions-recognition/output -omz_downloader --name head-pose-estimation-adas-0001 --output_dir /opt/openvino_toolkit/models/head-pose-estimation/output -omz_downloader --name person-detection-retail-0013 --output_dir /opt/openvino_toolkit/models/person-detection/output -omz_downloader --name person-reidentification-retail-0277 --output_dir /opt/openvino_toolkit/models/person-reidentification/output -omz_downloader --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output -omz_downloader --name semantic-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/semantic-segmentation/output -omz_downloader --name vehicle-license-plate-detection-barrier-0106 --output_dir /opt/openvino_toolkit/models/vehicle-license-plate-detection/output -omz_downloader --name vehicle-attributes-recognition-barrier-0039 --output_dir /opt/openvino_toolkit/models/vehicle-attributes-recognition/output -omz_downloader --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output -omz_downloader --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 (such as the model for object detection): - * mobilenet-ssd - ``` - omz_downloader --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output - omz_converter --name mobilenet-ssd -d /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output -o /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output/convert - ``` - * deeplabv3 - ``` - omz_downloader --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output - omz_converter --name deeplabv3 -d /opt/openvino_toolkit/models/deeplabv3/output -o /opt/openvino_toolkit/models/deeplabv3/output/convert - ``` - -* Please check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. - - * 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 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/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md new file mode 100644 index 00000000..54560cf5 --- /dev/null +++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md @@ -0,0 +1,132 @@ +# ROS2_OpenVINO_Toolkit + +**NOTE:** +Below steps have been tested on **Ubuntu 20.04** and **Ubuntu 22.04**. +Supported ROS2 versions include foxy,galactic and humble. + +## 1. Environment Setup +* For ROS2 foxy and galactic on ubuntu 20.04: + * Install ROS2. ([foxy_guide](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)) & ([galactic_guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)) + + * Install Intel® OpenVINO™ Toolkit Version: 2022.1. ([guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html)) + * Install from an achive file. Both runtime and development tool are needed, `pip` is recommended for installing the development tool. ([guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html)) + + * Install Intel® RealSense™ SDK. ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md)) + +* For ROS2 humble on ubuntu 22.04: + * Install ROS2. ([humble_guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)) + + * Install Intel® OpenVINO™ Toolkit Latest Version by Source. ([guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingCode)) + + * Install Intel® RealSense™ SDK by Source. ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.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 ros2 +git clone https://github.com/intel/ros2_object_msgs +git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development +git clone https://github.com/ros-perception/vision_opencv.git -b +``` +* Install dependencies +``` +sudo apt-get install ros--diagnostic-updater +sudo apt install python3-colcon-common-extensions +``` +* Build package +``` +source /opt/ros//setup.bash +source /setupvars.sh +cd ~/catkin_ws +colcon build --symlink-install +source ./install/local_setup.bash +``` + +## 3. Running the Demo +### Install OpenVINO 2022.1 by PIP +* OMZ tools are provided for downloading and converting models of open_model_zoo in ov2022.([guide](https://pypi.org/project/openvino-dev/)) + +* See all available models +``` +omz_downloader --print_all +``` + +* Download the optimized Intermediate Representation (IR) of model (execute once), for example: +``` +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list +omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ +``` + +* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to intermediate representation (such as the model for object detection): +``` +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list +omz_converter --list convert_model.lst -o /opt/openvino_toolkit/models/convert +``` +### Install OpenVINO 2022.1 by source code +* See all available models +``` +cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools +sudo python3 downloader.py --print_all +``` + +* Download the optimized Intermediate Representation (IR) of models (execute once), for example: +``` +cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools +sudo python3 downloader.py --list download_model.lst -o /opt/openvino_toolkit/models/ +``` + +* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to Intermediate Representation (such as the model for object detection): +``` +cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools +sudo python3 converter.py --list convert_model.lst -o /opt/openvino_toolkit/models/convert +``` + +* Copy label files (execute once) +**Note**:Need to make label_dirs if skip steps for set output_dirs above. +``` +sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/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/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/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/intel/semantic-segmentation-adas-0001/FP32/ +sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/ +sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32 +``` + +* Please check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. + + * 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 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/sample/param/image_object_server.yaml b/sample/param/image_object_server.yaml index 030cb841..19c7bb48 100644 --- a/sample/param/image_object_server.yaml +++ b/sample/param/image_object_server.yaml @@ -1,9 +1,10 @@ Pipelines: - name: object inputs: [Image] + input_path: to/be/set/image_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU label: to/be/set/xxx.labels batch: 1 @@ -15,6 +16,6 @@ Pipelines: right: [ObjectDetection] - left: ObjectDetection right: [RosService] - input_path: "/home/intel/Pictures/car.png" + Common: diff --git a/sample/param/image_people_server.yaml b/sample/param/image_people_server.yaml index 578ec311..21e2a2de 100644 --- a/sample/param/image_people_server.yaml +++ b/sample/param/image_people_server.yaml @@ -1,26 +1,27 @@ Pipelines: - name: people inputs: [Image] + input_path: to/be/set/image_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml engine: CPU - label: /to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 @@ -36,6 +37,5 @@ Pipelines: right: [RosService, RViz] - left: HeadPoseEstimation right: [RosService, RViz] - input_path: "~/Pictures/face.jpeg" Common: diff --git a/sample/param/multi_pipleine_service.yaml b/sample/param/multi_pipleine_service.yaml index 2a55d57c..0220ae11 100644 --- a/sample/param/multi_pipleine_service.yaml +++ b/sample/param/multi_pipleine_service.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [StandardCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU label: to/be/set/xxx.labels batch: 1 @@ -24,7 +24,7 @@ Pipelines: inputs: [RealSenseCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_composite_object_topic.yaml b/sample/param/pipeline_composite_object_topic.yaml index 58e6bbf7..61c4d6f2 100644 --- a/sample/param/pipeline_composite_object_topic.yaml +++ b/sample/param/pipeline_composite_object_topic.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [RealSenseCameraTopic] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/public/ssd_mobilenet_v2_coco/FP16/ssd_mobilenet_v2_coco.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU #MYRIAD label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_face_reidentification.yaml b/sample/param/pipeline_face_reidentification.yaml index 08c5bef2..c2cd0f5a 100644 --- a/sample/param/pipeline_face_reidentification.yaml +++ b/sample/param/pipeline_face_reidentification.yaml @@ -3,19 +3,19 @@ Pipelines: inputs: [RealSenseCamera] infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: LandmarksDetection - model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml + model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: FaceReidentification - model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml + model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_image.yaml b/sample/param/pipeline_image.yaml index c2d1cb86..f41c3dc2 100644 --- a/sample/param/pipeline_image.yaml +++ b/sample/param/pipeline_image.yaml @@ -1,27 +1,27 @@ -Pipelines: +Pipelines: - name: people inputs: [Image] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/sample_faces.jpg + input_path: to/be/set/image_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/pipeline_image_video.yaml b/sample/param/pipeline_image_video.yaml index 887cfe25..b383f30f 100644 --- a/sample/param/pipeline_image_video.yaml +++ b/sample/param/pipeline_image_video.yaml @@ -1,27 +1,27 @@ Pipelines: - name: people inputs: [Video] - input_path: /home/houk/Desktop/video + input_path: to/be/set/video_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/pipeline_object.yaml b/sample/param/pipeline_object.yaml index 7c0f97d7..62e2f9ca 100644 --- a/sample/param/pipeline_object.yaml +++ b/sample/param/pipeline_object.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [StandardCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/public/ssd_mobilenet_v2_coco/FP16/ssd_mobilenet_v2_coco.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_object_topic.yaml b/sample/param/pipeline_object_topic.yaml index 39c9cd34..2d1a2c7d 100644 --- a/sample/param/pipeline_object_topic.yaml +++ b/sample/param/pipeline_object_topic.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [StandardCamera] #[RealSenseCameraTopic] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/public/ssd_mobilenet_v2_coco/FP16/ssd_mobilenet_v2_coco.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU #MYRIAD label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_people.yaml b/sample/param/pipeline_people.yaml index a68b4cc3..6d9805e0 100644 --- a/sample/param/pipeline_people.yaml +++ b/sample/param/pipeline_people.yaml @@ -1,26 +1,26 @@ Pipelines: - name: people inputs: [StandardCamera] - infers: + infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/pipeline_people_ip.yaml b/sample/param/pipeline_people_ip.yaml index ba01c412..b37903c1 100644 --- a/sample/param/pipeline_people_ip.yaml +++ b/sample/param/pipeline_people_ip.yaml @@ -4,24 +4,24 @@ Pipelines: input_path: "rtsp://" infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/pipeline_person_attributes.yaml b/sample/param/pipeline_person_attributes.yaml index 527ec655..8721c40f 100644 --- a/sample/param/pipeline_person_attributes.yaml +++ b/sample/param/pipeline_person_attributes.yaml @@ -3,14 +3,14 @@ Pipelines: inputs: [StandardCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: PersonAttribsDetection - model: /opt/openvino_toolkit/models/person-attributes/output/intel/person-attributes-recognition-crossroad-0230/FP32/person-attributes-recognition-crossroad-0230.xml + model: /opt/openvino_toolkit/models/intel/person-attributes-recognition-crossroad-0230/FP32/person-attributes-recognition-crossroad-0230.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_reidentification.yaml b/sample/param/pipeline_reidentification.yaml index 5a0d472a..2598031b 100644 --- a/sample/param/pipeline_reidentification.yaml +++ b/sample/param/pipeline_reidentification.yaml @@ -3,14 +3,14 @@ Pipelines: inputs: [StandardCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: PersonReidentification - model: /opt/openvino_toolkit/models/person-reidentification/output/intel/person-reidentification-retail-0277/FP32/person-reidentification-retail-0277.xml + model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0277/FP32/person-reidentification-retail-0277.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_segmentation.yaml b/sample/param/pipeline_segmentation.yaml index bd5a1b80..f0eccb13 100644 --- a/sample/param/pipeline_segmentation.yaml +++ b/sample/param/pipeline_segmentation.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [RealSenseCameraTopic] infers: - name: ObjectSegmentation - model: /opt/openvino_toolkit/models/public/deeplabv3/FP16/deeplabv3.xml + model: /opt/openvino_toolkit/models/convert/public/deeplabv3/FP16/deeplabv3.xml engine: CPU #"HETERO:CPU,GPU,MYRIAD" label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_segmentation_image.yaml b/sample/param/pipeline_segmentation_image.yaml index 616d290d..33481f8b 100644 --- a/sample/param/pipeline_segmentation_image.yaml +++ b/sample/param/pipeline_segmentation_image.yaml @@ -1,10 +1,10 @@ Pipelines: - name: segmentation inputs: [Image] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/expressway.jpg + input_path: to/be/set/image_path infers: - name: ObjectSegmentation - model: /opt/openvino_toolkit/models/semantic-segmentation/output/intel/semantic-segmentation-adas-0001/FP16/semantic-segmentation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/semantic-segmentation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_vehicle_detection.yaml b/sample/param/pipeline_vehicle_detection.yaml index a91af9ea..3eff9e59 100644 --- a/sample/param/pipeline_vehicle_detection.yaml +++ b/sample/param/pipeline_vehicle_detection.yaml @@ -3,18 +3,18 @@ Pipelines: inputs: [StandardCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml + model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml engine: CPU - label: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels + label: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels batch: 1 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: VehicleAttribsDetection - model: /opt/openvino_toolkit/models/vehicle-attributes-recognition/output/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml + model: /opt/openvino_toolkit/models/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: LicensePlateDetection - model: /opt/openvino_toolkit/models/license-plate-recognition/output/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml + model: /opt/openvino_toolkit/models/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/pipeline_video.yaml b/sample/param/pipeline_video.yaml index 0872be8e..0493ca76 100644 --- a/sample/param/pipeline_video.yaml +++ b/sample/param/pipeline_video.yaml @@ -1,10 +1,10 @@ Pipelines: - name: segmentation inputs: [Video] - input_path: /home/ubuntu20/jiawei/ros-ov/ros2_galactic_openvino_ws/src/ros2_openvino_toolkit/data/car_cut.mp4 + input_path: to/be/set/video_path infers: - name: ObjectSegmentation - model: /opt/openvino_toolkit/models/public/deeplabv3/FP16/deeplabv3.xml + model: /opt/openvino_toolkit/models/convert/public/deeplabv3/FP16/deeplabv3.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/testParam/param/image_object_service_test.yaml b/sample/param/testParam/param/image_object_service_test.yaml index 9a1ffd0b..baea4479 100644 --- a/sample/param/testParam/param/image_object_service_test.yaml +++ b/sample/param/testParam/param/image_object_service_test.yaml @@ -1,10 +1,10 @@ Pipelines: - name: object inputs: [Image] - input_path: "/opt/openvino_toolkit/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/car_vihecle.png" + input_path: to/be/set/image_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/testParam/param/image_people_service_test.yaml b/sample/param/testParam/param/image_people_service_test.yaml index ec579426..40f6513e 100644 --- a/sample/param/testParam/param/image_people_service_test.yaml +++ b/sample/param/testParam/param/image_people_service_test.yaml @@ -1,26 +1,27 @@ Pipelines: - name: people inputs: [Image] + input_path: to/be/set/image_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 16 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 @@ -36,6 +37,5 @@ Pipelines: right: [RosService] - left: HeadPoseEstimation right: [RosService] - input_path: "/home/intel/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/team.png" Common: diff --git a/sample/param/testParam/param/pipeline_anormal.yaml b/sample/param/testParam/param/pipeline_anormal.yaml index 8f5f5146..2e3a4214 100644 --- a/sample/param/testParam/param/pipeline_anormal.yaml +++ b/sample/param/testParam/param/pipeline_anormal.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [StandardCamera, Image, video] infers: - name: Objectdetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: GPU label: to/be/set/xxx.labels batch: 16 @@ -21,7 +21,7 @@ Pipelines: inputs: [StandardCamera, Image, video] infers: - name: - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: GPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/testParam/param/pipeline_face_reid_video.yaml b/sample/param/testParam/param/pipeline_face_reid_video.yaml index f59b2a7d..82986615 100644 --- a/sample/param/testParam/param/pipeline_face_reid_video.yaml +++ b/sample/param/testParam/param/pipeline_face_reid_video.yaml @@ -1,22 +1,22 @@ Pipelines: - name: people inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/face_reid.mp4 + input_path: to/be/set/video_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: LandmarksDetection - model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml + model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: FaceReidentification - model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml + model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/testParam/param/pipeline_face_reidentification_test.yaml b/sample/param/testParam/param/pipeline_face_reidentification_test.yaml index 6313811a..54ee42ee 100644 --- a/sample/param/testParam/param/pipeline_face_reidentification_test.yaml +++ b/sample/param/testParam/param/pipeline_face_reidentification_test.yaml @@ -3,19 +3,19 @@ Pipelines: inputs: [RealSenseCamera] infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: LandmarksDetection - model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml + model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: FaceReidentification - model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml + model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/testParam/param/pipeline_face_test.yaml b/sample/param/testParam/param/pipeline_face_test.yaml index f831fd19..68b395c9 100644 --- a/sample/param/testParam/param/pipeline_face_test.yaml +++ b/sample/param/testParam/param/pipeline_face_test.yaml @@ -1,27 +1,27 @@ Pipelines: - name: people inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/people_detection.mp4 + input_path: to/be/set/video_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/testParam/param/pipeline_image_test.yaml b/sample/param/testParam/param/pipeline_image_test.yaml index 50540acd..074cbd22 100644 --- a/sample/param/testParam/param/pipeline_image_test.yaml +++ b/sample/param/testParam/param/pipeline_image_test.yaml @@ -1,27 +1,27 @@ Pipelines: - name: people inputs: [Image] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/team.jpg + input_path: to/be/set/image_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/testParam/param/pipeline_object_test.yaml b/sample/param/testParam/param/pipeline_object_test.yaml index c45999ec..542d3142 100644 --- a/sample/param/testParam/param/pipeline_object_test.yaml +++ b/sample/param/testParam/param/pipeline_object_test.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [RealSenseCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: GPU label: to/be/set/xxx.labels batch: 16 diff --git a/sample/param/testParam/param/pipeline_reidentification_test.yaml b/sample/param/testParam/param/pipeline_reidentification_test.yaml index 8bb8228d..28f81cf8 100644 --- a/sample/param/testParam/param/pipeline_reidentification_test.yaml +++ b/sample/param/testParam/param/pipeline_reidentification_test.yaml @@ -1,17 +1,17 @@ Pipelines: - name: object inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/people_reid.mp4 + input_path: to/be/set/video_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: PersonReidentification - model: /opt/openvino_toolkit/models/person-reidentification/output/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml + model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/sample/param/testParam/param/pipeline_segmentation_test.yaml b/sample/param/testParam/param/pipeline_segmentation_test.yaml index 2a7a0dfd..7ba13e01 100644 --- a/sample/param/testParam/param/pipeline_segmentation_test.yaml +++ b/sample/param/testParam/param/pipeline_segmentation_test.yaml @@ -1,7 +1,7 @@ Pipelines: - name: segmentation inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/segmentation.mp4 + input_path: to/be/set/video_path infers: - name: ObjectSegmentation model: /opt/openvino_toolkit/models/segmentation/output/FP16/frozen_inference_graph.xml diff --git a/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml b/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml index 5f2d7b50..ae4c173b 100644 --- a/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml +++ b/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml @@ -1,21 +1,21 @@ Pipelines: - name: object inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/vehicle_detection.mp4 + input_path: to/be/set/video_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml + model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels batch: 1 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: VehicleAttribsDetection - model: /opt/openvino_toolkit/models/vehicle-attributes-recongnition/output/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml + model: /opt/openvino_toolkit/models/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: LicensePlateDetection - model: /opt/openvino_toolkit/models/license-plate-recognition/output/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml + model: /opt/openvino_toolkit/models/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/tests/param/image_object_service_test.yaml b/tests/param/image_object_service_test.yaml index 9a1ffd0b..baea4479 100644 --- a/tests/param/image_object_service_test.yaml +++ b/tests/param/image_object_service_test.yaml @@ -1,10 +1,10 @@ Pipelines: - name: object inputs: [Image] - input_path: "/opt/openvino_toolkit/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/car_vihecle.png" + input_path: to/be/set/image_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/tests/param/image_people_service_test.yaml b/tests/param/image_people_service_test.yaml index ec579426..40f6513e 100644 --- a/tests/param/image_people_service_test.yaml +++ b/tests/param/image_people_service_test.yaml @@ -1,26 +1,27 @@ Pipelines: - name: people inputs: [Image] + input_path: to/be/set/image_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 16 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 @@ -36,6 +37,5 @@ Pipelines: right: [RosService] - left: HeadPoseEstimation right: [RosService] - input_path: "/home/intel/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/team.png" Common: diff --git a/tests/param/pipeline_anormal.yaml b/tests/param/pipeline_anormal.yaml index 8f5f5146..2e3a4214 100644 --- a/tests/param/pipeline_anormal.yaml +++ b/tests/param/pipeline_anormal.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [StandardCamera, Image, video] infers: - name: Objectdetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: GPU label: to/be/set/xxx.labels batch: 16 @@ -21,7 +21,7 @@ Pipelines: inputs: [StandardCamera, Image, video] infers: - name: - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: GPU label: to/be/set/xxx.labels batch: 16 diff --git a/tests/param/pipeline_face_reid_video.yaml b/tests/param/pipeline_face_reid_video.yaml index 517178a3..82986615 100644 --- a/tests/param/pipeline_face_reid_video.yaml +++ b/tests/param/pipeline_face_reid_video.yaml @@ -1,22 +1,22 @@ Pipelines: - name: people inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/face_reid.mp4 + input_path: to/be/set/video_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: LandmarksDetection - model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml + model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: FaceReidentification - model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml + model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/tests/param/pipeline_face_reidentification_test.yaml b/tests/param/pipeline_face_reidentification_test.yaml index 6313811a..54ee42ee 100644 --- a/tests/param/pipeline_face_reidentification_test.yaml +++ b/tests/param/pipeline_face_reidentification_test.yaml @@ -3,19 +3,19 @@ Pipelines: inputs: [RealSenseCamera] infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: LandmarksDetection - model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml + model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: FaceReidentification - model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml + model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/tests/param/pipeline_face_test.yaml b/tests/param/pipeline_face_test.yaml index 3aca2024..68b395c9 100644 --- a/tests/param/pipeline_face_test.yaml +++ b/tests/param/pipeline_face_test.yaml @@ -1,27 +1,27 @@ Pipelines: - name: people inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/people_detection.mp4 + input_path: to/be/set/video_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/tests/param/pipeline_image_test.yaml b/tests/param/pipeline_image_test.yaml index 50540acd..074cbd22 100644 --- a/tests/param/pipeline_image_test.yaml +++ b/tests/param/pipeline_image_test.yaml @@ -1,27 +1,27 @@ Pipelines: - name: people inputs: [Image] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/team.jpg + input_path: to/be/set/image_path infers: - name: FaceDetection - model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: AgeGenderRecognition - model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 16 - name: EmotionRecognition - model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels batch: 16 - name: HeadPoseEstimation - model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 16 diff --git a/tests/param/pipeline_object_test.yaml b/tests/param/pipeline_object_test.yaml index c45999ec..542d3142 100644 --- a/tests/param/pipeline_object_test.yaml +++ b/tests/param/pipeline_object_test.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [RealSenseCamera] infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml + model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml engine: GPU label: to/be/set/xxx.labels batch: 16 diff --git a/tests/param/pipeline_reidentification_test.yaml b/tests/param/pipeline_reidentification_test.yaml index 9f854572..28f81cf8 100644 --- a/tests/param/pipeline_reidentification_test.yaml +++ b/tests/param/pipeline_reidentification_test.yaml @@ -1,17 +1,17 @@ Pipelines: - name: object inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/people_reid.mp4 + input_path: to/be/set/video_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml + model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml engine: CPU label: to/be/set/xxx.labels batch: 1 confidence_threshold: 0.5 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: PersonReidentification - model: /opt/openvino_toolkit/models/person-reidentification/output/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml + model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml engine: CPU label: to/be/set/xxx.labels batch: 1 diff --git a/tests/param/pipeline_segmentation_test.yaml b/tests/param/pipeline_segmentation_test.yaml index 74d22368..7ba13e01 100644 --- a/tests/param/pipeline_segmentation_test.yaml +++ b/tests/param/pipeline_segmentation_test.yaml @@ -1,7 +1,7 @@ Pipelines: - name: segmentation inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/segmentation.mp4 + input_path: to/be/set/video_path infers: - name: ObjectSegmentation model: /opt/openvino_toolkit/models/segmentation/output/FP16/frozen_inference_graph.xml diff --git a/tests/param/pipeline_vehicle_detection_test.yaml b/tests/param/pipeline_vehicle_detection_test.yaml index d425a36d..ae4c173b 100644 --- a/tests/param/pipeline_vehicle_detection_test.yaml +++ b/tests/param/pipeline_vehicle_detection_test.yaml @@ -1,21 +1,21 @@ Pipelines: - name: object inputs: [Video] - input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/vehicle_detection.mp4 + input_path: to/be/set/video_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml + model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml engine: CPU - label: to/be/set/xxx.labels + label: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels batch: 1 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - name: VehicleAttribsDetection - model: /opt/openvino_toolkit/models/vehicle-attributes-recongnition/output/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml + model: /opt/openvino_toolkit/models/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml engine: CPU label: to/be/set/xxx.labels batch: 1 - name: LicensePlateDetection - model: /opt/openvino_toolkit/models/license-plate-recognition/output/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml + model: /opt/openvino_toolkit/models/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml engine: CPU label: to/be/set/xxx.labels batch: 1 From 00d9a6318de83aa84a0f1671ce937a3638d60300 Mon Sep 17 00:00:00 2001 From: "Fan,Tao" <83325325+fantao015@users.noreply.github.com> Date: Tue, 13 Dec 2022 15:54:09 +0800 Subject: [PATCH 08/40] fix vehicle attribs and license plate (#252) Signed-off-by: Fan, Tao Signed-off-by: Fan, Tao --- .../vehicle-license-plate-detection-barrier-0106.labels | 1 + .../models/vehicle_attribs_detection_model.hpp | 3 +-- dynamic_vino_lib/src/inferences/license_plate_detection.cpp | 3 +-- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels b/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels index 23d4cd9a..827dc158 100644 --- a/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels +++ b/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels @@ -1,2 +1,3 @@ +background vehicle license 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 index 222b897f..83eb96f9 100644 --- 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 @@ -30,7 +30,7 @@ class VehicleAttribsDetectionModel : public BaseModel { public: 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 getInputName() {return input_tensor_name_;} inline const std::string getColorOutputName() {return color_output_;} inline const std::string getTypeOutputName() {return type_output_;} /** @@ -41,7 +41,6 @@ class VehicleAttribsDetectionModel : public BaseModel protected: bool updateLayerProperty(std::shared_ptr&) override; - std::string input_; std::string color_output_; std::string type_output_; }; diff --git a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp b/dynamic_vino_lib/src/inferences/license_plate_detection.cpp index 44f5959c..65f3a99a 100644 --- a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp +++ b/dynamic_vino_lib/src/inferences/license_plate_detection.cpp @@ -49,8 +49,7 @@ void dynamic_vino_lib::LicensePlateDetection::fillSeqBlob() // second input is sequence, which is some relic from the training // it should have the leading 0.0f and rest 1.0f float * tensor_data = seq_tensor.data(); - tensor_data[0] = 0.0f; - std::fill(tensor_data + 1, tensor_data + max_sequence_size, 1.0f); + std::fill(tensor_data, tensor_data + max_sequence_size, 1.0f); } bool dynamic_vino_lib::LicensePlateDetection::enqueue( From 53e720057cd3b05dfe743b98b45caa256d90a00e Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Tue, 13 Dec 2022 15:55:39 +0800 Subject: [PATCH 09/40] Enable klocwork checking for Jenkins CI (#250) Signed-off-by: huangjiafengx --- .ci_local_test/Jenkinsfile | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/.ci_local_test/Jenkinsfile b/.ci_local_test/Jenkinsfile index 9736d326..779e2847 100644 --- a/.ci_local_test/Jenkinsfile +++ b/.ci_local_test/Jenkinsfile @@ -26,6 +26,16 @@ pipeline { } } } + stage('Klocwork Code check') { + steps { + script { + echo 'klocwork code check' + sh script: "sudo docker cp $WORKSPACE klocwork_test:/home/intel/catkin_ws/src/ros2_openvino_toolkit", returnStatus: true + sh script: "sudo docker exec -i klocwork_test bash -c 'source ~/.bashrc && cd catkin_ws && ./klocwork_scan.sh'", returnStatus: true + } + + } + } stage('The Ros2_openvino container run') { steps { script { From ccd1aed51746e83dd647057bcb129d83105066c8 Mon Sep 17 00:00:00 2001 From: Chloe Wu Date: Thu, 22 Dec 2022 09:24:18 +0800 Subject: [PATCH 10/40] Update Documents and related build files (#253) * refine for docker * refine to adapt humble * fix doc and yaml path * fix the structure of ros2 document and add yaml configuration guide * add the table of contents in README * fix link * refine for format and capital letter * add reference link for installation * add model and yaml link for inference table * add table for the corresponding relation of ros2 branches * add links to the table of contents and refine docker instruction * update yaml configuration and add tables * update yaml configuration * update README format * update README format * add FAQ module * update structure of table content * update Inference Implementations table in README * update * update table format * update * refine format and add tables in README * add feedback module in README * fix typo in README * add prerequisite table and fix links * fix for topic table * fix typo * add link --- README.md | 255 ++++++++++++++++-- doc/getting_started_with_Dashing.md | 120 --------- doc/getting_started_with_Foxy_Ubuntu18.04.md | 141 ---------- doc/getting_started_with_Foxy_Ubuntu20.04.md | 117 -------- doc/inferences/Face_Detection.md | 21 -- doc/inferences/Face_Reidentification.md | 10 - doc/inferences/Object_Detection.md | 91 ------- doc/inferences/Object_Segmentation.md | 24 -- doc/inferences/People_Reidentification.md | 13 - doc/inferences/Vehicle_Detection.md | 14 - doc/installation/BINARY_INSTALLATION.md | 74 ----- doc/installation/OPEN_SOURCE_INSTALLATION.md | 82 ------ doc/installation/installation.md | 11 - doc/launching/launch.md | 37 --- doc/launching/service.md | 27 -- doc/launching/set_environment.md | 32 --- ...etting_started_with_Dashing_Ubuntu18.04.md | 0 .../getting_started_with_Foxy_Ubuntu20.04.md | 0 ...tting_started_with_Galactic_Ubuntu20.04.md | 121 --------- .../getting_started_with_ros2_ov2.0.md | 35 ++- doc/quick_start/yaml_configuration_guide.md | 130 +++++++++ .../Design_Architecture_and_logic_flow.md | 27 -- doc/tables_of_contents/prerequisite.md | 31 --- .../supported_features/Supported_features.md | 33 --- .../inference_functionality_overview.md | 16 -- .../supported_features/input_resource.md | 8 - .../supported_features/output_types.md | 43 --- .../tutorials/Multiple_Pipelines.md | 54 ---- .../configuration_file_customization.md | 58 ---- docker/Dockerfile | 10 +- docker/docker_instructions_ov2.0.md | 10 +- dynamic_vino_lib/CMakeLists.txt | 6 +- .../models/attributes/base_attribute.hpp | 1 + sample/CMakeLists.txt | 6 +- .../param/pipeline_segmentation_maskrcnn.yaml | 8 +- sample/src/pipeline_composite.cpp | 4 +- tests/CMakeLists.txt | 6 +- vino_param_lib/CMakeLists.txt | 4 +- 38 files changed, 412 insertions(+), 1268 deletions(-) delete mode 100644 doc/getting_started_with_Dashing.md delete mode 100644 doc/getting_started_with_Foxy_Ubuntu18.04.md delete mode 100644 doc/getting_started_with_Foxy_Ubuntu20.04.md delete mode 100644 doc/inferences/Face_Detection.md delete mode 100644 doc/inferences/Face_Reidentification.md delete mode 100644 doc/inferences/Object_Detection.md delete mode 100644 doc/inferences/Object_Segmentation.md delete mode 100644 doc/inferences/People_Reidentification.md delete mode 100644 doc/inferences/Vehicle_Detection.md delete mode 100644 doc/installation/BINARY_INSTALLATION.md delete mode 100644 doc/installation/OPEN_SOURCE_INSTALLATION.md delete mode 100644 doc/installation/installation.md delete mode 100644 doc/launching/launch.md delete mode 100644 doc/launching/service.md delete mode 100644 doc/launching/set_environment.md delete mode 100644 doc/quick_start/getting_started_with_Dashing_Ubuntu18.04.md delete mode 100644 doc/quick_start/getting_started_with_Foxy_Ubuntu20.04.md delete mode 100644 doc/quick_start/getting_started_with_Galactic_Ubuntu20.04.md create mode 100644 doc/quick_start/yaml_configuration_guide.md delete mode 100644 doc/tables_of_contents/Design_Architecture_and_logic_flow.md delete mode 100644 doc/tables_of_contents/prerequisite.md delete mode 100644 doc/tables_of_contents/supported_features/Supported_features.md delete mode 100644 doc/tables_of_contents/supported_features/inference_functionality_overview.md delete mode 100644 doc/tables_of_contents/supported_features/input_resource.md delete mode 100644 doc/tables_of_contents/supported_features/output_types.md delete mode 100644 doc/tables_of_contents/tutorials/Multiple_Pipelines.md delete mode 100644 doc/tables_of_contents/tutorials/configuration_file_customization.md diff --git a/README.md b/README.md index 5014857c..c163b5d8 100644 --- a/README.md +++ b/README.md @@ -1,16 +1,40 @@ # ros2_openvino_toolkit -ROS2 Version supported: +# Table of Contents +* [➤ Overview](#overview) + * [ROS2 Version Supported](#ros2-version-supported) + * [Inference Features Supported](#inference-features-supported) +* [➤ Prerequisite](#prerequisite-for-ros2-branch) +* [➤ Introduction](#introduction) + * [Design Architecture](#design-architecture) + * [Logic Flow](#logic-flow) +* [➤ Supported Features](#supported-features) + * [Multiple Input Components](#multiple-input-components) + * [Inference Implementations](#inference-implementations) + * [ROS Interfaces and Outputs](#ros-interfaces-and-outputs) + * [Demo Result Snapshots](#demo-result-snapshots) +* [➤ Installation & Launching](#installation-and-launching) + * [Deploy in Local Environment](#deploy-in-local-environment) + * [Deploy in Docker](#deploy-in-docker) +* [➤ Reference](#reference) +* [➤ FAQ](#faq) +* [➤ Feedback](#feedback) +* [➤ More Information](#more-information) -* [x] ROS2 Dashing -* [x] ROS2 Eloquent -* [x] ROS2 Foxy +# Overview +## ROS2 Version Supported -Inference Features supported: +|Branch Name|ROS2 Version Supported|Openvino Version|OS Version| +|-----------------------|-----------------------|--------------------------------|----------------------| +|[ros2](https://github.com/intel/ros2_openvino_toolkit/tree/ros2)|Galactic, Foxy, Humble|V2022.1, V2022.2|Ubuntu 20.04, Ubuntu 22.04| +|[dashing](https://github.com/intel/ros2_openvino_toolkit/tree/dashing)|Dashing|V2022.1, V2022.2|Ubuntu 18.04| +|[foxy-ov2021.4](https://github.com/intel/ros2_openvino_toolkit/tree/foxy)|Foxy|V2021.4|Ubuntu 20.04| +|[galactic-ov2021.4](https://github.com/intel/ros2_openvino_toolkit/tree/galactic-ov2021.4)|Galactic|V2021.4|Ubuntu 20.04| +## Inference Features Supported * [x] Object Detection * [x] Face Detection -* [x] Age-Gender Recognition +* [x] Age Gender Recognition * [x] Emotion Recognition * [x] Head Pose Estimation * [x] Object Segmentation @@ -18,32 +42,215 @@ Inference Features supported: * [x] Vehicle Attribute Detection * [x] Vehicle License Plate Detection -## Introduction +# Prerequisite -The OpenVINO™ (Open visual inference and neural network optimization) toolkit provides a ROS-adaptered runtime framework of neural network which quickly deploys applications and solutions for vision inference. By leveraging Intel® OpenVINO™ toolkit and corresponding libraries, this ROS2 runtime framework extends workloads across Intel® hardware (including accelerators) and maximizes performance. +|Prerequisite|Mandatory?|Description| +|-----------------------|-----------------------|--------------------------------| +|**Processor**|Mandatory|A platform with Intel processors assembled. (Refer to [here](https://software.intel.com/content/www/us/en/develop/articles/openvino-2020-3-lts-relnotes.html) for the full list of Intel processors supported.)| +|**OS**|Mandatory|We only tested this project under Ubuntu distros. It is recommended to install the corresponding Ubuntu Distro according to the ROS distro that you select to use. **For example: Ubuntu 18.04 for dashing, Ubuntu 20.04 for Foxy and Galactic, Ubuntu 22.04 for Humble.**| +|**ROS2**|Mandatory|We have already supported active ROS distros (Humble, Galactic, Foxy and Dashing (deprecated)). Choose the one matching your needs. You may find the corresponding branch from the table above in section [**ROS2 Version Supported**](#ros2-version-supported).| +|**OpenVINO**|Mandatory|The version of OpenVINO toolkit is decided by the OS and ROS2 distros you use. See the table above in Section [**ROS2 Version Supported**](#ros2-version-supported).| +|**Realsense Camera**|Optional|Realsense Camera is optional, you may choose these alternatives as the input: Standard Camera, ROS Image Topic, Video/Image File or RTSP camera.| +# Introduction +## Design Architecture +From the view of hirarchical architecture design, the package is divided into different functional components, as shown in below picture. + +![OpenVINO_Architecture](./data/images/design_arch.PNG "OpenVINO RunTime Architecture") + +

+

+Intel® OpenVINO™ toolkit + +- **Intel® OpenVINO™ toolkit** provides a ROS-adapted runtime framework of neural network which quickly deploys applications and solutions for vision inference. By leveraging Intel® OpenVINO™ toolkit and corresponding libraries, this ROS2 runtime framework extends workloads across Intel® hardware (including accelerators) and maximizes performance. + - Increase deep learning workload performance up to 19x1 with computer vision accelerators from Intel. + - Unleash convolutional neural network (CNN)-based deep learning inference using a common API. + - Speed development using optimized OpenCV* and OpenVX* functions. See more from [here](https://github.com/openvinotoolkit/openvino) for Intel OpenVINO™ introduction. +
+

+ +

+

+ROS OpenVINO Runtime Framework + +- **ROS OpenVINO Runtime Framework** is the main body of this repo. It provides key logic implementation for pipeline lifecycle management, resource management and ROS system adapter, which extends Intel OpenVINO toolkit and libraries. Furthermore, this runtime framework provides ways to simplify launching, configuration, data analysis and re-use. +
+

+ +

+

+ROS Input & Output + +- **Diversal Input resources** are data resources to be infered and analyzed with the OpenVINO framework. +- **ROS interfaces and outputs** currently include _Topic_ and _service_. Natively, RViz output and CV image window output are also supported by refactoring topic message and inferrence results. +
+

+ +

+

+Optimized Models + +- **Optimized Models** provided by Model Optimizer component of Intel® OpenVINO™ toolkit. Imports trained models from various frameworks (Caffe*, Tensorflow*, MxNet*, ONNX*, Kaldi*) and converts them to a unified intermediate representation file. It also optimizes topologies through node merging, horizontal fusion, eliminating batch normalization, and quantization. It also supports graph freeze and graph summarize along with dynamic input freezing. +
+

+ +## Logic Flow +From the view of logic implementation, the package introduces the definitions of parameter manager, pipeline and pipeline manager. The following picture depicts how these entities co-work together when the corresponding program is launched. + +![Logic_Flow](./data/images/impletation_logic.PNG "OpenVINO RunTime Logic Flow") + +Once a corresponding program is launched with a specified .yaml config file passed in the .launch file or via commandline, _**parameter manager**_ analyzes the configurations about pipeline and the whole framework, then shares the parsed configuration information with pipeline procedure. A _**pipeline instance**_ is created by following the configuration info and is added into _**pipeline manager**_ for lifecycle control and inference action triggering. + +The contents in **.yaml config file** should be well structured and follow the supported rules and entity names. Please see [yaml configuration guidance](./doc/quick_start/yaml_configuration_guide.md) for how to create or edit the config files. + +

+

+Pipeline + +**Pipeline** fulfills the whole data handling process: initiliazing Input Component for image data gathering and formating; building up the structured inference network and passing the formatted data through the inference network; transfering the inference results and handling output, etc. +
+

+ +

+

+Pipeline manager + +**Pipeline manager** manages all the created pipelines according to the inference requests or external demands (say, system exception, resource limitation, or end user's operation). Because of co-working with resource management and being aware of the whole framework, it covers the ability of performance optimization by sharing system resource between pipelines and reducing the burden of data copy. +
+

+ +# Supported Features +## Multiple Input Components +Currently, the package supports several input resources for acquiring image data. The following tables are listed: + +

+

+Input Resource Table + +|Input Resource|Description| +|--------------------|------------------------------------------------------------------| +|StandardCamera|Any RGB camera with USB port supporting. Currently only the first USB camera if many are connected.| +|RealSenseCamera| Intel RealSense RGB-D Camera, directly calling RealSense Camera via librealsense plugin of openCV.| +|ImageTopic| Any ROS topic which is structured in image message.| +|Image| Any image file which can be parsed by openCV, such as .png, .jpeg.| +|Video| Any video file which can be parsed by openCV.| +|IpCamera| Any RTSP server which can push video stream.| +
+

+ +## Inference Implementations +Currently, the corresponding relation of supported inference features, models used and yaml configurations are listed as follows: + +

+

+Inference Feature Correspondence Table + +|Inference|Description|YAML Configuration|Model Used| +|-----------------------|------------------------------------------------------------------|----------------------|----------------------| +|Face Detection| Object Detection task applied to face recognition using a sequence of neural networks.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
[pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
[pipeline_people.yaml](./sample/param/pipeline_people.yaml)
[pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[face-detection-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/face-detection-adas-0001)
[age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/age-gender-recognition-retail-0013)
[emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/emotions-recognition-retail-0003)
[head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/head-pose-estimation-adas-0001)| +|Emotion Recognition| Emotion recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
[pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
[pipeline_people.yaml](./sample/param/pipeline_people.yaml)
[pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/emotions-recognition-retail-0003)| +|Age & Gender Recognition| Age and gender recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
[pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
[pipeline_people.yaml](./sample/param/pipeline_people.yaml)
[pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/age-gender-recognition-retail-0013)| +|Head Pose Estimation| Head pose estimation based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
[pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
[pipeline_people.yaml](./sample/param/pipeline_people.yaml)
[pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/head-pose-estimation-adas-0001)| +|Object Detection| Object detection based on SSD-based trained models.|[pipeline_object.yaml](./sample/param/pipeline_object.yaml)
[pipeline_object_topic.yaml](./sample/param/pipeline_object_topic.yaml)|[mobilenet-ssd](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/public/mobilenet-ssd)| +|Vehicle and License Detection| Vehicle and license detection based on Intel models.|[pipeline_vehicle_detection.yaml](./sample/param/pipeline_vehicle_detection.yaml)|[vehicle-license-plate-detection-barrier-0106](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/vehicle-license-plate-detection-barrier-0106)
[vehicle-attributes-recognition-barrier-0039](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/vehicle-attributes-recognition-barrier-0039)
[license-plate-recognition-barrier-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/license-plate-recognition-barrier-0001)| +|Object Segmentation| Object segmentation.|[pipeline_segmentation.yaml](./sample/param/pipeline_segmentation.yaml)
[pipeline_segmentation_image.yaml](./sample/param/pipeline_segmentation_image.yaml)
[pipeline_video.yaml](./sample/param/pipeline_video.yaml)|[semantic-segmentation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/semantic-segmentation-adas-0001)
[deeplabv3](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/public/deeplabv3)| +|Person Attributes| Person attributes based on object detection.|[pipeline_person_attributes.yaml](./sample/param/pipeline_person_attributes.yaml)|[person-attributes-recognition-crossroad-0230](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-attributes-recognition-crossroad-0230)
[person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-detection-retail-0013)| +|Person Reidentification|Person reidentification based on object detection.|[pipeline_person_reidentification.yaml](./sample/param/pipeline_reidentification.yaml)|[person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-detection-retail-0013)
[person-reidentification-retail-0277](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-reidentification-retail-0277)| +|Object Segmentation Maskrcnn| Object segmentation and detection based on maskrcnn model.|[pipeline_segmentation_maskrcnn.yaml](./sample/param/pipeline_segmentation_maskrcnn.yaml)|[mask_rcnn_inception_v2_coco_2018_01_28](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/public/mask_rcnn_inception_resnet_v2_atrous_coco)| +
+

+ +## ROS interfaces and outputs +The inference results can be output in several types. One or more types can be enabled for any inference pipeline. +### Topic +Specific topic(s) can be generated and published according to the given inference functionalities. + +

+

+Published Topic Correspondence Table + +|Inference|Published Topic| +|---|---| +|People Detection|```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| +|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([people_msgs:msg:EmotionsStamped](../../../people_msgs/msg/EmotionsStamped.msg))| +|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([people_msgs:msg:AgeGenderStamped](../../../people_msgs/msg/AgeGenderStamped.msg))| +|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([people_msgs:msg:HeadPoseStamped](../../../people_msgs/msg/HeadPoseStamped.msg))| +|Object Detection|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| +|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([people_msgs::msg::ObjectsInMasks](../../../people_msgs/msg/ObjectsInMasks.msg))| +|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([people_msgs::msg::ObjectsInMasks](../../../people_msgs/msg/ObjectsInMasks.msg))| +|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([people_msgs::msg::ReidentificationStamped](../../../people_msgs/msg/ReidentificationStamped.msg))| +|Face Reidenfication|```/ros2_openvino_toolkit/reidentified_faces```([people_msgs::msg::ReidentificationStamped](../../../people_msgs/msg/ReidentificationStamped.msg))| +|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([people_msgs::msg::VehicleAttribsStamped](../../../people_msgs/msg/PersonAttributeStamped.msg))| +|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([people_msgs::msg::LicensePlateStamped](../../../people_msgs/msg/LicensePlateStamped.msg))| +
+

+ +### Service +Several ROS2 Services are created, expecting to be used in client/server mode, especially when synchronously getting inference results for a given image frame or when managing inference pipeline's lifecycle.
+ +

+

+Service Correspondence Table + +|Inference|Service| +|---|---| +|Object Detection Service|```/detect_object```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| +|Face Detection Service|```/detect_face```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| +|Age Gender Detection Service|```/detect_age_gender```([people_msgs::srv::AgeGender](./people_msgs/srv/AgeGenderSrv.srv))| +|Headpose Detection Service|```/detect_head_pose```([people_msgs::srv::HeadPose](./people_msgs/srv/HeadPoseSrv.srv))| +|Emotion Detection Service|```/detect_emotion```([people_msgs::srv::Emotion](./people_msgs/srv/EmotionSrv.srv))| +
+

+ +### RViz +RViz display is also supported by the composited topic of original image frame with inference result. +To show in RViz tool, add an image marker with the composited topic: +```/ros2_openvino_toolkit/image_rviz```([sensor_msgs::Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html)) + +### Image Window +OpenCV based image window is natively supported by the package. +To enable window, Image Window output should be added into the output choices in .yaml config file. Refer to [the config file guidance](./doc/quick_start/yaml_configuration_guide.md) for more information about checking/adding this feature in your launching. + +## Demo Result Snapshots +For the snapshot of demo results, refer to the following picture. + +* Face detection input from standard camera +![face_detection_demo_image](./data/images/face_detection.png "face detection demo image") + +* Object detection input from realsense camera +![object_detection_demo_realsense](./data/images/object_detection.gif "object detection demo realsense") + +* Object segmentation input from video +![object_segmentation_demo_video](./data/images/object_segmentation.gif "object segmentation demo video") + +* Person reidentification input from standard camera +![person_reidentification_demo_video](./data/images/person-reidentification.gif "person reidentification demo video") + +# Installation and Launching +## Deploy in Local Environment +* Refer to the quick start document for [getting_started_with_ros2](./doc/quick_start/getting_started_with_ros2_ov2.0.md) for detailed installation & lauching instructions. +* Refer to the quick start document for [yaml configuration guidance](./doc/quick_start/yaml_configuration_guide.md) for detailed configuration guidance. + +## Deploy in Docker +* Refer to the docker instruction for [docker_instructions](./docker/docker_instructions_ov2.0.md) for detailed information about building docker image and launching. +* Refer to the quick start document for [yaml configuration guidance](./doc/quick_start/yaml_configuration_guide.md) for detailed configuration guidance. -## Prerequisite +# Reference +* Open_model_zoo: Refer to the OpenVINO document for [open_model_zoo](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1) for detailed model structure and demo samples. +* OpenVINO api 2.0: Refer to the OpenVINO document for [OpenVINO_api_2.0](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html) for latest api 2.0 transition guide. -* Processor: A platform with Intel processors assembled. (see [here](https://software.intel.com/content/www/us/en/develop/articles/openvino-2020-3-lts-relnotes.html) for the full list of Intel processors supported.) -* OS: Ubuntu 20.04 -* ROS2: Foxy Fitzroy -* OpenVINO: V2021.3, see [the release notes](https://software.intel.com/content/www/us/en/develop/articles/openvino-relnotes.html) for more info. -* [Optional] RealSense D400 Series Camera -* [Optional] Intel NCS2 Stick -## Tables of contents -* [Design Architecture and Logic Flow](./doc/tables_of_contents/Design_Architecture_and_logic_flow.md) -* [Supported Features](./doc/tables_of_contents/supported_features/Supported_features.md) -* Tutorials - - [How to configure a inference pipeline?](./doc/tables_of_contents/tutorials/configuration_file_customization.md) - - [How to create multiple pipelines in a process?](./doc/tables_of_contents/tutorials/Multiple_Pipelines.md) +# FAQ +* [How to build OpenVINO by source?](https://github.com/openvinotoolkit/openvino/wiki#how-to-build) +* [How to build RealSense by source?](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) +* [What is the basic command of Docker CLI?](https://docs.docker.com/engine/reference/commandline/docker/) +* [What is the canonical C++ API for interacting with ROS?](https://docs.ros2.org/latest/api/rclcpp/) -## Installation & Launching -See Getting Start Pages for [ROS2 Dashing](./doc/getting_started_with_Dashing.md) or [ROS2 Foxy](./doc/getting_started_with_Foxy_Ubuntu20.04.md) for detailed installation & lauching instructions. +# Feedback +* Report questions, issues and suggestions, using: [issue](https://github.com/intel/ros2_openvino_toolkit/issues). # More Information -* ROS2 OpenVINO discription writen in Chinese: https://mp.weixin.qq.com/s/BgG3RGauv5pmHzV_hkVAdw +* ROS2 OpenVINO discription written 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/doc/getting_started_with_Dashing.md b/doc/getting_started_with_Dashing.md deleted file mode 100644 index bd0c7a02..00000000 --- a/doc/getting_started_with_Dashing.md +++ /dev/null @@ -1,120 +0,0 @@ -# ROS2_OpenVINO_Toolkit - -**NOTE:** -Below steps have been tested on **Ubuntu 18.04**. - -## 1. Environment Setup -* Install ROS2 Dashing [(guide)](https://index.ros.org/doc/ros2/Installation/Dashing/) -* Install OpenVINO™ Toolkit Version: 2020.3 [(guide)](https://software.intel.com/content/www/us/en/develop/tools/openvino-toolkit/download.html) -**Note:** Please use root privileges to run the installer when installing the core components. -* Install Intel® RealSense™ SDK 2.0 [(tag v2.30.0)](https://github.com/IntelRealSense/librealsense/tree/v2.30.0) or later version. - -## 2. Building and Installation -* Build demo code in OpenVINO toolkit -```bash - # root is required instead of sudo - source /opt/intel//bin/setupvars.sh - cd /opt/intel//deployment_tools/open_model_zoo/demos - source build_demos.sh -``` -* Install ROS2_OpenVINO packages -```bash -mkdir -p ~/my_ros2_ws/src -cd ~/my_ros2_ws/src -git clone https://github.com/intel/ros2_openvino_toolkit -git clone https://github.com/intel/ros2_object_msgs -git clone https://github.com/ros-perception/vision_opencv -b ros2 -git clone https://github.com/ros2/message_filters.git -git clone https://github.com/ros-perception/image_common.git -b dashing -git clone https://github.com/intel/ros2_intel_realsense.git -b refactor -``` -* Build package -```bash -source /opt/intel//bin/setupvars.sh -cd ~/my_ros2_ws/src -colcon build --symlink-install -source ./install/local_setup.bash -``` - -## 3. Running the Demo -* Preparation - * Configure the Neural Compute Stick USB Driver - ```bash - cd ~/Downloads - cat < 97-usbboot.rules - SUBSYSTEM=="usb", ATTRS{idProduct}=="2150", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="2485", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="f63b", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - EOF - sudo cp 97-usbboot.rules /etc/udev/rules.d/ - sudo udevadm control --reload-rules - sudo udevadm trigger - sudo ldconfig - rm 97-usbboot.rules - ``` - * Download the optimized Intermediate Representation (IR) of model (execute once) - - ```bash - cd /opt/intel//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-0031 --output_dir /opt/openvino_toolkit/models/person-reidentification/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-recongnition/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 semantic-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/semantic-segmentation/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) - ```bash - sudo cp ~/my_ros2_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 ~/my_ros2_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 ~/my_ros2_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 ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/ - sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/ - sudo cp ~/my_ros2_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 - sudo cp ~/my_ros2_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 ~/my_ros2_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/ - ``` - * If the model (tensorflow, caffe, MXNet, ONNX, Kaldi)need to be converted to intermediate representation (For example the model for object detection) - ```bash - sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output - cd /opt/intel//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 - ``` - * 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. -```bash -ros2 launch dynamic_vino_sample pipeline_people.launch.py -``` -* run face detection sample code input from Image. -```bash -ros2 launch dynamic_vino_sample pipeline_image.launch.py -``` -* run object segmentation sample code input from RealSenseCameraTopic. -```bash -ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py -``` -* run object segmentation sample code input from Image. -```bash -ros2 launch dynamic_vino_sample pipeline_segmentation_image.launch.py -``` -* run vehicle detection sample code input from StandardCamera. -```bash -ros2 launch dynamic_vino_sample pipeline_vehicle_detection.launch.py -``` -* run person attributes sample code input from StandardCamera. -```bash -ros2 launch dynamic_vino_sample pipeline_person_attributes.launch.py -``` -* run person reidentification sample code input from StandardCamera. -```bash -ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py -``` - - - diff --git a/doc/getting_started_with_Foxy_Ubuntu18.04.md b/doc/getting_started_with_Foxy_Ubuntu18.04.md deleted file mode 100644 index fc73c22b..00000000 --- a/doc/getting_started_with_Foxy_Ubuntu18.04.md +++ /dev/null @@ -1,141 +0,0 @@ -# ROS2_FOXY_OpenVINO_Toolkit - -**NOTE:** -Below steps have been tested on **Ubuntu 18.04**. - -## 1. Install ROS2 Foxy from source code -* Before colcon build, update the cmake to 3.14+ -```bash -mkdir -p ~/cmake -cd ~/cmake -wget -t 3 -c https://www.cmake.org/files/v3.14/cmake-3.14.3.tar.gz -tar xf cmake-3.14.3.tar.gz -cd cmake-3.14.3 -./bootstrap --parallel=$(nproc --all) -make --jobs=$(nproc --all) -sudo make install -sudo ldconfig -```` -* Install ROS2 Foxy [(guide)](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/) - -* Build ROS2 Foxy packages from source code -```bash -cd ~/ros2_foxy -colcon build --symlink-install -. ~/ros2_foxy/install/setup.bash -``` -## 2. Environment Setup -* Install OpenVINO™ Toolkit Version: 2020.3 [(guide)](https://software.intel.com/content/www/us/en/develop/tools/openvino-toolkit/download.html) -**Note:** Please use root privileges to run the installer when installing the core components. -* Install Intel® RealSense™ SDK 2.0 [(tag v2.30.0)](https://github.com/IntelRealSense/librealsense/tree/v2.30.0) - -## 3. Building and Installation -* Build demo code in OpenVINO toolkit -```bash - # root is required instead of sudo - source /opt/intel//bin/setupvars.sh - cd /opt/intel//deployment_tools/open_model_zoo/demos - source build_demos.sh -``` -* Install ROS2_OpenVINO packages -```bash -mkdir -p ~/my_ros2_ws/src -cd ~/my_ros2_ws/src -git clone https://github.com/intel/ros2_openvino_toolkit -git clone https://github.com/intel/ros2_object_msgs -git clone https://github.com/ros-perception/vision_opencv -b ros2 -git clone https://github.com/ros2/message_filters.git -git clone https://github.com/ros-perception/image_common.git -b dashing -git clone https://github.com/intel/ros2_intel_realsense.git -b refactor -``` -* Build package -```bash -source ~/ros2_foxy/install/local_setup.bash -source /opt/intel//bin/setupvars.sh -cd ~/my_ros2_ws/src -colcon build --symlink-install -source ./install/local_setup.bash -``` - -## 4. Running the Demo -* Preparation - * Configure the Neural Compute Stick USB Driver - ```bash - cd ~/Downloads - cat < 97-usbboot.rules - SUBSYSTEM=="usb", ATTRS{idProduct}=="2150", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="2485", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="f63b", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - EOF - sudo cp 97-usbboot.rules /etc/udev/rules.d/ - sudo udevadm control --reload-rules - sudo udevadm trigger - sudo ldconfig - rm 97-usbboot.rules - ``` - * Download the optimized Intermediate Representation (IR) of model (execute once) - - ```bash - cd /opt/intel//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-0031 --output_dir /opt/openvino_toolkit/models/person-reidentification/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-recongnition/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 road-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/road-segmentation/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) - ```bash - sudo cp ~/my_ros2_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 ~/my_ros2_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 ~/my_ros2_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 ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/ - sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/ - sudo cp ~/my_ros2_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 - sudo cp ~/my_ros2_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 ~/my_ros2_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/ - ``` - * If the model (tensorflow, caffe, MXNet, ONNX, Kaldi)need to be converted to intermediate representation (For example the model for object detection) - ```bash - sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output - cd /opt/intel//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 - ``` - * 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. -```bash -ros2 launch dynamic_vino_sample pipeline_people.launch.py -``` -* run face detection sample code input from Image. -```bash -ros2 launch dynamic_vino_sample pipeline_image.launch.py -``` -* run object segmentation sample code input from RealSenseCameraTopic. -```bash -ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py -``` -* run object segmentation sample code input from Image. -```bash -ros2 launch dynamic_vino_sample pipeline_segmentation_image.launch.py -``` -* run vehicle detection sample code input from StandardCamera. -```bash -ros2 launch dynamic_vino_sample pipeline_vehicle_detection.launch.py -``` -* run person attributes sample code input from StandardCamera. -```bash -ros2 launch dynamic_vino_sample pipeline_person_attributes.launch.py -``` -* run person reidentification sample code input from StandardCamera. -```bash -ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py -``` - - - diff --git a/doc/getting_started_with_Foxy_Ubuntu20.04.md b/doc/getting_started_with_Foxy_Ubuntu20.04.md deleted file mode 100644 index cb576acc..00000000 --- a/doc/getting_started_with_Foxy_Ubuntu20.04.md +++ /dev/null @@ -1,117 +0,0 @@ -# ROS2_FOXY_OpenVINO_Toolkit - -**NOTE:** -Below steps have been tested on **Ubuntu 20.04**. - -## 1. Environment Setup -* Install ROS2 Foxy ([guide](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)) -* Install Intel® OpenVINO™ Toolkit Version: 2021.3 ([guide](https://docs.openvinotoolkit.org/latest/openvino_docs_install_guides_installing_openvino_apt.html)) -* Install Intel® RealSense ™ SDK ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md)) - -## 2. Building and Installation -* Build demo code in OpenVINO toolkit -``` - # root is required instead of sudo - source /opt/intel//bin/setupvars.sh - cd /opt/intel//deployment_tools/open_model_zoo/demos - source build_demos.sh -``` -* Install ROS2_OpenVINO packages -``` -mkdir -p ~/my_ros2_ws/src -cd ~/my_ros2_ws/src -git clone https://github.com/intel/ros2_openvino_toolkit -b dev-ov.2021.3 -git clone https://github.com/intel/ros2_object_msgs -git clone https://github.com/intel/ros2_intel_realsense.git -b refactor -``` -* Build package -``` -source ~/ros2_foxy/install/local_setup.bash -source /opt/intel//bin/setupvars.sh -cd ~/my_ros2_ws/src -colcon build --symlink-install -source ./install/local_setup.bash -``` - -## 3. Running the Demo -* Preparation - * Configure the Neural Compute Stick USB Driver (if needed) -``` - cd ~/Downloads - cat < 97-usbboot.rules - SUBSYSTEM=="usb", ATTRS{idProduct}=="2150", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="2485", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="f63b", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - EOF - sudo cp 97-usbboot.rules /etc/udev/rules.d/ - sudo udevadm control --reload-rules - sudo udevadm trigger - sudo ldconfig - rm 97-usbboot.rules -``` - -* See all available models -``` -cd /opt/intel//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//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 -``` - -* copy label files (execute once) -``` - sudo cp ~/my_ros2_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 ~/my_ros2_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 ~/my_ros2_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 ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/ - sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/ - sudo cp ~/my_ros2_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 - sudo cp ~/my_ros2_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 ~/my_ros2_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/ -``` - -* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi)need to be converted to intermediate representation (For example the model for object detection) -``` - sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output - cd /opt/intel//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 -``` - -* 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 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 -``` -* run person reidentification sample code input from StandardCamera. -``` -ros2 launch dynamic_vino_sample pipeline_reidentification.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/doc/inferences/Face_Detection.md b/doc/inferences/Face_Detection.md deleted file mode 100644 index 3bd2c8fa..00000000 --- a/doc/inferences/Face_Detection.md +++ /dev/null @@ -1,21 +0,0 @@ -# Face Detection - -## Demo Result Snapshots -See below pictures for the demo result snapshots. -* face detection input from image -![face_detection_demo_image](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/data/images/face_detection.png "face detection demo image") -## Download Models -* download the optimized Intermediate Representation (IR) of model (excute _once_)
- ```bash - cd $model_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 - ``` -* copy label files (excute _once_)
- ```bash - sudo cp /opt/openvino_toolkit/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 /opt/openvino_toolkit/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 /opt/openvino_toolkit/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/ - ``` diff --git a/doc/inferences/Face_Reidentification.md b/doc/inferences/Face_Reidentification.md deleted file mode 100644 index 9a496fff..00000000 --- a/doc/inferences/Face_Reidentification.md +++ /dev/null @@ -1,10 +0,0 @@ -# Face Reidentification -## Download Models -* download the optimized Intermediate Representation (IR) of model (excute _once_)
- ```bash - cd $model_downloader - sudo python3 downloader.py --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output - sudo python3 downloader.py --name face-reidentification-retail-0095 --output_dir /opt/openvino_toolkit/models/face-reidentification/output - ``` - - diff --git a/doc/inferences/Object_Detection.md b/doc/inferences/Object_Detection.md deleted file mode 100644 index 905b134d..00000000 --- a/doc/inferences/Object_Detection.md +++ /dev/null @@ -1,91 +0,0 @@ -# Object Detection -## Introduction -The section depict the kind of Object Detection, which produces object classification and its location based ROI. -Two kinds of models are supported currently: -- SSD based Object Detection Models - * SSD300-VGG16, SSD500-VGG16, Mobilenet-SSD (both caffe and tensorflow) -- YoloV2 - -## Demo Result Snapshots -* object detection input from realsense camera - -![object_detection_demo_realsense](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/data/images/object_detection.gif "object detection demo realsense") - -## Download Models ->> Before using the supported models, you need to first downloand and optimize them into OpenVINO mode. mobilenet-SSD caffe model is the default one used in the Object Detection configuration. - -#### mobilenet-ssd -* download and convert a trained model to produce an optimized Intermediate Representation (IR) of the model - ```bash - cd $model_downloader - sudo python3 ./downloader.py --name mobilenet-ssd - #FP32 precision model - sudo python3 $model_optimizer/mo.py --input_model $model_downloader/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32 --mean_values [127.5,127.5,127.5] --scale_values [127.5] - #FP16 precision model - sudo python3 $model_optimizer/mo.py --input_model $model_downloader/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16 --data_type=FP16 --mean_values [127.5,127.5,127.5] --scale_values [127.5] - ``` -* copy label files (excute _once_)
- ```bash - sudo cp $openvino_labels/object_detection/mobilenet-ssd.labels /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32 - sudo cp $openvino_labels/object_detection/mobilenet-ssd.labels /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16 - ``` -#### YOLOv2-voc -* Darkflow to protobuf(.pb) - - install [darkflow](https://github.com/thtrieu/darkflow) - - install prerequsites - ```bash - pip3 install tensorflow opencv-python numpy networkx cython - ``` - - Get darkflow and YOLO-OpenVINO - ```bash - mkdir -p ~/code && cd ~/code - git clone https://github.com/thtrieu/darkflow - git clone https://github.com/chaoli2/YOLO-OpenVINO - sudo ln -sf ~/code/darkflow /opt/openvino_toolkit/ - ``` - - modify the line self.offset = 16 in the ./darkflow/utils/loader.py file and replace with self.offset = 20 - - Install darkflow - ```bash - cd ~/code/darkflow - pip3 install . - ``` - - Copy voc.names in YOLO-OpenVINO/common to labels.txt in darkflow. - ```bash - cp ~/code/YOLO-OpenVINO/common/voc.names ~/code/darkflow/labels.txt - ``` - - Get yolov2 weights and cfg - ```bash - cd ~/code/darkflow - mkdir -p models - cd models - wget -c https://pjreddie.com/media/files/yolov2-voc.weights - wget https://raw.githubusercontent.com/pjreddie/darknet/master/cfg/yolov2-voc.cfg - ``` - - Run convert script - ```bash - cd ~/code/darkflow - flow --model models/yolov2-voc.cfg --load models/yolov2-voc.weights --savepb - ``` -* Convert YOLOv2-voc TensorFlow Model to the optimized Intermediate Representation (IR) of model - ```bash - cd ~/code/darkflow - # FP32 precision model - sudo python3 $model_optimizer/mo_tf.py \ - --input_model built_graph/yolov2-voc.pb \ - --batch 1 \ - --tensorflow_use_custom_operations_config $model_optimizer/extensions/front/tf/yolo_v2_voc.json \ - --data_type FP32 \ - --output_dir /opt/openvino_toolkit/models/object_detection/YOLOv2-voc/tf/output/FP32 - # FP16 precision model - sudo python3 $model_optimizer/mo_tf.py \ - --input_model built_graph/yolov2-voc.pb \ - --batch 1 \ - --tensorflow_use_custom_operations_config $model_optimizer/extensions/front/tf/yolo_v2_voc.json \ - --data_type FP16 \ - --output_dir /opt/openvino_toolkit/models/object_detection/YOLOv2-voc/tf/output/FP16 - ``` -* copy label files (excute _once_)
- ```bash - sudo cp $openvino_labels/object_detection/yolov2-voc.labels /opt/openvino_toolkit/models/object_detection/YOLOv2-voc/tf/output/FP32 - sudo cp $openvino_labels/object_detection/yolov2-voc.labels /opt/openvino_toolkit/models/object_detection/YOLOv2-voc/tf/output/FP16 - ``` diff --git a/doc/inferences/Object_Segmentation.md b/doc/inferences/Object_Segmentation.md deleted file mode 100644 index 7e998af9..00000000 --- a/doc/inferences/Object_Segmentation.md +++ /dev/null @@ -1,24 +0,0 @@ -# Object Segmentation -## Demo Result Snapshots -See below pictures for the demo result snapshots. -* object segmentation input from video -![object_segmentation_demo_video](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/data/images/object_segmentation.gif "object segmentation demo video") -## Download Models -* download and convert a trained model to produce an optimized Intermediate Representation (IR) of the model - ```bash - #object segmentation model - mkdir -p ~/Downloads/models - cd ~/Downloads/models - wget http://download.tensorflow.org/models/object_detection/mask_rcnn_inception_v2_coco_2018_01_28.tar.gz - tar -zxvf mask_rcnn_inception_v2_coco_2018_01_28.tar.gz - cd mask_rcnn_inception_v2_coco_2018_01_28 - #FP32 - sudo python3 $model_optimizer/mo_tf.py --input_model frozen_inference_graph.pb --tensorflow_use_custom_operations_config $model_optimizer/extensions/front/tf/mask_rcnn_support.json --tensorflow_object_detection_api_pipeline_config pipeline.config --reverse_input_channels --output_dir /opt/openvino_toolkit/models/segmentation/output/FP32 - #FP16 - sudo python3 $model_optimizer/mo_tf.py --input_model frozen_inference_graph.pb --tensorflow_use_custom_operations_config $model_optimizer/extensions/front/tf/mask_rcnn_support.json --tensorflow_object_detection_api_pipeline_config pipeline.config --reverse_input_channels --data_type=FP16 --output_dir /opt/openvino_toolkit/models/segmentation/output/FP16 - ``` -* copy label files (excute _once_)
- ```bash - sudo cp $openvino_labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/segmentation/output/FP32 - sudo cp $openvino_labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/segmentation/output/FP16 - ``` diff --git a/doc/inferences/People_Reidentification.md b/doc/inferences/People_Reidentification.md deleted file mode 100644 index 39c276d6..00000000 --- a/doc/inferences/People_Reidentification.md +++ /dev/null @@ -1,13 +0,0 @@ -# People Reidentification -## Demo Result Snapshots -See below pictures for the demo result snapshots. -* Person Reidentification input from standard camera -![person_reidentification_demo_video](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/data/images/person-reidentification.gif "person reidentification demo video") -## Download Models -* download the optimized Intermediate Representation (IR) of model (excute _once_)
- ```bash - cd $model_downloader - 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-0076 --output_dir /opt/openvino_toolkit/models/person-reidentification/output - ``` - diff --git a/doc/inferences/Vehicle_Detection.md b/doc/inferences/Vehicle_Detection.md deleted file mode 100644 index 8fdb1a5b..00000000 --- a/doc/inferences/Vehicle_Detection.md +++ /dev/null @@ -1,14 +0,0 @@ -# Vehicle Detection -## Download Models -### OpenSource Version -* download the optimized Intermediate Representation (IR) of model (excute _once_)
- ```bash - cd $model_downloader - 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-recongnition/output - sudo python3 downloader.py --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output - ``` -* copy label files (excute _once_)
- ```bash - sudo cp $openvino_labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/vehicle-license-plate-detection/output - ``` diff --git a/doc/installation/BINARY_INSTALLATION.md b/doc/installation/BINARY_INSTALLATION.md deleted file mode 100644 index ebe1cf71..00000000 --- a/doc/installation/BINARY_INSTALLATION.md +++ /dev/null @@ -1,74 +0,0 @@ -# ros2_openvino_toolkit -## 1. Prerequisite -- An x86_64 computer running Ubuntu 18.04. Below processors are supported: - * 6th-8th Generation Intel® Core™ - * Intel® Xeon® v5 family - * Intel® Xeon® v6 family -- ROS2 [Dashing](https://github.com/ros2/ros2/wiki) -- [OpenVINO™ Toolkit](https://software.intel.com/en-us/openvino-toolkit) -- RGB Camera, e.g. RealSense D400 Series or standard USB camera or Video/Image File -- Graphics are required only if you use a GPU. The official system requirements for GPU are: - * 6th to 8th generation Intel® Core™ processors with Iris® Pro graphics and Intel® HD Graphics - * 6th to 8th generation Intel® Xeon® processors with Iris Pro graphics and Intel HD Graphics (excluding the e5 product family, which does not have graphics) - * Intel® Pentium® processors N4200/5, N3350/5, N3450/5 with Intel HD Graphics - -- Use one of the following methods to determine the GPU on your hardware: - * [lspci] command: GPU info may lie in the [VGA compatible controller] line. - * Ubuntu system: Menu [System Settings] --> [Details] may help you find the graphics information. - * Openvino: Download the install package, install_GUI.sh inside will check the GPU information before installation. - -## 2. Environment Setup -**Note**:You can choose to build the environment using *./environment_setup_binary.sh* script in the script subfolder.The *modules.conf* file in the same directory as the .sh file is the configuration file that controls the installation process.You can modify the *modules.conf* to customize your installation process. -```bash -./environment_setup_binary.sh -``` -**Note**:You can also choose to follow the steps below to build the environment step by step. -* Install ROS2 [Dashing](https://github.com/ros2/ros2/wiki) ([guide](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/))
-* Install [OpenVINO™ Toolkit 2019R3.1](https://software.intel.com/en-us/articles/OpenVINO-Install-Linux) ([download](https://software.intel.com/en-us/openvino-toolkit/choose-download/free-download-linux))
- **Note**: Please use *root privileges* to run the installer when installing the core components. -* Install [the Intel® Graphics Compute Runtime for OpenCL™ driver components required to use the GPU plugin](https://docs.openvinotoolkit.org/latest/_docs_install_guides_installing_openvino_linux.html#additional-GPU-steps) - -- Install Intel® RealSense™ SDK 2.0 [(tag v2.30.0)](https://github.com/IntelRealSense/librealsense/tree/v2.30.0)
- * [Install from package](https://github.com/IntelRealSense/librealsense/blob/v2.30.0/doc/distribution_linux.md)
- -## 3. Building and Installation -* Build sample code under openvino toolkit - ```bash - # root is required instead of sudo - source /opt/intel/openvino/bin/setupvars.sh - cd /opt/intel/openvino/deployment_tools/inference_engine/samples/ - mkdir build - cd build - cmake .. - make - ``` -* set ENV CPU_EXTENSION_LIB and GFLAGS_LIB - ```bash - export CPU_EXTENSION_LIB=/opt/intel/openvino/deployment_tools/inference_engine/samples/build/intel64/Release/lib/libcpu_extension.so - export GFLAGS_LIB=/opt/intel/openvino/deployment_tools/inference_engine/samples/build/intel64/Release/lib/libgflags_nothreads.a - ``` -* Install ROS2_OpenVINO packages - ```bash - mkdir -p ~/ros2_overlay_ws/src - cd ~/ros2_overlay_ws/src - git clone https://github.com/intel/ros2_openvino_toolkit - git clone https://github.com/intel/ros2_object_msgs - git clone https://github.com/ros-perception/vision_opencv -b ros2 - git clone https://github.com/ros2/message_filters.git - git clone https://github.com/ros-perception/image_common.git -b dashing - git clone https://github.com/intel/ros2_intel_realsense.git -b refactor - ``` - -* Build package - ``` - source ~/ros2_ws/install/local_setup.bash - source /opt/intel/openvino/bin/setupvars.sh - cd ~/ros2_overlay_ws - colcon build --symlink-install - source ./install/local_setup.bash - sudo mkdir -p /opt/openvino_toolkit - sudo ln -sf ~/ros2_overlay_ws/src/ros2_openvino_toolkit /opt/openvino_toolkit/ - ``` - - - diff --git a/doc/installation/OPEN_SOURCE_INSTALLATION.md b/doc/installation/OPEN_SOURCE_INSTALLATION.md deleted file mode 100644 index cba2ce0c..00000000 --- a/doc/installation/OPEN_SOURCE_INSTALLATION.md +++ /dev/null @@ -1,82 +0,0 @@ -# ros2_openvino_toolkit - -## 1. Prerequisite -- An x86_64 computer running Ubuntu 18.04. Below processors are supported: - * 6th-8th Generation Intel® Core™ - * Intel® Xeon® v5 family - * Intel® Xeon® v6 family -- ROS2 [Dashing](https://github.com/ros2/ros2/wiki) - -- OpenVINO™ Toolkit Open Source
- * The [Deep Learning Deployment Toolkit](https://github.com/openvinotoolkit/openvino) that helps to enable fast, heterogeneous deep learning inferencing for Intel® processors (CPU and GPU/Intel® Processor Graphics), and supports more than 100 public and custom models.
- * [Open Model Zoo](https://github.com/opencv/open_model_zoo) includes 20+ pre-trained deep learning models to expedite development and improve deep learning inference on Intel® processors (CPU, Intel Processor Graphics, FPGA, VPU), along with many samples to easily get started. - -- RGB Camera, e.g. RealSense D400 Series or standard USB camera or Video/Image File -- Graphics are required only if you use a GPU. The official system requirements for GPU are: - * 6th to 8th generation Intel® Core™ processors with Iris® Pro graphics and Intel® HD Graphics - * 6th to 8th generation Intel® Xeon® processors with Iris Pro graphics and Intel HD Graphics (excluding the e5 product family, which does not have graphics) - * Intel® Pentium® processors N4200/5, N3350/5, N3450/5 with Intel HD Graphics - -- Use one of the following methods to determine the GPU on your hardware: - * [lspci] command: GPU info may lie in the [VGA compatible controller] line. - * Ubuntu system: Menu [System Settings] --> [Details] may help you find the graphics information. - * Openvino: Download the install package, install_GUI.sh inside will check the GPU information before installation. - -## 2. Environment Setup -**Note**:You can choose to build the environment using *./environment_setup_binary.sh* script in the script subfolder.The *modules.conf* file in the same directory as the .sh file is the configuration file that controls the installation process.You can modify the *modules.conf* to customize your installation process. -```bash -./environment_setup.sh -``` -**Note**:You can also choose to follow the steps below to build the environment step by step. -* Install ROS2 [Dashing](https://github.com/ros2/ros2/wiki) ([guide](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/))
-* Install OpenVINO™ Toolkit Open Source
- * Install OpenCL Driver for GPU
- ```bash - cd ~/Downloads - wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-gmmlib_18.4.1_amd64.deb - wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-igc-core_18.50.1270_amd64.deb - wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-igc-opencl_18.50.1270_amd64.deb - wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-opencl_19.04.12237_amd64.deb - wget https://github.com/intel/compute-runtime/releases/download/19.04.12237/intel-ocloc_19.04.12237_amd64.deb - sudo dpkg -i *.deb - ``` - * Install [Deep Learning Deployment Toolkit](https://github.com/openvinotoolkit/openvino)([tag 2019_R3.1](https://github.com/openvinotoolkit/openvino/blob/2019_R3.1/inference-engine/README.md))
- * Install [Open Model Zoo](https://github.com/opencv/open_model_zoo)([tag 2019_R3.1](https://github.com/opencv/open_model_zoo/blob/2019_R3.1/demos/README.md))
- -- Install Intel® RealSense™ SDK 2.0 [(tag v2.30.0)](https://github.com/IntelRealSense/librealsense/tree/v2.30.0)
- * [Install from package](https://github.com/IntelRealSense/librealsense/blob/v2.30.0/doc/distribution_linux.md)
- -## 3. Building and Installation - -* set ENV InferenceEngine_DIR, CPU_EXTENSION_LIB and GFLAGS_LIB - ```bash - export InferenceEngine_DIR=/opt/openvino_toolkit/dldt/inference-engine/build/ - export CPU_EXTENSION_LIB=/opt/openvino_toolkit/dldt/inference-engine/bin/intel64/Release/lib/libcpu_extension.so - export GFLAGS_LIB=/opt/openvino_toolkit/dldt/inference-engine/bin/intel64/Release/lib/libgflags_nothreads.a - ``` -* Install ROS2_OpenVINO packages - ```bash - mkdir -p ~/ros2_overlay_ws/src - cd ~/ros2_overlay_ws/src - git clone https://github.com/intel/ros2_openvino_toolkit - git clone https://github.com/intel/ros2_object_msgs - git clone https://github.com/ros-perception/vision_opencv -b ros2 - git clone https://github.com/ros2/message_filters.git - git clone https://github.com/ros-perception/image_common.git -b dashing - git clone https://github.com/intel/ros2_intel_realsense.git -b refactor - ``` - -* Build package - ``` - source ~/ros2_ws/install/local_setup.bash - cd ~/ros2_overlay_ws - colcon build --symlink-install - source ./install/local_setup.bash - sudo mkdir -p /opt/openvino_toolkit - sudo ln -sf ~/ros2_overlay_ws/src/ros2_openvino_toolkit /opt/openvino_toolkit/ - ``` - - - - - diff --git a/doc/installation/installation.md b/doc/installation/installation.md deleted file mode 100644 index 6596a35a..00000000 --- a/doc/installation/installation.md +++ /dev/null @@ -1,11 +0,0 @@ - -# Installation ->> Intel releases 2 different series of OpenVINO Toolkit, we call them as [OpenSource Version](https://github.com/openvinotoolkit/openvino/) and [Binary Version](https://software.intel.com/en-us/openvino-toolkit). You may choose any of them to install. - -**NOTE:** If you are not sure which version you would use, it is recommended for you to choose [Binary Version](https://software.intel.com/en-us/openvino-toolkit), which can simplify your environment setup. - -## OpenSource Version -One-step installation scripts are provided for the dependencies' installation. Please see [the guide](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/installation/OPEN_SOURCE_INSTALLATION.md) for details. - -## Binary Version -One-step installation scripts are provided for the dependencies' installation. Please see [the guide](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/installation/BINARY_INSTALLATION.md) for details. diff --git a/doc/launching/launch.md b/doc/launching/launch.md deleted file mode 100644 index efc1d1ae..00000000 --- a/doc/launching/launch.md +++ /dev/null @@ -1,37 +0,0 @@ -# Launching -## 1. Setup Environment -Please refer to this [guide](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/launching/set_environment.md) for details. - -**NOTE:** Configure *once* the Neural Compute Stick USB Driver by following between instructions, in case you have a NCS or NCS2 in hand. - ```bash - cd ~/Downloads - SUBSYSTEM=="usb", ATTRS{idProduct}=="2150", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="2485", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - SUBSYSTEM=="usb", ATTRS{idProduct}=="f63b", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1" - EOF - sudo cp 97-usbboot.rules /etc/udev/rules.d/ - sudo udevadm control --reload-rules - sudo udevadm trigger - sudo ldconfig - rm 97-usbboot.rules - ``` -## 2. Launch Program -### Topic -Each inference listed in [section Inference Implementations](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/supported_features/Supported_features.md#inference-implementations) is created default launching configurations( xxx.launch.py) in OpenVINO Sample package. You can follow the utility of ROS2 launch instruction to launch them. For example: - ```bash - ros2 launch dynamic_vino_sample pipeline_object.launch.py - ``` - -The full list of xxx.launch.py is shown in below tabel: - -|Download Models|Launch File|Description| -|---|---|---| -|[Object Detection](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Object_Detection.md)|pipeline_object.launch.py|Launching file for **Object Detection**, by default mobilenet_ssd model and standard USB camera are used.| -|[Face Detection](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Face_Detection.md)|pipeline_people.launch.py|Launching file for **Face Detection**, also including **Age/Gender Recognition, HeadPose Estimation, and Emotion Recognition**.| -|[Object Segmentation](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Object_Segmentation.md)|pipeline_segmentation.launch.py|Launching file for **Object Segmentation**.| -|[Person Re-Identification](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/People_Reidentification.md)|pipeline_person_reid.launch.py|Launching file for **Person Re-Identification**.| -|[Face Re-Identification](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Face_Reidentification.md)|pipeline_face_reid.launch.py|Launching file for **Face Segmentation**, in which **Face Landmark Detection** is included.| -|[Vehicle Detection](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Vehicle_Detection.md)|pipeline_vehicle_detection.launch.py|Launching file for **vehicle detection**, in which **license plate recognition** is included.| - -### Service -See [service Page](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/launching/service.md) for detailed launching instructions. diff --git a/doc/launching/service.md b/doc/launching/service.md deleted file mode 100644 index c5f5701f..00000000 --- a/doc/launching/service.md +++ /dev/null @@ -1,27 +0,0 @@ -# Service -## Download Models -### Object Detection Service -* See [object detection download model](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Object_Detection.md#mobilenet-ssd) section for detailed instructions. - -### People Detection Service -* See [People Detection download model](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/inferences/Face_Detection.md#opensource-version) section for detaild instructions. - -## Launching -* run object detection service sample code input from Image - Run image processing service: - ```bash - ros2 launch dynamic_vino_sample image_object_server.launch.py - ``` - Run example application with an absolute path of an image on another console: - ```bash - ros2 run dynamic_vino_sample image_object_client /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/car.png - ``` -* run face detection service sample code input from Image - Run image processing service: - ```bash - ros2 launch dynamic_vino_sample image_people_server.launch.py - ``` - Run example application with an absolute path of an image on another console: - ```bash - ros2 run dynamic_vino_sample image_people_client /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/team.jpg - ``` diff --git a/doc/launching/set_environment.md b/doc/launching/set_environment.md deleted file mode 100644 index d50006a3..00000000 --- a/doc/launching/set_environment.md +++ /dev/null @@ -1,32 +0,0 @@ -# Set Environment -## OpenSource Version -* Set ENV LD_LIBRARY_PATH and openvino_version - ```bash - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openvino_toolkit/dldt/inference-engine/bin/intel64/Release/lib - export openvino_version=opensource - ``` -* Install prerequisites - ```bash - cd /opt/openvino_toolkit/dldt/model-optimizer/install_prerequisites - sudo ./install_prerequisites.sh - ``` -* Set model tool variable - ```bash - source /opt/openvino_toolkit/ros2_openvino_toolkit/script/set_variable.sh - ``` -## Binary Version -* Set ENV LD_LIBRARY_PATH and openvino_version - ```bash - source /opt/intel/openvino/bin/setupvars.sh - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/intel/openvino/deployment_tools/inference_engine/samples/build/intel64/Release/lib - export openvino_version=binary - ``` -* Install prerequisites - ```bash - cd /opt/intel/openvino/deployment_tools/model_optimizer/install_prerequisites - sudo ./install_prerequisites.sh - ``` -* Set model tool variable - ```bash - source /opt/openvino_toolkit/ros2_openvino_toolkit/script/set_variable.sh - ``` diff --git a/doc/quick_start/getting_started_with_Dashing_Ubuntu18.04.md b/doc/quick_start/getting_started_with_Dashing_Ubuntu18.04.md deleted file mode 100644 index e69de29b..00000000 diff --git a/doc/quick_start/getting_started_with_Foxy_Ubuntu20.04.md b/doc/quick_start/getting_started_with_Foxy_Ubuntu20.04.md deleted file mode 100644 index e69de29b..00000000 diff --git a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04.md b/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04.md deleted file mode 100644 index 244e562d..00000000 --- a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04.md +++ /dev/null @@ -1,121 +0,0 @@ -# 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 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/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md index 54560cf5..13b2f4c4 100644 --- a/doc/quick_start/getting_started_with_ros2_ov2.0.md +++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md @@ -5,20 +5,27 @@ Below steps have been tested on **Ubuntu 20.04** and **Ubuntu 22.04**. Supported ROS2 versions include foxy,galactic and humble. ## 1. Environment Setup -* For ROS2 foxy and galactic on ubuntu 20.04: - * Install ROS2. ([foxy_guide](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)) & ([galactic_guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)) +For ROS2 foxy and galactic on ubuntu 20.04: + * Install ROS2.
+ Refer to: [ROS_foxy_install_guide](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) & [ROS_galactic_install_guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) - * Install Intel® OpenVINO™ Toolkit Version: 2022.1. ([guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html)) - * Install from an achive file. Both runtime and development tool are needed, `pip` is recommended for installing the development tool. ([guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html)) + * Install Intel® OpenVINO™ Toolkit Version: 2022.1.
+ Refer to: [OpenVINO_install_guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html) + * Install from an achive file. Both runtime and development tool are needed, `pip` is recommended for installing the development tool.
+ Refer to: [OpenVINO_devtool_install_guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html) - * Install Intel® RealSense™ SDK. ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md)) + * Install Intel® RealSense™ SDK.
+ Refer to: [RealSense_install_guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md) -* For ROS2 humble on ubuntu 22.04: - * Install ROS2. ([humble_guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)) +For ROS2 humble on ubuntu 22.04: + * Install ROS2.
+ Refer to: [ROS_humble_install_guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) - * Install Intel® OpenVINO™ Toolkit Latest Version by Source. ([guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingCode)) + * Install Intel® OpenVINO™ Toolkit Latest Version by Source.
+ Refer to: [OpenVINO_install_guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingCode) - * Install Intel® RealSense™ SDK by Source. ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)) + * Install Intel® RealSense™ SDK by Source.
+ Refer to: [RealSense_install_guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ## 2. Building and Installation * Install ROS2_OpenVINO_Toolkit packages @@ -46,7 +53,8 @@ source ./install/local_setup.bash ## 3. Running the Demo ### Install OpenVINO 2022.1 by PIP -* OMZ tools are provided for downloading and converting models of open_model_zoo in ov2022.([guide](https://pypi.org/project/openvino-dev/)) +OMZ tools are provided for downloading and converting models of open_model_zoo in ov2022.
+Refer to: [OMZtool_guide](https://pypi.org/project/openvino-dev/) * See all available models ``` @@ -62,7 +70,7 @@ omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ * If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to intermediate representation (such as the model for object detection): ``` cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list -omz_converter --list convert_model.lst -o /opt/openvino_toolkit/models/convert +omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert ``` ### Install OpenVINO 2022.1 by source code * See all available models @@ -80,7 +88,7 @@ sudo python3 downloader.py --list download_model.lst -o /opt/openvino_toolkit/mo * If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to Intermediate Representation (such as the model for object detection): ``` cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools -sudo python3 converter.py --list convert_model.lst -o /opt/openvino_toolkit/models/convert +sudo python3 converter.py --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert ``` * Copy label files (execute once) @@ -94,8 +102,7 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/fr sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32 ``` -* Please check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. - +* Check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. Please refer to the quick start document for [yaml configuration guidance](./yaml_configuration_guide.md) for detailed configuration guidance. * run face detection sample code input from StandardCamera. ``` ros2 launch dynamic_vino_sample pipeline_people.launch.py diff --git a/doc/quick_start/yaml_configuration_guide.md b/doc/quick_start/yaml_configuration_guide.md new file mode 100644 index 00000000..b6a08a2a --- /dev/null +++ b/doc/quick_start/yaml_configuration_guide.md @@ -0,0 +1,130 @@ +# Introduction + +The contents in .yaml config file should be well structured and follow the supported rules and entity names. + +# Sample +## [pipeline_people.yaml](../../sample/param/pipeline_people.yaml) +```bash +Pipelines: +- name: people + inputs: [StandardCamera] + infers: + - name: FaceDetection + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + - name: AgeGenderRecognition + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 16 + - name: EmotionRecognition + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels + batch: 16 + - name: HeadPoseEstimation + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 16 + outputs: [ImageWindow, RosTopic, RViz] + connects: + - left: StandardCamera + right: [FaceDetection] + - left: FaceDetection + right: [AgeGenderRecognition, EmotionRecognition, HeadPoseEstimation, ImageWindow, RosTopic, RViz] + - left: AgeGenderRecognition + right: [ImageWindow, RosTopic, RViz] + - left: EmotionRecognition + right: [ImageWindow, RosTopic, RViz] + - left: HeadPoseEstimation + right: [ImageWindow, RosTopic, RViz] + +Common: +``` +## Interface Description + +### Specify pipeline name +The name value of this pipeline can be anyone other than null. + +### Specify inputs +**Note:** The input parameter can only have one value.
+Currently, options for inputs are: + +|Input Option|Description|Configuration| +|--------------------|------------------------------------------------------------------|-----------------------------------------| +|StandardCamera|Any RGB camera with USB port supporting. Currently only the first USB camera if many are connected.|```inputs: [StandardCamera]```| +|RealSenseCamera| Intel RealSense RGB-D Camera, directly calling RealSense Camera via librealsense plugin of openCV.|```inputs: [RealSenseCamera]```| +|RealSenseCameraTopic| Any ROS topic which is structured in image message.|```inputs: [RealSenseCameraTopic]```| +|Image| Any image file which can be parsed by openCV, such as .png, .jpeg.|```inputs: [Image]```| +|Video| Any video file which can be parsed by openCV.|```inputs: [Video]```| +|IpCamera| Any RTSP server which can push video stream.|```inputs: [IpCamera]```| + +**Note:** Please refer to this opensource repo [RTSP_server_install_guide](https://github.com/EasyDarwin/EasyDarwin) to install RTSP server for IpCamera input. + +### Specify input_path +The input_path need to be specified when input is Image, Video and Ipcamera. + +|Input Option|Configuration| +|--------------------|------------------------------------------------------------------| +|Image|```input_path: to/be/set/image_path```| +|Video|```input_path: to/be/set/video_path```| +|IpCamera|```input_path: "rtsp://localhost/test"```| + +### Specify infers +The Inference Engine is a set of C++ classes to provides an API to read the Intermediate Representation, set the input and output formats, and execute the model on devices. + +* #### name +The name of inference engine need to be specified here. Currently, the inference feature list is supported: + +|Inference|Description| +|-----------------------|------------------------------------------------------------------| +|FaceDetection|Object Detection task applied to face recognition using a sequence of neural networks.| +|EmotionRecognition| Emotion recognition based on detected face image.| +|AgeGenderRecognition| Age and gener recognition based on detected face image.| +|HeadPoseEstimation| Head pose estimation based on detected face image.| +|ObjectDetection| object detection based on SSD-based trained models.| +|VehicleDetection| Vehicle and passenger detection based on Intel models.| +|ObjectSegmentation| object detection and segmentation.| +|ObjectSegmentationMaskrcnn| object segmentation based on Maskrcnn model.| + +* #### model +The path of model need to be specified here. The scheme below illustrates the typical workflow for deploying a trained deep learning model. +![trained deep learning model](../../data/images/CVSDK_Flow.png "trained deep learning model") + +* #### engine +**Note:** Currently, only CPU and GPU are supported.
+Target device options are: + +|Target Device| +|-----------------------| +|CPU| +|Intel® Integrated Graphics| +|FPGA| +|Intel® Movidius™ Neural Compute Stick| + +* #### label +Currently, this parameter does not work. + +* #### batch +Enable dynamic batch size for the inference engine net. + +### Specify outputs +**Note:** The output parameter can be one or more.
+Currently, the output options are: + +|Option|Description|Configuration| +|--------------------|-----------------------------------------------------|---------------------------------------------| +|ImageWindow| Window showing results|```outputs: [ImageWindow, RosTopic, RViz]```| +|RosTopic| Output the topic|```outputs: [ImageWindow, RosTopic, RViz]```| +|RViz| Display the result in rviz|```outputs: [ImageWindow, RosTopic, RViz]```| + +### Specify confidence_threshold +Set the threshold of detection probability. + +### Specify connects +The topology of a pipe can only have one value on the left and multiple values on the right. The value of the first left node should be the same as the specified **inputs**. diff --git a/doc/tables_of_contents/Design_Architecture_and_logic_flow.md b/doc/tables_of_contents/Design_Architecture_and_logic_flow.md deleted file mode 100644 index 86c48bb3..00000000 --- a/doc/tables_of_contents/Design_Architecture_and_logic_flow.md +++ /dev/null @@ -1,27 +0,0 @@ -# Design Architecture -From the view of hirarchical architecture design, the package is divided into different functional components, as shown in below picture. - -![OpenVINO_Architecture](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/data/images/design_arch.PNG "OpenVINO RunTime Architecture") - -- **Intel® OpenVINO™ toolkit** is leveraged to provide deep learning basic implementation for data inference. is free software that helps developers and data scientists speed up computer vision workloads, streamline deep learning inference and deployments, -and enable easy, heterogeneous execution across Intel® platforms from edge to cloud. It helps to: - - Increase deep learning workload performance up to 19x1 with computer vision accelerators from Intel. - - Unleash convolutional neural network (CNN)-based deep learning inference using a common API. - - Speed development using optimized OpenCV* and OpenVX* functions. -- **ROS2 OpenVINO Runtime Framework** is the main body of this repo. it provides key logic implementation for pipeline lifecycle management, resource management and ROS system adapter, which extends Intel OpenVINO toolkit and libraries. Furthermore, this runtime framework provides ways to ease launching, configuration and data analytics and re-use. -- **Diversal Input resources** are the data resources to be infered and analyzed with the OpenVINO framework. -- **ROS interfaces and outputs** currently include _Topic_ and _service_. Natively, RViz output and CV image window output are also supported by refactoring topic message and inferrence results. -- **Optimized Models** provides by Model Optimizer component of Intel® OpenVINO™ toolkit. Imports trained models from various frameworks (Caffe*, Tensorflow*, MxNet*, ONNX*, Kaldi*) and converts them to a unified intermediate representation file. It also optimizes topologies through node merging, horizontal fusion, eliminating batch normalization, and quantization.It also supports graph freeze and graph summarize along with dynamic input freezing. - -# Logic Flow -From the view of logic implementation, the package introduces the definitions of parameter manager, pipeline and pipeline manager. The below picture depicts how these entities co-work together when the corresponding program is launched. - -![Logic_Flow](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/data/images/impletation_logic.PNG "OpenVINO RunTime Logic Flow") - -Once a corresponding program is launched with a specified .yaml config file passed in the .launch.py file or via commandline, _**parameter manager**_ analyzes the configurations about pipeline and the whole framework, then shares the parsed configuration information with pipeline procedure. A _**pipeline instance**_ is created by following the configuration info and is added into _**pipeline manager**_ for lifecycle control and inference action triggering. - -The contents in **.yaml config file** should be well structured and follow the supported rules and entity names. Please see [the configuration guidance](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/tutorials/configuration_file_customization.md) for how to create or edit the config files. - -**Pipeline** fulfills the whole data handling process: initiliazing Input Component for image data gathering and formating; building up the structured inference network and passing the formatted data through the inference network; transfering the inference results and handling output, etc. - -**Pipeline manager** manages all the created pipelines according to the inference requests or external demands (say, system exception, resource limitation, or end user's operation). Because of co-working with resource management and being aware of the whole framework, it covers the ability of performance optimization by sharing system resource between pipelines and reducing the burden of data copy. diff --git a/doc/tables_of_contents/prerequisite.md b/doc/tables_of_contents/prerequisite.md deleted file mode 100644 index f42279d7..00000000 --- a/doc/tables_of_contents/prerequisite.md +++ /dev/null @@ -1,31 +0,0 @@ -# Development and Target Platform - ->> The development and target platforms have the same requirements, but you can select different components during the installation, based on your intended use. - -## Hardware -### Processor Supported: -- Intel architecture processor, e.g. 6th~8th generation Intel® Core™ -- Intel® Xeon® v5 family -- Intel® Xeon® v6 family -- Intel® Pentium® processor N4200/5, N3350/5, N3450/5 with Intel® HD Graphics - -**Notes**: -- Processor graphics are not included in all processors. See [Product Specifications](https://ark.intel.com/) for information about your processor. -- A chipset that supports processor graphics is required for Intel® Xeon® processors. -- Use one of the following methods to determine the GPU on your hardware: - * [lspci] command: GPU info may lie in the [VGA compatible controller] line. - * Ubuntu system: Menu [System Settings] --> [Details] may help you find the graphics information. - * Openvino: Download the install package, install_GUI.sh inside will check the GPU information before installation. - -### Pripheral Depended: -- Intel® Movidius™ Neural Compute Stick -- Intel® Neural Compute Stick 2 -- Intel® Vision Accelerator Design with Intel® Movidius™ VPU -- RGB Camera, e.g. RealSense D400 Series or standard USB camera - -## Operating Systems -- Ubuntu 16.04 or 18.04 long-term support (LTS), 64-bit: Minimum supported kernel is 4.14 -- CentOS 7.4, 64-bit (for target only) -- Yocto Project Poky Jethro v2.0.3, 64-bit (for target only and requires modifications) - -**Note**: Since **Ubuntu 18.04** in the list is the only one well supported by ROS2 core, it is highly recommended to use as the OS. diff --git a/doc/tables_of_contents/supported_features/Supported_features.md b/doc/tables_of_contents/supported_features/Supported_features.md deleted file mode 100644 index 3117ac71..00000000 --- a/doc/tables_of_contents/supported_features/Supported_features.md +++ /dev/null @@ -1,33 +0,0 @@ -# Supported Features -## Input Resources -Currently, the package supports RGB frame data from several kinds of input resources: -- Standard USB Camera -- Realsense Camera -- Image Topic -- Image File -- Video File - -See more from [the input resource description](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/supported_features/input_resource.md). - -## Inference Implementations -Inferences shown in below list are supported: -- Face Detection -- Emotion Recognition -- Age and Gender Recognition -- Head Pose Estimation -- Object Detection -- Vehicle and License Detection -- Object Segmentation -- Person Re-Identification -- Face Re-Identification - -[Inference functionality overview](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/supported_features/inference_functionality_overview.md). - -## Output Types -The inference results can be output in several types. One or more types can be enabled for any infernece pipeline: -- Topic Publishing -- Image View Window -- RViz Showing -- Service (as a mechanism responding user's request about object detection results.) - -See more from [output types](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/supported_features/output_types.md) page. diff --git a/doc/tables_of_contents/supported_features/inference_functionality_overview.md b/doc/tables_of_contents/supported_features/inference_functionality_overview.md deleted file mode 100644 index 35afb571..00000000 --- a/doc/tables_of_contents/supported_features/inference_functionality_overview.md +++ /dev/null @@ -1,16 +0,0 @@ -# Infernece Feature List -Currently, the inference feature list is supported: - -|Inference Label|Description|Outputs Topic| -|---|---|---| -|FaceDetection|Object Detection task applied to face recognition using a sequence of neural networks.|```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|EmotionRecognition| Emotion recognition based on detected face image.|```/ros2_openvino_toolkit/emotions_recognition```([people_msgs:msg:EmotionsStamped](https://github.com/intel/ros2_openvino_toolkit/blob/master/people_msgs/msg/EmotionsStamped.msg))| -|AgeGenderRecognition| Age and gener recognition based on detected face image.|```/ros2_openvino_toolkit/age_genders_Recognition```([people_msgs:msg:AgeGenderStamped](https://github.com/intel/ros2_openvino_toolkit/blob/master/people_msgs/msg/AgeGenderStamped.msg))| -|HeadPoseEstimation| Head pose estimation based on detected face image.|```/ros2_openvino_toolkit/headposes_estimation```([people_msgs:msg:HeadPoseStamped](https://github.com/intel/ros2_openvino_toolkit/blob/master/people_msgs/msg/HeadPoseStamped.msg))| -|ObjectDetection| object detection based on SSD-based trained models.|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|VehicleAttribsDetection| Vehicle detection based on Intel models.|```/ros2_openvino_toolkit/detected_vehicles_attribs```([people_msgs::msg::VehicleAttribsStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/VehicleAttribsStamped.msg))| -|LicensePlateDetection| License detection based on Intel models.|```/ros2_openvino_toolkit/detected_license_plates```([people_msgs::msg::LicensePlateStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/LicensePlateStamped.msg))| -|ObjectSegmentation| object detection and segmentation.|```/ros2_openvino_toolkit/segmented_obejcts```([people_msgs::msg::ObjectsInMasks](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/ObjectsInMasks.msg))| -|PersonReidentification| Person Reidentification based on object detection.|```/ros2_openvino_toolkit/reidentified_persons```([people_msgs::msg::ReidentificationStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/ReidentificationStamped.msg))| -|LandmarksDetection| Landmark regression based on face detection.|```/ros2_openvino_toolkit/detected_landmarks```([people_msgs::msg::LandmarkStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/LandmarkStamped.msg))| -|FaceReidentification| Face Reidentification based on face detection.|```/ros2_openvino_toolkit/reidentified_faces```([people_msgs::msg::ReidentificationStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/ReidentificationStamped.msg))| diff --git a/doc/tables_of_contents/supported_features/input_resource.md b/doc/tables_of_contents/supported_features/input_resource.md deleted file mode 100644 index 43cd3af0..00000000 --- a/doc/tables_of_contents/supported_features/input_resource.md +++ /dev/null @@ -1,8 +0,0 @@ -# Full list of supported Input Resources -|Input Resource Name|Description| -|---|-------------------------------------------| -|StandardCamera|Any RGB camera with USB port supporting. Currently only the first USB camera if many are connected.| -|RealSenseCamera| Intel RealSense RGB-D Camera,directly calling RealSense Camera via librealsense plugin of openCV.| -|RealSenseCameraTopic| any ROS topic which is structured in image message.The topic to be inputted must be remapped to name ```/openvino_toolkit/image_raw```(type [sensor_msgs::msg::Image](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg))| -|Image| Any image file which can be parsed by openCV, such as .png, .jpeg.| -|Video| Any video file which can be parsed by openCV.| \ No newline at end of file diff --git a/doc/tables_of_contents/supported_features/output_types.md b/doc/tables_of_contents/supported_features/output_types.md deleted file mode 100644 index 315c0cb9..00000000 --- a/doc/tables_of_contents/supported_features/output_types.md +++ /dev/null @@ -1,43 +0,0 @@ -# Output Types ->> The inference results can be output in several types. One or more types can be enabled for any inference pipeline. -## Topic Publishing ->> Specific topic(s) can be generated and published according to the given inference functionalities.
- -|Inference|Published Topic| -|---|---| -|People Detection|```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([people_msgs:msg:EmotionsStamped](https://github.com/intel/ros2_openvino_toolkit/blob/master/people_msgs/msg/EmotionsStamped.msg))|/ros2_openvino_toolkit/face_detection(object_msgs:msg:ObjectsInBoxes) -|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([people_msgs:msg:AgeGenderStamped](https://github.com/intel/ros2_openvino_toolkit/blob/master/people_msgs/msg/AgeGenderStamped.msg))| -|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([people_msgs:msg:HeadPoseStamped](https://github.com/intel/ros2_openvino_toolkit/blob/master/people_msgs/msg/HeadPoseStamped.msg))| -|Object Detection|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([people_msgs::msg::ObjectsInMasks](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/ObjectsInMasks.msg))| -|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([people_msgs::msg::ReidentificationStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/ReidentificationStamped.msg))| -|Face Reidenfication|```/ros2_openvino_toolkit/reidentified_faces```([people_msgs::msg::ReidentificationStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/ReidentificationStamped.msg))| -|Vehicle Detection|```/ros2_openvino_toolkit/detected_license_plates```([people_msgs::msg::VehicleAttribsStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/VehicleAttribsStamped.msg))| -|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([people_msgs::msg::LicensePlateStamped](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/msg/LicensePlateStamped.msg))| - -## Image View Window ->> The original image and the inference results are rendered together and shown in a CV window. -## RViz Showing ->> The Rendered image (rendering inference results into the original image) was transformed into sensor_msgs::msg::Image topic, that can be shown in RViz application. -- RViz Published Topic -```/ros2_openvino_toolkit/image_rviz```([sensor_msgs::msg::Image](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)) - -## Service ->> Several ROS2 Services are created, expecting to be used in client/server mode, especially when synchronously getting inference results for a given image frame or when managing inference pipeline's lifecycle.
- -- **Face Detection or Object Detection for a given Image file** - -|Inference|Service| -|---|---| -|Object Detection Service|```/detect_object```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| -|Face Detection Service|```/detect_face```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| -|Age Gender Detection Service|```/detect_age_gender```([people_msgs::srv::AgeGender](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/srv/AgeGender.srv))| -|Headpose Detection Service|```/detect_head_pose```([people_msgs::srv::HeadPose](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/srv/HeadPose.srv))| -|Emotion Detection Service|```/detect_emotion```([people_msgs::srv::Emotion](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/people_msgs/srv/Emotion.srv))| - -- **Inference Pipeline Lifecycle Management** - - Create new pipeline - - Start/Stop/Pause a pipeline - - Get pipeline list or status - diff --git a/doc/tables_of_contents/tutorials/Multiple_Pipelines.md b/doc/tables_of_contents/tutorials/Multiple_Pipelines.md deleted file mode 100644 index cd03aec7..00000000 --- a/doc/tables_of_contents/tutorials/Multiple_Pipelines.md +++ /dev/null @@ -1,54 +0,0 @@ -# Multiple Pipelines ->> This is a way to run more than one pipeline in the same process.Having multiple pipelines in a single instance allows each pipeline to have custom configuration and different performance. - -## prerequest -see [this guide](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/tutorials/configuration_file_customization.md) to see how to customize a pipeline. - -## A demo for multiple pipeline -```bash -1 Pipelines: - 2 - name: object1 - 3 inputs: [StandardCamera] - 4 infers: - 5 - name: ObjectDetection - 6 model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml - 7 engine: CPU - 8 label: to/be/set/xxx.labels - 9 batch: 1 - 10 confidence_threshold: 0.5 - 11 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - 12 outputs: [ImageWindow, RosTopic, RViz] - 13 connects: - 14 - left: StandardCamera - 15 right: [ObjectDetection] - 16 - left: ObjectDetection - 17 right: [ImageWindow] - 18 - left: ObjectDetection - 19 right: [RosTopic] - 20 - left: ObjectDetection - 21 right: [RViz] - 22 - 23 - name: object2 - 24 inputs: [RealSenseCamera] - 25 infers: - 26 - name: ObjectDetection - 27 model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml - 28 engine: CPU - 29 label: to/be/set/xxx.labels - 30 batch: 1 - 31 confidence_threshold: 0.5 - 32 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - 33 outputs: [ImageWindow, RosTopic, RViz] - 34 connects: - 35 - left: RealSenseCamera - 36 right: [ObjectDetection] - 37 - left: ObjectDetection - 38 right: [ImageWindow] - 39 - left: ObjectDetection - 40 right: [RosTopic] - 41 - left: ObjectDetection - 42 right: [RViz] - 43 - 44 OpenvinoCommon: - -``` diff --git a/doc/tables_of_contents/tutorials/configuration_file_customization.md b/doc/tables_of_contents/tutorials/configuration_file_customization.md deleted file mode 100644 index 703459b6..00000000 --- a/doc/tables_of_contents/tutorials/configuration_file_customization.md +++ /dev/null @@ -1,58 +0,0 @@ -# Configuration File Customization - -One of the key added values of ROS2 OpenVINO is automatically create new pipeline on demand according to the given configuration files. In order to create new pipelines, the end user only need to create a new configuration file or update one already existed. The configuration file must be written by following some rules. - - 1 Pipelines: - 2 - name: object - 3 inputs: [RealSenseCamera] - 4 infers: - 5 - name: ObjectDetection - 6 model: /opt/intel/openvino/deployment_tools/tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml - 7 engine: MYRIAD - 8 label: to/be/set/xxx.labels - 9 batch: 1 - 10 confidence_threshold: 0.5 - 11 enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame - 12 outputs: [ImageWindow, RosTopic, RViz] - 13 connects: - 14 - left: RealSenseCamera - 15 right: [ObjectDetection] - 16 - left: ObjectDetection - 17 right: [ImageWindow] - 18 - left: ObjectDetection - 19 right: [RosTopic] - 20 - left: ObjectDetection - 21 right: [RViz] - -In this sample, a pipeline is to be created with this topology: - -```flow -input=operation: RealSenseCamera -infer=operation: ObjectDetection -output1=operation: ImageWindow -output2=operation: RosTopic -output3=operation: RViz - -input-infer-output1 -infer-output2 -infer-output3 -``` - -Detail Description for each line shows in below tabel: - -|Line No.|Description| -|-------------|---| -| 1 |Keyword, label for pipeline parameters. The pipeline configuration must be started by this line.| -|2|Pipeline name, the published topics bound to this name. (e.g. /openvino_toolkit/**object**/face_detection)| -|3|The name of chosen input device, should be one and only one of [the list](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/supported_features/Supported_features.md#input-resources) (taking the item "Input Resource Name").| -|4|key word for inference section. one or more inferences can be included in a pipeline's inference section.| -|5|The name of Inference instance, should be in [the list](https://github.com/intel/ros2_openvino_toolkit/blob/doc-ov.2020.3/doc/tables_of_contents/supported_features/Supported_features.md#inference-implementations).
**NOTE**: if a pipeline contains 2 or more inference instances, the first one should be a detection inference. -|6|Model description file with absolute path, generated by model_optimizer tool| -|7|The name of Inference engine, should be one of:CPU, GPU and MYRIAD.| -|8|The file name with absolute path of object labels.
**NOTE**: not enabled in the current version. The labels file with the same name as model description file under the same folder is searched and used.| -|9|The number of input data to be enqueued and handled by inference engine in parallel.| -|10|Set the inference result filtering by confidence ratio.| -|11|set *enable_roi_constraint* to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame.| -|12|A list of output method enabled for inference result showing/notifying. Should be one or some of:
• ImageWindow
• RosTopic
• Rviz
• RosService(*)
**NOTE**: RosService can only be used in ROS2 service server pipeline.| -|13|keyword for pipeline entities' relationship topology.| -|14~21|The detailed connection topology for the pipeline.
A pair of "left" and "right" parameters, whose contents are the names of inputs(line3), infers(line5) and outputs(line12) defines a connection between the two entities, it also defines that the data would be moved from *entity left* to *entity right*.| diff --git a/docker/Dockerfile b/docker/Dockerfile index 6f04c23d..b5ff38f0 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -55,15 +55,17 @@ requests \ && apt-get install -y --no-install-recommends libboost-all-dev WORKDIR /usr/lib/x86_64-linux-gnu RUN ln -sf libboost_python-py36.so libboost_python37.so +RUN pip install --upgrade pip +RUN pip install openvino-dev[tensorflow2]==2022.1 # build ros2 openvino toolkit WORKDIR /root RUN mkdir -p catkin_ws/src WORKDIR /root/catkin_ws/src -RUN git clone https://github.com/intel/ros2_object_msgs.git -RUN git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git -RUN git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git -RUN git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git +RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \ +&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git \ +&& git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git \ +&& git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git RUN apt-get install ros-${VERSION}-diagnostic-updater WORKDIR /root/catkin_ws RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md index 0fa45a92..39c9e448 100644 --- a/docker/docker_instructions_ov2.0.md +++ b/docker/docker_instructions_ov2.0.md @@ -5,7 +5,8 @@ Below steps have been tested on **Ubuntu 20.04**. Supported ROS2 versions include foxy and galactic. ## 1. Environment Setup -* Install docker ([guide](https://docs.docker.com/engine/install/ubuntu/)) +* Install docker.
+Refer to: [Docker_install_guide](https://docs.docker.com/engine/install/ubuntu/) ## 2. Build docker image by dockerfile ``` @@ -64,7 +65,8 @@ source ./install/local_setup.bash ``` * See all available models -OMZ tools are provided for downloading and converting OMZ models in ov2022.([guide](https://pypi.org/project/openvino-dev/)) +OMZ tools are provided for downloading and converting OMZ models in ov2022.
+Refer to: [OMZtool_guide](https://pypi.org/project/openvino-dev/) ``` omz_downloader --print_all @@ -79,7 +81,7 @@ omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ * If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to intermediate representation (such as the model for object detection): ``` cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list -omz_converter --list convert_model.lst -o /opt/openvino_toolkit/models/convert +omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert ``` * Copy label files (execute once) **Note**:Need to make label_dirs if skip steps for set output_dirs above. @@ -92,7 +94,7 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/fr sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32 ``` -* 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. +* Check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. Please refer to the quick start document for [yaml configuration guidance](../doc/quick_start/yaml_configuration_guide.md) for detailed configuration guidance. * run face detection sample code input from StandardCamera. ``` ros2 launch dynamic_vino_sample pipeline_people.launch.py diff --git a/dynamic_vino_lib/CMakeLists.txt b/dynamic_vino_lib/CMakeLists.txt index 6e893116..aec4c368 100644 --- a/dynamic_vino_lib/CMakeLists.txt +++ b/dynamic_vino_lib/CMakeLists.txt @@ -17,10 +17,10 @@ cmake_minimum_required(VERSION 3.5) project(dynamic_vino_lib) #################################### -## to use C++14 -set(CMAKE_CXX_STANDARD 14) +## to use C++17 +set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}") #################################### #################################### diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp index 90e6b187..b09b04bc 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp @@ -24,6 +24,7 @@ #include #include #include +#include #include "openvino/openvino.hpp" #include "dynamic_vino_lib/slog.hpp" diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 25b7b447..726d7ca5 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -13,11 +13,11 @@ set(OpenVINO_LIBRARIES openvino::runtime) cmake_minimum_required(VERSION 3.5) project(dynamic_vino_sample) -# Default to C++14 +# Default to C++17 if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD 17) endif() -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/sample/param/pipeline_segmentation_maskrcnn.yaml b/sample/param/pipeline_segmentation_maskrcnn.yaml index 667f6211..d5b8671a 100644 --- a/sample/param/pipeline_segmentation_maskrcnn.yaml +++ b/sample/param/pipeline_segmentation_maskrcnn.yaml @@ -1,18 +1,16 @@ Pipelines: - name: segmentation - inputs: [Video] - # input_path: /home/jiawei/test-seg-2022/src/ros2_openvino_toolkit/data/images/road-segmentation.png - input_path: /home/jiawei/openvino_test_video/sample-videos/car-detection.mp4 + inputs: [StandardCamera] infers: - name: ObjectSegmentationMaskrcnn - model: /home/jiawei/mask_rcnn_inception_v2_coco_2018_01_28/OUT/frozen_inference_graph.xml + model: /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_v2_coco_2018_01_28/OUT/frozen_inference_graph.xml engine: CPU #"HETERO:CPU,GPU,MYRIAD" label: to/be/set/xxx.labels batch: 1 confidence_threshold: 0.5 outputs: [ImageWindow, RosTopic, RViz] connects: - - left: Video + - left: StandardCamera right: [ObjectSegmentationMaskrcnn] - left: ObjectSegmentationMaskrcnn right: [ImageWindow] diff --git a/sample/src/pipeline_composite.cpp b/sample/src/pipeline_composite.cpp index f895fc33..d0af96cd 100644 --- a/sample/src/pipeline_composite.cpp +++ b/sample/src/pipeline_composite.cpp @@ -94,7 +94,9 @@ class ComposablePipeline : public rclcpp::Node std::string getConfigPath() { - return declare_parameter("config").get(); + // TODO: Fix api for humble + // return declare_parameter("config").get(); + return ""; } }; diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 88344197..6b35f020 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -19,10 +19,10 @@ project(dynamic_vino_test) list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake) #################################### -## to use C++14 -set(CMAKE_CXX_STANDARD 14) +## to use C++17 +set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}") #################################### find_package(OpenVINO) diff --git a/vino_param_lib/CMakeLists.txt b/vino_param_lib/CMakeLists.txt index c3cddd8f..b615ed3f 100644 --- a/vino_param_lib/CMakeLists.txt +++ b/vino_param_lib/CMakeLists.txt @@ -67,8 +67,8 @@ if(UNIX OR APPLE) # Generic flags. set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -fno-operator-names -Wformat -Wformat-security -Wall") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") - # Dot not forward c++14 flag to GPU beucause it is not supported + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") + # Dot not forward c++17 flag to GPU beucause it is not supported set(CUDA_PROPAGATE_HOST_FLAGS OFF) set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -D_FORTIFY_SOURCE=2") set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pie") From ea62fa67403f042854aefaf146f5b0779452aaac Mon Sep 17 00:00:00 2001 From: Chloe Wu Date: Sat, 31 Dec 2022 10:28:42 +0800 Subject: [PATCH 11/40] Support yolov5n (#256) * initial code for supporting yolov5n Signed-off-by: Fan,Tao * fix code for supporting yolov5n * fix code for yolov5n * revert code for resize image * fix for docker * fix model used for people reidentification * fix copyright 2018-2022 * fix bug for person attribs detection * add doc for yolov5 converted --------- Signed-off-by: Fan,Tao Co-authored-by: Fan,Tao --- README.md | 3 +- data/labels/object_detection/coco.names | 80 ++++ .../tutorial_for_yolov5_converted.md | 88 +++++ docker/Dockerfile | 13 +- docker/docker_instructions_ov2.0.md | 6 +- dynamic_vino_lib/CMakeLists.txt | 4 +- .../dynamic_vino_lib/engines/engine.hpp | 2 +- .../engines/engine_manager.hpp | 2 +- .../inferences/age_gender_detection.hpp | 2 +- .../inferences/base_filter.hpp | 2 +- .../inferences/base_inference.hpp | 2 +- .../inferences/base_reidentification.hpp | 2 +- .../inferences/emotions_detection.hpp | 2 +- .../inferences/face_detection.hpp | 2 +- .../inferences/face_reidentification.hpp | 2 +- .../inferences/head_pose_detection.hpp | 2 +- .../inferences/inference_manager.hpp | 2 +- .../inferences/landmarks_detection.hpp | 2 +- .../inferences/license_plate_detection.hpp | 2 +- .../inferences/object_detection.hpp | 2 +- .../inferences/object_segmentation.hpp | 2 +- .../object_segmentation_maskrcnn.hpp | 2 +- .../inferences/person_attribs_detection.hpp | 2 +- .../inferences/person_reidentification.hpp | 2 +- .../inferences/vehicle_attribs_detection.hpp | 2 +- .../dynamic_vino_lib/inputs/base_input.hpp | 2 +- .../dynamic_vino_lib/inputs/image_input.hpp | 2 +- .../dynamic_vino_lib/inputs/image_topic.hpp | 2 +- .../dynamic_vino_lib/inputs/ip_camera.hpp | 2 +- .../inputs/realsense_camera.hpp | 2 +- .../inputs/realsense_camera_topic.hpp | 2 +- .../dynamic_vino_lib/inputs/ros2_handler.hpp | 2 +- .../inputs/standard_camera.hpp | 2 +- .../dynamic_vino_lib/inputs/video_input.hpp | 2 +- .../models/age_gender_detection_model.hpp | 2 +- .../models/attributes/base_attribute.hpp | 2 +- .../dynamic_vino_lib/models/base_model.hpp | 2 +- .../models/emotion_detection_model.hpp | 2 +- .../models/face_detection_model.hpp | 2 +- .../models/face_reidentification_model.hpp | 2 +- .../models/head_pose_detection_model.hpp | 2 +- .../models/landmarks_detection_model.hpp | 2 +- .../models/license_plate_detection_model.hpp | 2 +- .../models/object_detection_ssd_model.hpp | 2 +- ....hpp => object_detection_yolov5_model.hpp} | 25 +- .../object_segmentation_maskrcnn_model.hpp | 2 +- .../models/object_segmentation_model.hpp | 2 +- .../models/person_attribs_detection_model.hpp | 2 +- .../models/person_reidentification_model.hpp | 2 +- .../vehicle_attribs_detection_model.hpp | 2 +- .../dynamic_vino_lib/outputs/base_output.hpp | 2 +- .../outputs/image_window_output.hpp | 2 +- .../outputs/ros_service_output.hpp | 2 +- .../outputs/ros_topic_output.hpp | 2 +- .../dynamic_vino_lib/outputs/rviz_output.hpp | 2 +- .../include/dynamic_vino_lib/pipeline.hpp | 2 +- .../dynamic_vino_lib/pipeline_manager.hpp | 2 +- .../dynamic_vino_lib/pipeline_params.hpp | 4 +- .../services/frame_processing_server.hpp | 2 +- .../services/pipeline_processing_server.hpp | 2 +- .../include/dynamic_vino_lib/slog.hpp | 2 +- .../dynamic_vino_lib/utils/mutex_counter.hpp | 2 +- .../dynamic_vino_lib/utils/version_info.hpp | 2 +- dynamic_vino_lib/package.xml | 2 +- dynamic_vino_lib/src/engines/engine.cpp | 2 +- .../src/engines/engine_manager.cpp | 2 +- .../src/inferences/age_gender_detection.cpp | 2 +- .../src/inferences/base_filter.cpp | 2 +- .../src/inferences/base_inference.cpp | 2 +- .../src/inferences/base_reidentification.cpp | 2 +- .../src/inferences/emotions_detection.cpp | 2 +- .../src/inferences/face_detection.cpp | 2 +- .../src/inferences/face_reidentification.cpp | 2 +- .../src/inferences/head_pose_detection.cpp | 2 +- .../src/inferences/landmarks_detection.cpp | 2 +- .../inferences/license_plate_detection.cpp | 2 +- .../src/inferences/object_detection.cpp | 2 +- .../src/inferences/object_segmentation.cpp | 2 +- .../object_segmentation_maskrcnn.cpp | 2 +- .../inferences/person_attribs_detection.cpp | 2 +- .../inferences/person_reidentification.cpp | 2 +- .../inferences/vehicle_attribs_detection.cpp | 2 +- dynamic_vino_lib/src/inputs/image_input.cpp | 2 +- dynamic_vino_lib/src/inputs/image_topic.cpp | 2 +- dynamic_vino_lib/src/inputs/ip_camera.cpp | 2 +- .../src/inputs/realsense_camera.cpp | 2 +- .../src/inputs/standard_camera.cpp | 2 +- dynamic_vino_lib/src/inputs/video_input.cpp | 2 +- .../src/models/age_gender_detection_model.cpp | 2 +- .../src/models/attributes/ssd_model_attr.cpp | 2 +- dynamic_vino_lib/src/models/base_model.cpp | 2 +- .../src/models/emotion_detection_model.cpp | 2 +- .../src/models/face_detection_model.cpp | 2 +- .../models/face_reidentification_model.cpp | 2 +- .../src/models/head_pose_detection_model.cpp | 2 +- .../src/models/landmarks_detection_model.cpp | 2 +- .../models/license_plate_detection_model.cpp | 2 +- .../src/models/object_detection_ssd_model.cpp | 2 +- .../models/object_detection_yolov2_model.cpp | 356 ------------------ .../models/object_detection_yolov5_model.cpp | 224 +++++++++++ .../object_segmentation_maskrcnn_model.cpp | 2 +- .../src/models/object_segmentation_model.cpp | 2 +- .../models/person_attribs_detection_model.cpp | 8 +- .../models/person_reidentification_model.cpp | 2 +- .../vehicle_attribs_detection_model.cpp | 2 +- dynamic_vino_lib/src/outputs/base_output.cpp | 2 +- .../src/outputs/image_window_output.cpp | 2 +- .../src/outputs/ros_service_output.cpp | 2 +- .../src/outputs/ros_topic_output.cpp | 2 +- dynamic_vino_lib/src/outputs/rviz_output.cpp | 2 +- dynamic_vino_lib/src/pipeline.cpp | 2 +- dynamic_vino_lib/src/pipeline_manager.cpp | 8 +- dynamic_vino_lib/src/pipeline_params.cpp | 2 +- .../src/services/frame_processing_server.cpp | 2 +- .../services/pipeline_processing_server.cpp | 2 +- people_msgs/CMakeLists.txt | 2 +- people_msgs/msg/AgeGender.msg | 2 +- people_msgs/msg/AgeGenderStamped.msg | 2 +- people_msgs/msg/Emotion.msg | 2 +- people_msgs/msg/EmotionsStamped.msg | 2 +- people_msgs/msg/HeadPose.msg | 2 +- people_msgs/msg/HeadPoseStamped.msg | 2 +- people_msgs/msg/Landmark.msg | 2 +- people_msgs/msg/LandmarkStamped.msg | 2 +- people_msgs/msg/LicensePlate.msg | 2 +- people_msgs/msg/LicensePlateStamped.msg | 2 +- people_msgs/msg/ObjectInMask.msg | 2 +- people_msgs/msg/ObjectsInMasks.msg | 2 +- people_msgs/msg/PersonAttribute.msg | 2 +- people_msgs/msg/PersonAttributeStamped.msg | 2 +- people_msgs/msg/PersonsStamped.msg | 2 +- people_msgs/msg/Reidentification.msg | 2 +- people_msgs/msg/ReidentificationStamped.msg | 2 +- people_msgs/msg/VehicleAttribs.msg | 2 +- people_msgs/msg/VehicleAttribsStamped.msg | 2 +- people_msgs/package.xml | 2 +- people_msgs/srv/AgeGenderSrv.srv | 2 +- people_msgs/srv/EmotionSrv.srv | 2 +- people_msgs/srv/HeadPoseSrv.srv | 2 +- people_msgs/srv/People.srv | 2 +- pipeline_srv_msgs/CMakeLists.txt | 2 +- pipeline_srv_msgs/msg/Connection.msg | 2 +- pipeline_srv_msgs/msg/Pipeline.msg | 2 +- pipeline_srv_msgs/msg/PipelineRequest.msg | 2 +- pipeline_srv_msgs/package.xml | 2 +- pipeline_srv_msgs/srv/PipelineSrv.srv | 2 +- sample/CMakeLists.txt | 2 +- sample/include/utility.hpp | 2 +- sample/package.xml | 2 +- sample/param/pipeline_object_yolo.yaml | 10 +- sample/param/pipeline_object_yolo_topic.yaml | 5 +- .../param/pipeline_object_yolo_test.yaml | 5 +- .../param/pipeline_reidentification_test.yaml | 2 +- sample/src/image_object_client.cpp | 2 +- sample/src/image_object_server.cpp | 2 +- sample/src/image_people_client.cpp | 2 +- sample/src/image_people_server.cpp | 2 +- sample/src/parameters.cpp | 2 +- sample/src/pipeline_composite.cpp | 2 +- sample/src/pipeline_with_params.cpp | 2 +- tests/CMakeLists.txt | 2 +- tests/package.xml | 2 +- tests/param/pipeline_object_yolo_test.yaml | 5 +- .../param/pipeline_reidentification_test.yaml | 2 +- .../src/lib/unittest_createPipelineCheck.cpp | 2 +- tests/src/service/unittest_objectService.cpp | 2 +- tests/src/service/unittest_peopleService.cpp | 2 +- .../src/topic/unittest_faceDetectionCheck.cpp | 2 +- .../topic/unittest_face_reidentification.cpp | 2 +- tests/src/topic/unittest_imageCheck.cpp | 2 +- .../topic/unittest_objectDetectionCheck.cpp | 2 +- tests/src/topic/unittest_reidentification.cpp | 2 +- .../src/topic/unittest_segmentationCheck.cpp | 2 +- .../topic/unittest_vehicleDetectionCheck.cpp | 2 +- vino_param_lib/CMakeLists.txt | 2 +- .../include/vino_param_lib/param_manager.hpp | 2 +- vino_param_lib/package.xml | 2 +- vino_param_lib/src/param_manager.cpp | 2 +- 178 files changed, 605 insertions(+), 563 deletions(-) create mode 100755 data/labels/object_detection/coco.names create mode 100644 doc/quick_start/tutorial_for_yolov5_converted.md rename dynamic_vino_lib/include/dynamic_vino_lib/models/{object_detection_yolov2_model.hpp => object_detection_yolov5_model.hpp} (74%) delete mode 100644 dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp create mode 100644 dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp diff --git a/README.md b/README.md index c163b5d8..88cad91a 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ * [➤ Overview](#overview) * [ROS2 Version Supported](#ros2-version-supported) * [Inference Features Supported](#inference-features-supported) -* [➤ Prerequisite](#prerequisite-for-ros2-branch) +* [➤ Prerequisite](#prerequisite) * [➤ Introduction](#introduction) * [Design Architecture](#design-architecture) * [Logic Flow](#logic-flow) @@ -241,6 +241,7 @@ For the snapshot of demo results, refer to the following picture. * OpenVINO api 2.0: Refer to the OpenVINO document for [OpenVINO_api_2.0](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html) for latest api 2.0 transition guide. # FAQ +* [How to get the IR file for yolov5?](./doc/quick_start/tutorial_for_yolov5_converted.md) * [How to build OpenVINO by source?](https://github.com/openvinotoolkit/openvino/wiki#how-to-build) * [How to build RealSense by source?](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) * [What is the basic command of Docker CLI?](https://docs.docker.com/engine/reference/commandline/docker/) diff --git a/data/labels/object_detection/coco.names b/data/labels/object_detection/coco.names new file mode 100755 index 00000000..16315f2b --- /dev/null +++ b/data/labels/object_detection/coco.names @@ -0,0 +1,80 @@ +person +bicycle +car +motorbike +aeroplane +bus +train +truck +boat +traffic light +fire hydrant +stop sign +parking meter +bench +bird +cat +dog +horse +sheep +cow +elephant +bear +zebra +giraffe +backpack +umbrella +handbag +tie +suitcase +frisbee +skis +snowboard +sports ball +kite +baseball bat +baseball glove +skateboard +surfboard +tennis racket +bottle +wine glass +cup +fork +knife +spoon +bowl +banana +apple +sandwich +orange +broccoli +carrot +hot dog +pizza +donut +cake +chair +sofa +pottedplant +bed +diningtable +toilet +tvmonitor +laptop +mouse +remote +keyboard +cell phone +microwave +oven +toaster +sink +refrigerator +book +clock +vase +scissors +teddy bear +hair drier +toothbrush \ No newline at end of file diff --git a/doc/quick_start/tutorial_for_yolov5_converted.md b/doc/quick_start/tutorial_for_yolov5_converted.md new file mode 100644 index 00000000..dcde6fc3 --- /dev/null +++ b/doc/quick_start/tutorial_for_yolov5_converted.md @@ -0,0 +1,88 @@ +# Tutorial_For_yolov5_Converted + +# Introduction +This document describes a method to convert YOLOv5 nano PyTorch weight files with the. pt extension to ONNX weight files, and a method to convert ONNX weight files to IR files using the OpenVINO model optimizer. This method can help OpenVINO users optimize YOLOv5n for deployment in practical applications. + +## Reference Phrase +|Term|Description| +|---|---| +|OpenVINO|Open Visual Inference & Neural Network Optimization| +|ONNX|Open Neural Network Exchange| +|YOLO|You Only Look Once| +|IR|Intermediate Representation| + +## Reference Document +|Doc|Link| +|---|---| +|OpenVINO|[openvino_2_0_transition_guide](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html)| +|YOLOv5|[yolov5](https://github.com/ultralytics/yolov5)| + +# Convert Weight File to ONNX +* Copy YOLOv5 Repository from GitHub +``` +git clone https://github.com/ultralytics/yolov5.git +``` + +* Set Environment for Installing YOLOv5 +``` +cd yolov5 +python3 -m venv yolo_env // Create a virtual python environment +source yolo_env/bin/activate // Activate environment +pip install -r requirements.txt // Install yolov5 prerequisites +pip install onnx // Install ONNX +``` + +* Download PyTorch Weights +``` +mkdir model_convert && cd model_convert +wget https://github.com/ultralytics/yolov5/releases/download/v6.2/yolov5n.pt +``` + +* Convert PyTorch weights to ONNX weights +YOLOv5 repository provides export.py script, which can be used to convert PyTorch weight to ONNX weight. +``` +cd .. +python3 export.py --weights model_convert/yolov5n.pt --include onnx +``` + +# Convert ONNX files to IR files +After obtaining the ONNX weight file from the previous section [Convert Weight File to ONNX](#convert-weight-file-to-onnx), we can use the model optimizer to convert it to an IR file. + +* Install the OpenVINO Model Optimizer Environment +To use the model optimizer, you need to run the following command to install some necessary components (if you are still in the yolo_env virtual environment, you need to run the **deactivate** command to exit the environment or start a new terminal). +``` +python3 -m venv ov_env // Create openVINO virtual environment +source ov_env/bin/activate // Activate environment +python -m pip install --upgrade pip // Upgrade pip +pip install openvino[onnx]==2022.1.0 // Install OpenVINO for ONNX +pip install openvino-dev[onnx]==2022.1.0 // Install OpenVINO Dev Tool for ONNX +``` + +* Generate IR file +``` +cd model_convert +mo --input_model yolov5n.onnx +``` +Then we will get three files: yolov5n.xml, yolov5n.bin, and yolov5n.mapping under the model_convert folder. + +# Move to the Recommended Model Path +``` +cd ~/yolov5/model_convert +mkdir -p /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/ +sudo cp yolov5n.bin yolov5n.mapping yolov5n.xml /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/ +``` + +# FAQ + +

+

+How to install the python3-venv package? + +On Debian/Ubuntu systems, you need to install the python3-venv package using the following command. +``` +apt-get update +apt-get install python3-venv +``` +You may need to use sudo with that command. After installing, recreate your virtual environment. +
+

diff --git a/docker/Dockerfile b/docker/Dockerfile index b5ff38f0..3bf9fbaf 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -1,7 +1,7 @@ # ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80 -ARG ROS_VERSION -FROM osrf/ros:${ROS_VERSION} +ARG ROS_PRE_INSTALLED_PKG +FROM osrf/ros:${ROS_PRE_INSTALLED_PKG} ARG VERSION # setting proxy env --option @@ -10,8 +10,10 @@ ARG VERSION # ENV HTTPS_PROXY="your_proxy" # ENV FTP_PROXY="your_proxy" -LABEL maintainer="Jiawei Wu " +# author information +LABEL author="Jiawei Wu " +# default shell type SHELL ["/bin/bash", "-c"] # ignore the warning @@ -54,7 +56,6 @@ pyyaml \ requests \ && apt-get install -y --no-install-recommends libboost-all-dev WORKDIR /usr/lib/x86_64-linux-gnu -RUN ln -sf libboost_python-py36.so libboost_python37.so RUN pip install --upgrade pip RUN pip install openvino-dev[tensorflow2]==2022.1 @@ -63,9 +64,7 @@ WORKDIR /root RUN mkdir -p catkin_ws/src WORKDIR /root/catkin_ws/src RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \ -&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git \ -&& git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git \ -&& git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git +&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git RUN apt-get install ros-${VERSION}-diagnostic-updater WORKDIR /root/catkin_ws RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md index 39c9e448..265fc9cb 100644 --- a/docker/docker_instructions_ov2.0.md +++ b/docker/docker_instructions_ov2.0.md @@ -12,20 +12,20 @@ Refer to: [Docker_install_guide](https://docs.docker.com/engine/install/ubuntu/) ``` cd ~/ros2_openvino_toolkit/docker/Dockerfile vi ~/ros2_openvino_toolkit/docker/Dockerfile -docker build --build-arg ROS_VERSION= --build-arg VERSION= --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 . +docker build --build-arg ROS_PRE_INSTALLED_PKG= --build-arg VERSION= --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 . ``` For example: * Build image for ros_galactic ``` cd ~/ros2_openvino_toolkit/docker/Dockerfile vi ~/ros2_openvino_toolkit/docker/Dockerfile -docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 . +docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 . ``` * Build image for ros_foxy ``` cd ~/ros2_openvino_toolkit/docker/Dockerfile vi ~/ros2_openvino_toolkit/docker/Dockerfile -docker build --build-arg ROS_VERSION=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 . +docker build --build-arg ROS_PRE_INSTALLED_PKG=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 . ``` ## 3. Download and load docker image diff --git a/dynamic_vino_lib/CMakeLists.txt b/dynamic_vino_lib/CMakeLists.txt index aec4c368..5b13e8b7 100644 --- a/dynamic_vino_lib/CMakeLists.txt +++ b/dynamic_vino_lib/CMakeLists.txt @@ -1,4 +1,4 @@ -# Copyright (c) 2018-2020 Intel Corporation +# Copyright (c) 2018-2022 Intel Corporation # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -217,7 +217,7 @@ add_library(${PROJECT_NAME} SHARED src/models/vehicle_attribs_detection_model.cpp src/models/license_plate_detection_model.cpp src/models/object_detection_ssd_model.cpp - src/models/object_detection_yolov2_model.cpp + src/models/object_detection_yolov5_model.cpp src/outputs/image_window_output.cpp src/outputs/ros_topic_output.cpp src/outputs/rviz_output.cpp diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp index 95b01f93..a3db05c1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp index dad18b62..a8a9a976 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018-2019 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp index 238c3f73..b982d1fb 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp index ec46271e..62c2d560 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp index f83d4d10..e036ee9d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp index 17fd90f0..feb97d7d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp index 7f0a4609..07e07d00 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp index 960b2af7..b4c37db1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp index 62215c4c..e0f6f9ac 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp index 23112af4..f5d5390f 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp index 0966a96a..b9f7bb94 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp index a0f8aa3a..30dbf28e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp index 190d4338..b3adec0e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp index 6d207f88..a83a7926 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp index f8a64f9d..081af67f 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp index 11dbb044..67de05fb 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp index af143533..17287f49 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp index 9aa82d9d..048484ef 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp index d011a1ff..5f40fbd8 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp index 695e7200..f01fd22d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp index 08874c49..e3c0d837 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp index 196a934b..a5b25f18 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp index 02ffb3ce..11dc2dd5 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp index 3d399927..ff06fce8 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp index 2b62c643..7e06bab3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp index 6a2ac311..7630a00e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp index ef63e65b..04b2a993 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp index e02a5f16..d751209a 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index c05530a4..6ef8af7b 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp index b09b04bc..d404b888 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018-2020 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 6ab777d5..64d9c89e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index ab5a56ad..c5abd257 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 11c7efae..868417e4 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 845eba62..b526777c 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 994c6307..2878eb51 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index f20c3065..164d2ea7 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index f9dfcebc..868fafc1 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 9243d1bb..622e866b 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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_yolov5_model.hpp similarity index 74% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov2_model.hpp rename to dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp index 1778d228..f9e2b040 100644 --- 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_yolov5_model.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,8 +15,8 @@ * @brief A header file with declaration for ObjectDetectionModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV2_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV2_MODEL_HPP_ +#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#define DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ #include #include #include @@ -27,12 +27,20 @@ namespace Models * @class ObjectDetectionModel * @brief This class generates the face detection model. */ -class ObjectDetectionYolov2Model : public ObjectDetectionModel +#pragma pack(1) + typedef struct Resize { + cv::Mat resized_image; + int dw{}; + int dh{}; + } Resize_t; +#pragma pack() + +class ObjectDetectionYolov5Model : public ObjectDetectionModel { using Result = dynamic_vino_lib::ObjectDetectionResult; public: - ObjectDetectionYolov2Model(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + ObjectDetectionYolov5Model(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); bool fetchResults( const std::shared_ptr & engine, @@ -55,10 +63,11 @@ class ObjectDetectionYolov2Model : public ObjectDetectionModel */ const std::string getModelCategory() const override; bool updateLayerProperty(std::shared_ptr&) override; + static Resize_t pre_process_ov(const cv::Mat &input_image); -protected: + cv::Mat input_image; + Resize_t resize_img; - int getEntryIndex(int side, int lcoords, int lclasses, int location, int entry); }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV2_MODEL_HPP_ +#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp index 81d45bc5..e0c64600 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 7268d26a..5a527651 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index a87a0f8c..1e253098 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 36c4086d..afbb4dcb 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. 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 index 83eb96f9..ff230f1d 100644 --- 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 @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp index 3bae23c2..c9267db8 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp index 9ea76ef5..22f9b704 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp index 5392792d..da27197b 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp index cbfaf9d3..a1bcd980 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp index 54e7e3ec..f1cc0f4e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp index 88c4cc15..913bcc6b 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp index 3c464684..3b4e210c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp index ff833276..f0deba59 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -55,7 +55,7 @@ const char kInferTpye_ObjectDetection[] = "ObjectDetection"; const char kInferTpye_ObjectSegmentation[] = "ObjectSegmentation"; const char kInferTpye_ObjectSegmentationMaskrcnn[] = "ObjectSegmentationMaskrcnn"; const char kInferTpye_ObjectDetectionTypeSSD[] = "SSD"; -const char kInferTpye_ObjectDetectionTypeYolov2[] = "yolov2"; +const char kInferTpye_ObjectDetectionTypeYolov5[] = "yolov5"; const char kInferTpye_PersonReidentification[] = "PersonReidentification"; const char kInferTpye_PersonAttribsDetection[] = "PersonAttribsDetection"; const char kInferTpye_LandmarksDetection[] = "LandmarksDetection"; diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp index 056cb179..7c77cbf8 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp index 09917765..d9b55d8c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp index e9790327..fef20a70 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp index 47947928..bf1bc718 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018-2019 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp index 18b98227..88a31e9e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp +++ b/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018-2019 Intel Corporation +// Copyright (c) 2018-2022 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/dynamic_vino_lib/package.xml b/dynamic_vino_lib/package.xml index d432eba2..b975b4e8 100644 --- a/dynamic_vino_lib/package.xml +++ b/dynamic_vino_lib/package.xml @@ -1,7 +1,7 @@ - pipeline_srv_msgs + openvino_msgs 0.9.0 A package containing pipeline service message definitions. Yang Lu diff --git a/pipeline_srv_msgs/srv/PipelineSrv.srv b/openvino_msgs/srv/PipelineSrv.srv similarity index 100% rename from pipeline_srv_msgs/srv/PipelineSrv.srv rename to openvino_msgs/srv/PipelineSrv.srv diff --git a/vino_param_lib/CMakeLists.txt b/openvino_param_lib/CMakeLists.txt similarity index 99% rename from vino_param_lib/CMakeLists.txt rename to openvino_param_lib/CMakeLists.txt index 36cbde88..8a78469a 100644 --- a/vino_param_lib/CMakeLists.txt +++ b/openvino_param_lib/CMakeLists.txt @@ -13,7 +13,7 @@ # limitations under the License. cmake_minimum_required(VERSION 3.5) -project(vino_param_lib) +project(openvino_param_lib) find_package(ament_cmake REQUIRED) find_package(yaml_cpp_vendor REQUIRED) diff --git a/vino_param_lib/include/vino_param_lib/param_manager.hpp b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp similarity index 96% rename from vino_param_lib/include/vino_param_lib/param_manager.hpp rename to openvino_param_lib/include/openvino_param_lib/param_manager.hpp index 912d8ed6..558d9359 100644 --- a/vino_param_lib/include/vino_param_lib/param_manager.hpp +++ b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for parameter management * @file param_manager.hpp */ -#ifndef VINO_PARAM_LIB__PARAM_MANAGER_HPP_ -#define VINO_PARAM_LIB__PARAM_MANAGER_HPP_ +#ifndef OPENVINO_PARAM_LIB__PARAM_MANAGER_HPP_ +#define OPENVINO_PARAM_LIB__PARAM_MANAGER_HPP_ #include #include @@ -148,4 +148,4 @@ class ParamManager // singleton }; } // namespace Params -#endif // VINO_PARAM_LIB__PARAM_MANAGER_HPP_ +#endif // OPENVINO_PARAM_LIB__PARAM_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp b/openvino_param_lib/include/openvino_param_lib/slog.hpp similarity index 97% rename from dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp rename to openvino_param_lib/include/openvino_param_lib/slog.hpp index fef20a70..bf350394 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp +++ b/openvino_param_lib/include/openvino_param_lib/slog.hpp @@ -16,8 +16,8 @@ * @brief a header file with logging facility for common samples * @file slog.hpp */ -#ifndef DYNAMIC_VINO_LIB__SLOG_HPP_ -#define DYNAMIC_VINO_LIB__SLOG_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__SLOG_HPP_ +#define OPENVINO_WRAPPER_LIB__SLOG_HPP_ #pragma once @@ -172,4 +172,4 @@ static LogStream warn("WARNING", std::cout, YELLOW); static LogStream err("ERROR", std::cerr, RED); } // namespace slog -#endif // DYNAMIC_VINO_LIB__SLOG_HPP_ +#endif // OPENVINO_WRAPPER_LIB__SLOG_HPP_ diff --git a/vino_param_lib/package.xml b/openvino_param_lib/package.xml similarity index 97% rename from vino_param_lib/package.xml rename to openvino_param_lib/package.xml index 7f0ec3ab..6484dd58 100644 --- a/vino_param_lib/package.xml +++ b/openvino_param_lib/package.xml @@ -17,7 +17,7 @@ limitations under the License. --> - vino_param_lib + openvino_param_lib 0.9.0 Library for ROS2 OpenVINO parameter management Weizhi Liu diff --git a/vino_param_lib/param/pipeline.yaml b/openvino_param_lib/param/pipeline.yaml similarity index 100% rename from vino_param_lib/param/pipeline.yaml rename to openvino_param_lib/param/pipeline.yaml diff --git a/vino_param_lib/src/param_manager.cpp b/openvino_param_lib/src/param_manager.cpp similarity index 98% rename from vino_param_lib/src/param_manager.cpp rename to openvino_param_lib/src/param_manager.cpp index 037756a4..89527c95 100644 --- a/vino_param_lib/src/param_manager.cpp +++ b/openvino_param_lib/src/param_manager.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "vino_param_lib/param_manager.hpp" -#include +#include "openvino_param_lib/param_manager.hpp" +#include #include #include #include diff --git a/people_msgs/CMakeLists.txt b/openvino_people_msgs/CMakeLists.txt similarity index 98% rename from people_msgs/CMakeLists.txt rename to openvino_people_msgs/CMakeLists.txt index f7832982..d3257b00 100644 --- a/people_msgs/CMakeLists.txt +++ b/openvino_people_msgs/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(people_msgs) +project(openvino_people_msgs) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) diff --git a/people_msgs/msg/AgeGender.msg b/openvino_people_msgs/msg/AgeGender.msg similarity index 100% rename from people_msgs/msg/AgeGender.msg rename to openvino_people_msgs/msg/AgeGender.msg diff --git a/people_msgs/msg/AgeGenderStamped.msg b/openvino_people_msgs/msg/AgeGenderStamped.msg similarity index 93% rename from people_msgs/msg/AgeGenderStamped.msg rename to openvino_people_msgs/msg/AgeGenderStamped.msg index 56fb2828..25217127 100644 --- a/people_msgs/msg/AgeGenderStamped.msg +++ b/openvino_people_msgs/msg/AgeGenderStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/AgeGender[] objects +openvino_people_msgs/AgeGender[] objects diff --git a/people_msgs/msg/Emotion.msg b/openvino_people_msgs/msg/Emotion.msg similarity index 100% rename from people_msgs/msg/Emotion.msg rename to openvino_people_msgs/msg/Emotion.msg diff --git a/people_msgs/msg/EmotionsStamped.msg b/openvino_people_msgs/msg/EmotionsStamped.msg similarity index 93% rename from people_msgs/msg/EmotionsStamped.msg rename to openvino_people_msgs/msg/EmotionsStamped.msg index 689db83f..78914367 100644 --- a/people_msgs/msg/EmotionsStamped.msg +++ b/openvino_people_msgs/msg/EmotionsStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/Emotion[] emotions +openvino_people_msgs/Emotion[] emotions diff --git a/people_msgs/msg/HeadPose.msg b/openvino_people_msgs/msg/HeadPose.msg similarity index 100% rename from people_msgs/msg/HeadPose.msg rename to openvino_people_msgs/msg/HeadPose.msg diff --git a/people_msgs/msg/HeadPoseStamped.msg b/openvino_people_msgs/msg/HeadPoseStamped.msg similarity index 93% rename from people_msgs/msg/HeadPoseStamped.msg rename to openvino_people_msgs/msg/HeadPoseStamped.msg index 57468423..de80904a 100644 --- a/people_msgs/msg/HeadPoseStamped.msg +++ b/openvino_people_msgs/msg/HeadPoseStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/HeadPose[] headposes \ No newline at end of file +openvino_people_msgs/HeadPose[] headposes \ No newline at end of file diff --git a/people_msgs/msg/Landmark.msg b/openvino_people_msgs/msg/Landmark.msg similarity index 100% rename from people_msgs/msg/Landmark.msg rename to openvino_people_msgs/msg/Landmark.msg diff --git a/people_msgs/msg/LandmarkStamped.msg b/openvino_people_msgs/msg/LandmarkStamped.msg similarity index 100% rename from people_msgs/msg/LandmarkStamped.msg rename to openvino_people_msgs/msg/LandmarkStamped.msg diff --git a/people_msgs/msg/LicensePlate.msg b/openvino_people_msgs/msg/LicensePlate.msg similarity index 100% rename from people_msgs/msg/LicensePlate.msg rename to openvino_people_msgs/msg/LicensePlate.msg diff --git a/people_msgs/msg/LicensePlateStamped.msg b/openvino_people_msgs/msg/LicensePlateStamped.msg similarity index 93% rename from people_msgs/msg/LicensePlateStamped.msg rename to openvino_people_msgs/msg/LicensePlateStamped.msg index f2982b5c..04406dac 100644 --- a/people_msgs/msg/LicensePlateStamped.msg +++ b/openvino_people_msgs/msg/LicensePlateStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/LicensePlate[] licenses \ No newline at end of file +openvino_people_msgs/LicensePlate[] licenses \ No newline at end of file diff --git a/people_msgs/msg/ObjectInMask.msg b/openvino_people_msgs/msg/ObjectInMask.msg similarity index 100% rename from people_msgs/msg/ObjectInMask.msg rename to openvino_people_msgs/msg/ObjectInMask.msg diff --git a/people_msgs/msg/ObjectsInMasks.msg b/openvino_people_msgs/msg/ObjectsInMasks.msg similarity index 100% rename from people_msgs/msg/ObjectsInMasks.msg rename to openvino_people_msgs/msg/ObjectsInMasks.msg diff --git a/people_msgs/msg/PersonAttribute.msg b/openvino_people_msgs/msg/PersonAttribute.msg similarity index 100% rename from people_msgs/msg/PersonAttribute.msg rename to openvino_people_msgs/msg/PersonAttribute.msg diff --git a/people_msgs/msg/PersonAttributeStamped.msg b/openvino_people_msgs/msg/PersonAttributeStamped.msg similarity index 100% rename from people_msgs/msg/PersonAttributeStamped.msg rename to openvino_people_msgs/msg/PersonAttributeStamped.msg diff --git a/people_msgs/msg/PersonsStamped.msg b/openvino_people_msgs/msg/PersonsStamped.msg similarity index 83% rename from people_msgs/msg/PersonsStamped.msg rename to openvino_people_msgs/msg/PersonsStamped.msg index 85fee95b..f8ee471f 100644 --- a/people_msgs/msg/PersonsStamped.msg +++ b/openvino_people_msgs/msg/PersonsStamped.msg @@ -14,6 +14,6 @@ std_msgs/Header header object_msgs/ObjectInBox[] faces -people_msgs/Emotion[] emotions -people_msgs/AgeGender[] agegenders -people_msgs/HeadPose[] headposes +openvino_people_msgs/Emotion[] emotions +openvino_people_msgs/AgeGender[] agegenders +openvino_people_msgs/HeadPose[] headposes diff --git a/people_msgs/msg/Reidentification.msg b/openvino_people_msgs/msg/Reidentification.msg similarity index 100% rename from people_msgs/msg/Reidentification.msg rename to openvino_people_msgs/msg/Reidentification.msg diff --git a/people_msgs/msg/ReidentificationStamped.msg b/openvino_people_msgs/msg/ReidentificationStamped.msg similarity index 100% rename from people_msgs/msg/ReidentificationStamped.msg rename to openvino_people_msgs/msg/ReidentificationStamped.msg diff --git a/people_msgs/msg/VehicleAttribs.msg b/openvino_people_msgs/msg/VehicleAttribs.msg similarity index 100% rename from people_msgs/msg/VehicleAttribs.msg rename to openvino_people_msgs/msg/VehicleAttribs.msg diff --git a/people_msgs/msg/VehicleAttribsStamped.msg b/openvino_people_msgs/msg/VehicleAttribsStamped.msg similarity index 92% rename from people_msgs/msg/VehicleAttribsStamped.msg rename to openvino_people_msgs/msg/VehicleAttribsStamped.msg index 97cbd3c6..4e97859a 100644 --- a/people_msgs/msg/VehicleAttribsStamped.msg +++ b/openvino_people_msgs/msg/VehicleAttribsStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/VehicleAttribs[] vehicles +openvino_people_msgs/VehicleAttribs[] vehicles diff --git a/people_msgs/package.xml b/openvino_people_msgs/package.xml similarity index 98% rename from people_msgs/package.xml rename to openvino_people_msgs/package.xml index f7357e00..6e59ce10 100644 --- a/people_msgs/package.xml +++ b/openvino_people_msgs/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - people_msgs + openvino_people_msgs 0.9.0 A package containing people message definitions. Weizhi Liu diff --git a/people_msgs/srv/AgeGenderSrv.srv b/openvino_people_msgs/srv/AgeGenderSrv.srv similarity index 100% rename from people_msgs/srv/AgeGenderSrv.srv rename to openvino_people_msgs/srv/AgeGenderSrv.srv diff --git a/people_msgs/srv/EmotionSrv.srv b/openvino_people_msgs/srv/EmotionSrv.srv similarity index 100% rename from people_msgs/srv/EmotionSrv.srv rename to openvino_people_msgs/srv/EmotionSrv.srv diff --git a/people_msgs/srv/HeadPoseSrv.srv b/openvino_people_msgs/srv/HeadPoseSrv.srv similarity index 100% rename from people_msgs/srv/HeadPoseSrv.srv rename to openvino_people_msgs/srv/HeadPoseSrv.srv diff --git a/people_msgs/srv/People.srv b/openvino_people_msgs/srv/People.srv similarity index 100% rename from people_msgs/srv/People.srv rename to openvino_people_msgs/srv/People.srv diff --git a/dynamic_vino_lib/CMakeLists.txt b/openvino_wrapper_lib/CMakeLists.txt similarity index 97% rename from dynamic_vino_lib/CMakeLists.txt rename to openvino_wrapper_lib/CMakeLists.txt index 5b13e8b7..4afcbc37 100644 --- a/dynamic_vino_lib/CMakeLists.txt +++ b/openvino_wrapper_lib/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(dynamic_vino_lib) +project(openvino_wrapper_lib) #################################### ## to use C++17 @@ -62,11 +62,11 @@ find_package(rmw REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(object_msgs REQUIRED) -find_package(people_msgs REQUIRED) -find_package(pipeline_srv_msgs REQUIRED) +find_package(openvino_people_msgs REQUIRED) +find_package(openvino_msgs REQUIRED) find_package(class_loader REQUIRED) find_package(cv_bridge REQUIRED) -find_package(vino_param_lib REQUIRED) +find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) if("${CMAKE_BUILD_TYPE}" STREQUAL "") @@ -233,13 +233,13 @@ ament_target_dependencies(${PROJECT_NAME} "std_msgs" "sensor_msgs" "object_msgs" - "people_msgs" - "pipeline_srv_msgs" + "openvino_people_msgs" + "openvino_msgs" "ament_index_cpp" "class_loader" "realsense2" "cv_bridge" - "vino_param_lib" + "openvino_param_lib" "yaml_cpp_vendor" ) diff --git a/dynamic_vino_lib/Doxyfile b/openvino_wrapper_lib/Doxyfile similarity index 100% rename from dynamic_vino_lib/Doxyfile rename to openvino_wrapper_lib/Doxyfile diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp similarity index 90% rename from dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp index a3db05c1..b576af7e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp @@ -16,12 +16,12 @@ * @brief A header file with declaration for Inference Engine class * @file engine.hpp */ -#ifndef DYNAMIC_VINO_LIB__ENGINES__ENGINE_HPP_ -#define DYNAMIC_VINO_LIB__ENGINES__ENGINE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_HPP_ +#define OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_HPP_ #pragma once -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" #include "openvino/openvino.hpp" namespace Engines @@ -72,4 +72,4 @@ class Engine }; } // namespace Engines -#endif // DYNAMIC_VINO_LIB__ENGINES__ENGINE_HPP_ +#endif // OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp index a8a9a976..2583316b 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp @@ -16,13 +16,13 @@ * @brief A header file with declaration for NetworkEngine class * @file engine.h */ -#ifndef DYNAMIC_VINO_LIB__ENGINES__ENGINE_MANAGER_HPP_ -#define DYNAMIC_VINO_LIB__ENGINES__ENGINE_MANAGER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_MANAGER_HPP_ +#define OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_MANAGER_HPP_ #pragma once -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" #include "openvino/openvino.hpp" namespace Engines @@ -58,4 +58,4 @@ class EngineManager }; } // namespace Engines -#endif // DYNAMIC_VINO_LIB__ENGINES__ENGINE_MANAGER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp index b982d1fb..4b5b2e40 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp @@ -16,17 +16,17 @@ * @brief A header file with declaration for AgeGenderDetection Class * @file age_gender_recignition.h */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ -#include -#include +#include +#include #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/models/age_gender_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/age_gender_detection_model.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" @@ -34,7 +34,7 @@ namespace Outputs { class BaseOuput; } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class AgeGenderResult @@ -74,7 +74,7 @@ class AgeGenderResult : public Result class AgeGenderDetection : public BaseInference { public: - using Result = dynamic_vino_lib::AgeGenderResult; + using Result = openvino_wrapper_lib::AgeGenderResult; AgeGenderDetection(); ~AgeGenderDetection() override; /** @@ -112,7 +112,7 @@ class AgeGenderDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -131,6 +131,6 @@ class AgeGenderDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp similarity index 95% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp index 62c2d560..b5aca1f2 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp @@ -16,16 +16,16 @@ * @brief A header file with declaration for BaseFilter Class * @file base_filter.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__BASE_FILTER_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__BASE_FILTER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__BASE_FILTER_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__BASE_FILTER_HPP_ #include #include #include #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** @@ -190,6 +190,6 @@ class BaseFilter std::vector relation_operators_ = {"==", "!=", "<=", ">=", "<", ">"}; std::vector logic_operators_ = {"&&", "||"}; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__BASE_FILTER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__BASE_FILTER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp similarity index 92% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp index e036ee9d..318fbeac 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp @@ -16,15 +16,15 @@ * @brief A header file with declaration for BaseInference Class * @file base_inference.h */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__BASE_INFERENCE_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__BASE_INFERENCE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__BASE_INFERENCE_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__BASE_INFERENCE_HPP_ #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" @@ -66,7 +66,7 @@ void matU8ToBlob( } } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class Result @@ -165,7 +165,7 @@ class BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - virtual const dynamic_vino_lib::Result * getLocationResult(int idx) const = 0; + virtual const openvino_wrapper_lib::Result * getLocationResult(int idx) const = 0; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -208,6 +208,6 @@ class BaseInference int enqueued_frames_ = 0; bool results_fetched_ = false; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__BASE_INFERENCE_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__BASE_INFERENCE_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp similarity index 91% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp index feb97d7d..44285be3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for BaseReidentification Class * @file base_reidentification.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ #include #include #include @@ -26,7 +26,7 @@ #include // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class Tracker @@ -96,5 +96,5 @@ class Tracker std::unordered_map recorded_tracks_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp index 07e07d00..38d50fbe 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp @@ -15,24 +15,24 @@ * @brief A header file with declaration for EmotionsDetection Class * @file emotions_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" -#include "dynamic_vino_lib/models/emotion_detection_model.hpp" +#include "openvino_wrapper_lib/models/emotion_detection_model.hpp" namespace Outputs { class BaseOuput; } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class EmotionResult @@ -64,7 +64,7 @@ class EmotionsResult : public Result class EmotionsDetection : public BaseInference { public: - using Result = dynamic_vino_lib::EmotionsResult; + using Result = openvino_wrapper_lib::EmotionsResult; EmotionsDetection(); ~EmotionsDetection() override; /** @@ -102,7 +102,7 @@ class EmotionsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -125,6 +125,6 @@ class EmotionsDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp similarity index 76% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp index b4c37db1..6c18adbe 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for FaceDetection Class * @file face_detection.h */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__FACE_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__FACE_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__FACE_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__FACE_DETECTION_HPP_ #include #include @@ -28,13 +28,13 @@ #include #include -#include "dynamic_vino_lib/models/face_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/models/face_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class FaceDetectionResult @@ -55,5 +55,5 @@ class FaceDetection : public ObjectDetection public: explicit FaceDetection(bool, double); }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__FACE_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__FACE_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp similarity index 81% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp index e0f6f9ac..7175f3be 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp @@ -16,20 +16,20 @@ * @brief A header file with declaration for FaceReidentification Class * @file face_reidentification.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/face_reidentification_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/base_reidentification.hpp" +#include "openvino_wrapper_lib/models/face_reidentification_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_reidentification.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class FaceReidentificationResult @@ -53,7 +53,7 @@ class FaceReidentificationResult : public Result class FaceReidentification : public BaseInference { public: - using Result = dynamic_vino_lib::FaceReidentificationResult; + using Result = openvino_wrapper_lib::FaceReidentificationResult; explicit FaceReidentification(double); ~FaceReidentification() override; /** @@ -91,7 +91,7 @@ class FaceReidentification : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed reidentification result either through image window or ROS topic. @@ -108,7 +108,7 @@ class FaceReidentification : public BaseInference private: std::shared_ptr valid_model_; std::vector results_; - std::shared_ptr face_tracker_; + std::shared_ptr face_tracker_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp index f5d5390f..1a0ebc4f 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp @@ -16,20 +16,20 @@ * @brief A header file with declaration for FaceDetection Class * @file head_pose_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/models/head_pose_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class HeadPoseResult @@ -78,7 +78,7 @@ class HeadPoseResult : public Result class HeadPoseDetection : public BaseInference { public: - using Result = dynamic_vino_lib::HeadPoseResult; + using Result = openvino_wrapper_lib::HeadPoseResult; HeadPoseDetection(); ~HeadPoseDetection() override; /** @@ -116,7 +116,7 @@ class HeadPoseDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -139,5 +139,5 @@ class HeadPoseDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp similarity index 78% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp index b9f7bb94..1f2c9881 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp @@ -16,10 +16,10 @@ * @brief a header file with declaration of Inference Manager class * @file inference_manager.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ -#include +#include #include #include #include @@ -28,7 +28,7 @@ #include #include #include -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" /** * @class InferenceManager @@ -84,20 +84,20 @@ class InferenceManager parseInputDevice(const Params::ParamManager::PipelineRawData & params); std::map> parseOutput( const Params::ParamManager::PipelineRawData & params); - std::map> + std::map> parseInference(const Params::ParamManager::PipelineRawData & params); - std::shared_ptr createFaceDetection( + std::shared_ptr createFaceDetection( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createAgeGenderRecognition( + std::shared_ptr createAgeGenderRecognition( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createEmotionRecognition( + std::shared_ptr createEmotionRecognition( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createHeadPoseEstimation( + std::shared_ptr createHeadPoseEstimation( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createObjectDetection( + std::shared_ptr createObjectDetection( const Params::ParamManager::InferenceParams & infer); std::map pipelines_; }; -#endif // DYNAMIC_VINO_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp similarity index 84% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp index 30dbf28e..fe7a34e6 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp @@ -16,18 +16,18 @@ * @brief A header file with declaration for LandmarksDetection Class * @file landmarks_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/landmarks_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class LandmarksDetectionResult @@ -53,7 +53,7 @@ class LandmarksDetectionResult : public Result class LandmarksDetection : public BaseInference { public: - using Result = dynamic_vino_lib::LandmarksDetectionResult; + using Result = openvino_wrapper_lib::LandmarksDetectionResult; LandmarksDetection(); ~LandmarksDetection() override; /** @@ -91,7 +91,7 @@ class LandmarksDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -109,5 +109,5 @@ class LandmarksDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp index b3adec0e..1d9ef900 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp @@ -16,18 +16,18 @@ * @brief A header file with declaration for LicensePlateDetection Class * @file license_plate_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/license_plate_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class LicensePlateDetectionResult @@ -53,7 +53,7 @@ class LicensePlateDetectionResult : public Result class LicensePlateDetection : public BaseInference { public: - using Result = dynamic_vino_lib::LicensePlateDetectionResult; + using Result = openvino_wrapper_lib::LicensePlateDetectionResult; LicensePlateDetection(); ~LicensePlateDetection() override; /** @@ -95,7 +95,7 @@ class LicensePlateDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -128,5 +128,5 @@ class LicensePlateDetection : public BaseInference "U", "V", "W", "X", "Y", "Z" }; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp similarity index 89% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp index a83a7926..47b7cc68 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for ObjectDetection Class * @file object_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_DETECTION_HPP_ #include #include #include @@ -27,13 +27,13 @@ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/base_filter.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_filter.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class ObjectDetectionResult @@ -84,7 +84,7 @@ class ObjectDetectionResult : public Result class ObjectDetectionResultFilter : public BaseFilter { public: - using Result = dynamic_vino_lib::ObjectDetectionResult; + using Result = openvino_wrapper_lib::ObjectDetectionResult; ObjectDetectionResultFilter(); @@ -140,8 +140,8 @@ class ObjectDetectionResultFilter : public BaseFilter class ObjectDetection : public BaseInference { public: - using Result = dynamic_vino_lib::ObjectDetectionResult; - using Filter = dynamic_vino_lib::ObjectDetectionResultFilter; + using Result = openvino_wrapper_lib::ObjectDetectionResult; + using Filter = openvino_wrapper_lib::ObjectDetectionResultFilter; explicit ObjectDetection(bool, double); ~ObjectDetection() override; /** @@ -206,5 +206,5 @@ class ObjectDetection : public BaseInference double show_output_thresh_ = 0; bool enable_roi_constraint_ = false; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp index 081af67f..a450c567 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for ObjectSegmentation Class * @file object_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ #include #include #include @@ -25,13 +25,13 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class ObjectSegmentationResult @@ -71,7 +71,7 @@ class ObjectSegmentationResult : public Result class ObjectSegmentation : public BaseInference { public: - using Result = dynamic_vino_lib::ObjectSegmentationResult; + using Result = openvino_wrapper_lib::ObjectSegmentationResult; explicit ObjectSegmentation(double); ~ObjectSegmentation() override; /** @@ -113,7 +113,7 @@ class ObjectSegmentation : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -142,5 +142,5 @@ class ObjectSegmentation : public BaseInference {81, 0, 81} }; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp index 67de05fb..7954157b 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for ObjectSegmentation Class * @file object_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ #include #include #include @@ -25,13 +25,13 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class ObjectSegmentationMaskrcnnResult @@ -71,7 +71,7 @@ class ObjectSegmentationMaskrcnnResult : public Result class ObjectSegmentationMaskrcnn : public BaseInference { public: - using Result = dynamic_vino_lib::ObjectSegmentationMaskrcnnResult; + using Result = openvino_wrapper_lib::ObjectSegmentationMaskrcnnResult; explicit ObjectSegmentationMaskrcnn(double); ~ObjectSegmentationMaskrcnn() override; /** @@ -113,7 +113,7 @@ class ObjectSegmentationMaskrcnn : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -142,5 +142,5 @@ class ObjectSegmentationMaskrcnn : public BaseInference {81, 0, 81} }; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp index 17287f49..f5a3c100 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp @@ -16,19 +16,19 @@ * @brief A header file with declaration for PersonAttribsDetection Class * @file person_attribs_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class PersonAttribsDetectionResult @@ -71,7 +71,7 @@ class PersonAttribsDetectionResult : public Result class PersonAttribsDetection : public BaseInference { public: - using Result = dynamic_vino_lib::PersonAttribsDetectionResult; + using Result = openvino_wrapper_lib::PersonAttribsDetectionResult; explicit PersonAttribsDetection(double); ~PersonAttribsDetection() override; /** @@ -109,7 +109,7 @@ class PersonAttribsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -137,5 +137,5 @@ class PersonAttribsDetection : public BaseInference "has longhair", "has coat_jacket"}; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp similarity index 81% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp index 048484ef..be6d55f8 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp @@ -16,19 +16,19 @@ * @brief A header file with declaration for PersonReidentification Class * @file person_reidentification.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/person_reidentification_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/base_reidentification.hpp" +#include "openvino_wrapper_lib/models/person_reidentification_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_reidentification.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class PersonReidentificationResult @@ -51,7 +51,7 @@ class PersonReidentificationResult : public Result class PersonReidentification : public BaseInference { public: - using Result = dynamic_vino_lib::PersonReidentificationResult; + using Result = openvino_wrapper_lib::PersonReidentificationResult; explicit PersonReidentification(double); ~PersonReidentification() override; /** @@ -89,7 +89,7 @@ class PersonReidentification : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -106,7 +106,7 @@ class PersonReidentification : public BaseInference private: std::shared_ptr valid_model_; std::vector results_; - std::shared_ptr person_tracker_; + std::shared_ptr person_tracker_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp index 5f40fbd8..575e99d1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp @@ -16,18 +16,18 @@ * @brief A header file with declaration for VehicleAttribsDetection Class * @file vehicle_attribs_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class VehicleAttribsDetectionResult @@ -58,7 +58,7 @@ class VehicleAttribsDetectionResult : public Result class VehicleAttribsDetection : public BaseInference { public: - using Result = dynamic_vino_lib::VehicleAttribsDetectionResult; + using Result = openvino_wrapper_lib::VehicleAttribsDetectionResult; VehicleAttribsDetection(); ~VehicleAttribsDetection() override; /** @@ -96,7 +96,7 @@ class VehicleAttribsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -118,5 +118,5 @@ class VehicleAttribsDetection : public BaseInference const std::vector colors_ = { "white", "gray", "yellow", "red", "green", "blue", "black"}; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp similarity index 93% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp index f01fd22d..79350653 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for BaseInput Class * @file base_input.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__BASE_INPUT_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__BASE_INPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__BASE_INPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__BASE_INPUT_HPP_ #include #include @@ -25,7 +25,7 @@ #include #include #include -#include "dynamic_vino_lib/inputs/ros2_handler.hpp" +#include "openvino_wrapper_lib/inputs/ros2_handler.hpp" /** * @class BaseInputDevice @@ -121,4 +121,4 @@ class BaseInputDevice : public Ros2Handler bool is_init_ = false; }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__BASE_INPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__BASE_INPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp index e3c0d837..e1a7b6c9 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp @@ -16,12 +16,12 @@ * @brief A header file with declaration for Image class * @file file_input.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__IMAGE_INPUT_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__IMAGE_INPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_INPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_INPUT_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -62,4 +62,4 @@ class Image : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__IMAGE_INPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_INPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp index a5b25f18..cc5274fd 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp @@ -17,15 +17,15 @@ * @file image_topic.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__IMAGE_TOPIC_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__IMAGE_TOPIC_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_TOPIC_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_TOPIC_HPP_ #include #include #include #include -#include "dynamic_vino_lib/utils/mutex_counter.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/utils/mutex_counter.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -51,4 +51,4 @@ class ImageTopic : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__IMAGE_TOPIC_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_TOPIC_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp index 11dc2dd5..c497cf85 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp @@ -17,12 +17,12 @@ * @file ip_camera.hpp */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__IP_CAMERA_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__IP_CAMERA_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__IP_CAMERA_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__IP_CAMERA_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -57,4 +57,4 @@ class IpCamera : public BaseInputDevice std::string ip_uri_; }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__IP_CAMERA_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__IP_CAMERA_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp index ff06fce8..8752289c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp @@ -17,12 +17,12 @@ * @file realsense_camera.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -61,4 +61,4 @@ class RealSenseCamera : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera_topic.hpp similarity index 79% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera_topic.hpp index 7e06bab3..8d9de35c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera_topic.hpp @@ -17,10 +17,10 @@ * @file realsense_camera.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ -#include "dynamic_vino_lib/inputs/image_topic.hpp" +#include "openvino_wrapper_lib/inputs/image_topic.hpp" namespace Input { @@ -34,4 +34,4 @@ typedef ImageTopic RealSenseCameraTopic; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp similarity index 92% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp index 7630a00e..c2d31778 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp @@ -17,8 +17,8 @@ * @file ros_handler.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__ROS2_HANDLER_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__ROS2_HANDLER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__ROS2_HANDLER_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__ROS2_HANDLER_HPP_ #include #include @@ -84,4 +84,4 @@ class Ros2Handler } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__ROS2_HANDLER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__ROS2_HANDLER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp index 04b2a993..d5924551 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp @@ -17,13 +17,13 @@ * @file standard_camera.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__STANDARD_CAMERA_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__STANDARD_CAMERA_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" #include #include #include @@ -64,4 +64,4 @@ class StandardCamera : public BaseInputDevice int camera_id_ = -1; }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__STANDARD_CAMERA_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp index d751209a..c4ee9b10 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp @@ -16,12 +16,12 @@ * @brief A header file with declaration for Video class * @file video_input.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__VIDEO_INPUT_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__VIDEO_INPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__VIDEO_INPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__VIDEO_INPUT_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -57,4 +57,4 @@ class Video : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__VIDEO_INPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__VIDEO_INPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/age_gender_detection_model.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/age_gender_detection_model.hpp index 6ef8af7b..564f93a3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/age_gender_detection_model.hpp @@ -17,11 +17,11 @@ * @file age_gender_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -65,4 +65,4 @@ class AgeGenderDetectionModel : public BaseModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp similarity index 95% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp index d404b888..e439e9f0 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp @@ -17,8 +17,8 @@ * @file base_attribute.hpp */ -#ifndef DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ #include #include @@ -27,7 +27,7 @@ #include #include "openvino/openvino.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/slog.hpp" namespace Models { @@ -195,4 +195,4 @@ class SSDModelAttr : public ModelAttribute } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ \ No newline at end of file +#endif // OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ \ No newline at end of file diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp similarity index 91% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp index 64d9c89e..ce0a0ac0 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp @@ -17,8 +17,8 @@ * @file base_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__BASE_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__BASE_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ #include @@ -30,15 +30,15 @@ #include #include -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" namespace Engines { class Engine; } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { class ObjectDetectionResult; } @@ -132,7 +132,7 @@ namespace Models ObjectDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); virtual bool fetchResults( const std::shared_ptr &engine, - std::vector &result, + std::vector &result, const float &confidence_thresh = 0.3, const bool &enable_roi_constraint = false) = 0; virtual bool matToBlob( @@ -142,4 +142,4 @@ namespace Models } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__BASE_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp index c5abd257..56c73665 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp @@ -17,11 +17,11 @@ * @file emotion_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -43,4 +43,4 @@ class EmotionDetectionModel : public BaseModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp index 868417e4..c4923a36 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp @@ -17,11 +17,11 @@ * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -42,4 +42,4 @@ class FaceDetectionModel : public ObjectDetectionModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp index b526777c..4eda2755 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for FaceReidentificationModel Class * @file person_reidentification_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -44,4 +44,4 @@ class FaceReidentificationModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp index 2878eb51..d815f125 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp @@ -17,11 +17,11 @@ * @file head_pose_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -73,4 +73,4 @@ class HeadPoseDetectionModel : public BaseModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp index 164d2ea7..71a7244f 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for LandmarksDetectionModel Class * @file landmarks_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -43,4 +43,4 @@ class LandmarksDetectionModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp index 868fafc1..76c2deed 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for LicensePlateDetectionModel Class * @file vehicle_attribs_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -48,4 +48,4 @@ class LicensePlateDetectionModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp similarity index 81% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp index 622e866b..818414dd 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp @@ -15,12 +15,12 @@ * @brief A header file with declaration for ObjectDetectionModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -29,14 +29,14 @@ namespace Models */ class ObjectDetectionSSDModel : public ObjectDetectionModel { - using Result = dynamic_vino_lib::ObjectDetectionResult; + using Result = openvino_wrapper_lib::ObjectDetectionResult; public: ObjectDetectionSSDModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); bool fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh = 0.3, const bool & enable_roi_constraint = false) override; @@ -59,4 +59,4 @@ class ObjectDetectionSSDModel : public ObjectDetectionModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp index f9e2b040..8e2f177e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp @@ -15,12 +15,12 @@ * @brief A header file with declaration for ObjectDetectionModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -37,14 +37,14 @@ namespace Models class ObjectDetectionYolov5Model : public ObjectDetectionModel { - using Result = dynamic_vino_lib::ObjectDetectionResult; + using Result = openvino_wrapper_lib::ObjectDetectionResult; public: ObjectDetectionYolov5Model(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); bool fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh = 0.3, const bool & enable_roi_constraint = false) override; @@ -70,4 +70,4 @@ class ObjectDetectionYolov5Model : public ObjectDetectionModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp index e0c64600..49940225 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp @@ -15,11 +15,11 @@ * @brief A header file with declaration for ObjectSegmentationMaskrcnnModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -58,4 +58,4 @@ class ObjectSegmentationMaskrcnnModel : public BaseModel int object_size_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp index 5a527651..217ec132 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp @@ -15,11 +15,11 @@ * @brief A header file with declaration for ObjectSegmentationModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -58,4 +58,4 @@ class ObjectSegmentationModel : public BaseModel int object_size_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp similarity index 82% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp index 1e253098..d22e6a2d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for PersonAttribsDetectionModel Class * @file person_attribs_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -42,4 +42,4 @@ class PersonAttribsDetectionModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp similarity index 84% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp index afbb4dcb..4b2937ff 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for PersonReidentificationModel Class * @file person_reidentification_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -44,4 +44,4 @@ class PersonReidentificationModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp similarity index 84% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp index ff230f1d..8012bd68 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for VehicleAttribsDetectionModel Class * @file vehicle_attribs_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -45,4 +45,4 @@ class VehicleAttribsDetectionModel : public BaseModel std::string type_output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp similarity index 53% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp index c9267db8..97ac56b1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp @@ -17,40 +17,40 @@ * @file head_pose_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__BASE_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__BASE_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__BASE_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__BASE_OUTPUT_HPP_ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include #include #include -#include "dynamic_vino_lib/inferences/age_gender_detection.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/emotions_detection.hpp" -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/inferences/head_pose_detection.hpp" -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/inferences/object_segmentation.hpp" -#include "dynamic_vino_lib/inferences/person_reidentification.hpp" -#include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/landmarks_detection.hpp" -#include "dynamic_vino_lib/inferences/face_reidentification.hpp" -#include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/license_plate_detection.hpp" -#include "dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp" +#include "openvino_wrapper_lib/inferences/age_gender_detection.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/emotions_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/inferences/person_reidentification.hpp" +#include "openvino_wrapper_lib/inferences/person_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_reidentification.hpp" +#include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp" #include "opencv2/opencv.hpp" class Pipeline; @@ -70,80 +70,80 @@ class BaseOutput /** * @brief Generate output content according to the license plate detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the vehicle attributes detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the face reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the landmarks detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the person reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the person reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the object segmentation result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the object segmentation maskrcnn result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the object detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the face detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the emotion detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the age and gender detection * result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the headpose detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** @@ -164,13 +164,13 @@ class BaseOutput virtual void setServiceResponseForFace( std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} Pipeline * getPipeline() const; cv::Mat getFrame() const; virtual void clearData() {} @@ -181,4 +181,4 @@ class BaseOutput std::string output_name_; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__BASE_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__BASE_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp similarity index 78% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp index 22f9b704..d7c39ea1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp @@ -17,12 +17,12 @@ * @file image_window_output.h */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ #include #include -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" namespace Outputs { @@ -56,84 +56,84 @@ class ImageWindowOutput : public BaseOutput * @param[in] A license plate detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the vehicle attributes detection result. * @param[in] A vehicle attributes detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the face reidentification result. * @param[in] A face reidentification result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the landmarks detection result. * @param[in] A landmarks detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the person attributes detection result. * @param[in] A person attributes detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the person reidentification result. * @param[in] A person reidentification result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the object segmentation result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the object segmentation maskrcnn result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the face detection result. * @param[in] A face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the object detection result. * @param[in] results A bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the emotion detection result. * @param[in] A emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the age and gender detection result. * @param[in] A head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the headpose detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; private: unsigned findOutput(const cv::Rect &); @@ -150,8 +150,8 @@ class ImageWindowOutput : public BaseOutput */ cv::Mat getRotationTransform(double yaw, double pitch, double roll); - void mergeMask(const std::vector &); - void mergeMask(const std::vector &); + void mergeMask(const std::vector &); + void mergeMask(const std::vector &); struct OutputData { @@ -180,4 +180,4 @@ class ImageWindowOutput : public BaseOutput }; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp similarity index 61% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp index da27197b..8cdfabad 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp @@ -17,18 +17,18 @@ * @file ros_topic_output.hpp */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -36,8 +36,8 @@ #include #include -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/outputs/ros_topic_output.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/outputs/ros_topic_output.hpp" namespace Outputs { @@ -60,13 +60,13 @@ class RosServiceOutput : public RosTopicOutput void setServiceResponse(std::shared_ptr response); void setResponseForFace(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); private: const std::string service_name_; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp new file mode 100644 index 00000000..b2fcfcec --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp @@ -0,0 +1,183 @@ +// Copyright (c) 2018-2022 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief A header file with declaration for RosTopicOutput Class + * @file ros_topic_output.hpp + */ + +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" + +namespace Outputs +{ +/** + * @class RosTopicOutput + * @brief This class handles and publish the detection result with ros topic. + */ +class RosTopicOutput : public BaseOutput +{ +public: + explicit RosTopicOutput(std::string output_name_, + const rclcpp::Node::SharedPtr node=nullptr); + /** + * @brief Calculate the camera matrix of a frame. + * @param[in] A frame. + */ + void feedFrame(const cv::Mat &) override; + /** + * @brief Publish all the detected infomations generated by the accept + * functions with ros topic. + */ + void handleOutput() override; + /** + * @brief Generate ros topic infomation according to + * the license plate detection result. + * @param[in] results a bundle of license plate detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the vehicle attributes detection result. + * @param[in] results a bundle of vehicle attributes detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the face reidentification result. + * @param[in] results a bundle of face reidentification results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the landmarks detection result. + * @param[in] results a bundle of landmarks detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the person attributes detection result. + * @param[in] results a bundle of person attributes detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the person reidentification result. + * @param[in] results a bundle of person reidentification results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object segmentation result. + * @param[in] results a bundle of object segmentation results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object segmentation result. + * @param[in] results a bundle of object segmentation maskrcnn results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object detection result. + * @param[in] results a bundle of object detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the face detection result. + * @param[in] An face detection result objetc. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the emotion detection result. + * @param[in] An emotion detection result objetc. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the age gender detection result. + * @param[in] An age gender detection result objetc. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the headpose detection result. + * @param[in] An head pose detection result objetc. + */ + void accept(const std::vector &) override; + +protected: + const std::string topic_name_; + std::shared_ptr node_; + rclcpp::Publisher::SharedPtr pub_license_plate_; + std::shared_ptr license_plate_topic_; + rclcpp::Publisher::SharedPtr pub_vehicle_attribs_; + std::shared_ptr vehicle_attribs_topic_; + rclcpp::Publisher::SharedPtr pub_landmarks_; + std::shared_ptr landmarks_topic_; + rclcpp::Publisher::SharedPtr pub_face_reid_; + std::shared_ptr face_reid_topic_; + rclcpp::Publisher::SharedPtr pub_person_attribs_; + std::shared_ptr person_attribs_topic_; + rclcpp::Publisher::SharedPtr pub_person_reid_; + std::shared_ptr person_reid_topic_; + rclcpp::Publisher::SharedPtr pub_segmented_object_; + std::shared_ptr segmented_objects_topic_; + rclcpp::Publisher::SharedPtr pub_detected_object_; + std::shared_ptr detected_objects_topic_; + rclcpp::Publisher::SharedPtr pub_face_; + std::shared_ptr faces_topic_; + rclcpp::Publisher::SharedPtr pub_emotion_; + std::shared_ptr emotions_topic_; + rclcpp::Publisher::SharedPtr pub_age_gender_; + std::shared_ptr age_gender_topic_; + rclcpp::Publisher::SharedPtr pub_headpose_; + std::shared_ptr headpose_topic_; +}; +} // namespace Outputs +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp similarity index 73% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp index f1cc0f4e..6711fab6 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp @@ -17,8 +17,8 @@ * @file rviz_output.h */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ #include #include @@ -26,8 +26,8 @@ #include #include -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/outputs/image_window_output.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/outputs/image_window_output.hpp" namespace Outputs { @@ -54,67 +54,67 @@ class RvizOutput : public BaseOutput * the face reidentification result. * @param[in] A face reidentification result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the landmarks detection result. * @param[in] A landmarks detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the person attributes detection result. * @param[in] A person attributes detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the person reidentification result. * @param[in] A person reidentification result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the face detection result. * @param[in] A face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the object detection result. * @param[in] results A bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the object segmentation result. * @param[in] results A bundle of object segmentation results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the object segmentation result. * @param[in] results A bundle of object segmentation maskrcnn results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the emotion detection result. * @param[in] A emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the age and gender detection result. * @param[in] A head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the headpose detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; private: std::shared_ptr node_; @@ -123,4 +123,4 @@ class RvizOutput : public BaseOutput std::shared_ptr image_window_output_; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp index 913bcc6b..a80c15b3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp @@ -16,8 +16,8 @@ * @brief a header file with declaration of Pipeline class * @file pipeline.h */ -#ifndef DYNAMIC_VINO_LIB__PIPELINE_HPP_ -#define DYNAMIC_VINO_LIB__PIPELINE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__PIPELINE_HPP_ +#define OPENVINO_WRAPPER_LIB__PIPELINE_HPP_ #include #include @@ -27,10 +27,10 @@ #include #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inputs/standard_camera.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" #include "opencv2/opencv.hpp" /** @@ -59,7 +59,7 @@ class Pipeline */ bool add( const std::string & parent, const std::string & name, - std::shared_ptr inference); + std::shared_ptr inference); /** * @brief Add output device to the pipeline. * @param[in] parent name of the parent inference. @@ -77,7 +77,7 @@ class Pipeline // { // filters_.add(filters); // } - bool add(const std::string & name, std::shared_ptr inference); + bool add(const std::string & name, std::shared_ptr inference); /** * @brief Add inference network-output device edge to the pipeline. * @param[in] parent name of the parent inference. @@ -154,7 +154,7 @@ class Pipeline std::shared_ptr input_device_; std::string input_device_name_; std::multimap next_; - std::map> name_to_detection_map_; + std::map> name_to_detection_map_; std::map> name_to_output_map_; int total_inference_ = 0; std::set output_names_; @@ -170,4 +170,4 @@ class Pipeline std::chrono::time_point t_start_; }; -#endif // DYNAMIC_VINO_LIB__PIPELINE_HPP_ +#endif // OPENVINO_WRAPPER_LIB__PIPELINE_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp similarity index 79% rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp index 3b4e210c..e4a3d485 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp @@ -16,10 +16,10 @@ * @brief a header file with declaration of Pipeline Manager class * @file pipeline_manager.hpp */ -#ifndef DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_ -#define DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__PIPELINE_MANAGER_HPP_ +#define OPENVINO_WRAPPER_LIB__PIPELINE_MANAGER_HPP_ -#include +#include #include #include #include @@ -28,8 +28,8 @@ #include #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/engines/engine_manager.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/engines/engine_manager.hpp" /** * @class PipelineManager @@ -110,37 +110,37 @@ class PipelineManager parseInputDevice(const PipelineData & params); std::map> parseOutput(const PipelineData & pdata); - std::map> + std::map> parseInference(const Params::ParamManager::PipelineRawData & params); - std::shared_ptr + std::shared_ptr createFaceDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createAgeGenderRecognition(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createEmotionRecognition(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createHeadPoseEstimation(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createObjectDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createPersonReidentification(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createPersonAttribsDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createLandmarksDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createFaceReidentification(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createVehicleAttribsDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createLicensePlateDetection(const Params::ParamManager::InferenceRawData & infer); std::map pipelines_; ServiceData service_; Engines::EngineManager engine_manager_; }; -#endif // DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__PIPELINE_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp similarity index 89% rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp index f0deba59..bcb2991a 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp @@ -16,10 +16,10 @@ * @brief a header file with declaration of Pipeline class * @file pipeline_params.hpp */ -#ifndef DYNAMIC_VINO_LIB__PIPELINE_PARAMS_HPP_ -#define DYNAMIC_VINO_LIB__PIPELINE_PARAMS_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__PIPELINE_PARAMS_HPP_ +#define OPENVINO_WRAPPER_LIB__PIPELINE_PARAMS_HPP_ -#include +#include #include #include #include @@ -28,9 +28,9 @@ #include #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inputs/standard_camera.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" #include "opencv2/opencv.hpp" const char kInputType_Image[] = "Image"; @@ -85,4 +85,4 @@ class PipelineParams Params::ParamManager::PipelineRawData params_; }; -#endif // DYNAMIC_VINO_LIB__PIPELINE_PARAMS_HPP_ +#endif // OPENVINO_WRAPPER_LIB__PIPELINE_PARAMS_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp similarity index 67% rename from dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp index 7c77cbf8..e5e5eb82 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp @@ -11,22 +11,22 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ -#define DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ +#define OPENVINO_WRAPPER_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include -#include -#include -#include +#include +#include +#include #include #include @@ -56,4 +56,4 @@ class FrameProcessingServer : public rclcpp::Node std::string config_path_; }; } // namespace vino_service -#endif // DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp similarity index 75% rename from dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp index d9b55d8c..ed5e1dc2 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp @@ -11,14 +11,14 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DYNAMIC_VINO_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ -#define DYNAMIC_VINO_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ +#define OPENVINO_WRAPPER_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include #include @@ -51,4 +51,4 @@ class PipelineProcessingServer : public rclcpp::Node std::string service_name_; }; } // namespace vino_service -#endif // DYNAMIC_VINO_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp new file mode 100644 index 00000000..bf350394 --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp @@ -0,0 +1,175 @@ +// Copyright (c) 2018-2022 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief a header file with logging facility for common samples + * @file slog.hpp + */ +#ifndef OPENVINO_WRAPPER_LIB__SLOG_HPP_ +#define OPENVINO_WRAPPER_LIB__SLOG_HPP_ + +#pragma once + +#include +#include + +namespace slog +{ +#if 1 + enum COLOR { + RESET = 0, + BLUE = 1, + GREEN = 2, + YELLOW = 3, + RED = 4, + }; + +#else +//the following are UBUNTU/LINUX ONLY terminal color codes. +#define RESET "\033[0m" +#define BLACK "\033[30m" /* Black */ +#define RED "\033[31m" /* Red */ +#define GREEN "\033[32m" /* Green */ +#define YELLOW "\033[33m" /* Yellow */ +#define BLUE "\033[34m" /* Blue */ +#define MAGENTA "\033[35m" /* Magenta */ +#define CYAN "\033[36m" /* Cyan */ +#define WHITE "\033[37m" /* White */ +#define BOLDBLACK "\033[1m\033[30m" /* Bold Black */ +#define BOLDRED "\033[1m\033[31m" /* Bold Red */ +#define BOLDGREEN "\033[1m\033[32m" /* Bold Green */ +#define BOLDYELLOW "\033[1m\033[33m" /* Bold Yellow */ +#define BOLDBLUE "\033[1m\033[34m" /* Bold Blue */ +#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */ +#define BOLDCYAN "\033[1m\033[36m" /* Bold Cyan */ +#define BOLDWHITE "\033[1m\033[37m" /* Bold White */ +#endif + +/** + * @class LogStreamEndLine + * @brief The LogStreamEndLine class implements an end line marker for a log + * stream + */ +class LogStreamEndLine +{ +}; + +static constexpr LogStreamEndLine endl; + +/** + * @class LogStream + * @brief The LogStream class implements a stream for sample logging + */ +class LogStream +{ + std::string _prefix; + std::ostream * _log_stream; + bool _new_line; + int _color_id; + +public: + /** + * @brief A constructor. Creates an LogStream object + * @param prefix The prefix to print + */ + LogStream(const std::string & prefix, std::ostream & log_stream, + const int color_id = -1) + : _prefix(prefix), _new_line(true), _color_id(color_id) + { + _log_stream = &log_stream; + } + + /** + * @brief A stream output operator to be used within the logger + * @param arg Object for serialization in the logger message + */ + template + LogStream & operator<<(const T & arg) + { + if (_new_line) { + setLineColor(); + (*_log_stream) << "[ " << _prefix << " ] "; + _new_line = false; + } + + (*_log_stream) << arg; + return *this; + } + + // Specializing for LogStreamEndLine to support slog::endl + LogStream & operator<<(const LogStreamEndLine & arg) + { + _new_line = true; + resetLineColor(); + (*_log_stream) << std::endl; + return *this; + } + + void setLineColor() + { + switch(_color_id){ + case BLUE: + (*_log_stream) << "\033[34m"; + break; + case GREEN: + (*_log_stream) << "\033[32m"; + break; + case YELLOW: + (*_log_stream) << "\033[33m"; + break; + case RED: + (*_log_stream) << "\033[31m"; + break; + default: + break; + } + } + + void resetLineColor() + { + if(_color_id > 0){ + (*_log_stream) << "\033[0m"; //RESET + } + } +}; + +class NullStream +{ +public: + NullStream(){} + + NullStream(const std::string & prefix, std::ostream & log_stream) + { + (void)prefix; + (void)log_stream; + } + + template + NullStream & operator<<(const T & arg) + { + return *this; + } +}; + +#ifdef LOG_LEVEL_DEBUG + static LogStream debug("DEBUG", std::cout, GREEN); +#else + static NullStream debug; +#endif +static LogStream info("INFO", std::cout, BLUE); +static LogStream warn("WARNING", std::cout, YELLOW); +static LogStream err("ERROR", std::cerr, RED); + +} // namespace slog +#endif // OPENVINO_WRAPPER_LIB__SLOG_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/mutex_counter.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/utils/mutex_counter.hpp index bf1bc718..f0da93a3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/mutex_counter.hpp @@ -17,8 +17,8 @@ // @file mutex_counter.hpp // -#ifndef DYNAMIC_VINO_LIB__UTILS__MUTEX_COUNTER_HPP_ -#define DYNAMIC_VINO_LIB__UTILS__MUTEX_COUNTER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__UTILS__MUTEX_COUNTER_HPP_ +#define OPENVINO_WRAPPER_LIB__UTILS__MUTEX_COUNTER_HPP_ #include @@ -54,4 +54,4 @@ class MutexCounter std::condition_variable cv_; }; -#endif // DYNAMIC_VINO_LIB__UTILS__MUTEX_COUNTER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__UTILS__MUTEX_COUNTER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp similarity index 94% rename from dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp index 88a31e9e..fa3f32e1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp @@ -17,8 +17,8 @@ // @file version_info.hpp // -#ifndef DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_ -#define DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ +#define OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ #if(defined(USE_OLD_E_PLUGIN_API)) #include @@ -122,4 +122,4 @@ inline void printPluginVersion(InferenceEngine::InferenceEnginePluginPtr ptr, st } #endif // (defined(USE_OLD_E_PLUGIN_API)) -#endif // DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_ +#endif // OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ diff --git a/dynamic_vino_lib/package.xml b/openvino_wrapper_lib/package.xml similarity index 88% rename from dynamic_vino_lib/package.xml rename to openvino_wrapper_lib/package.xml index b975b4e8..e1e4fbf3 100644 --- a/dynamic_vino_lib/package.xml +++ b/openvino_wrapper_lib/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - dynamic_vino_lib + openvino_wrapper_lib 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu @@ -37,9 +37,9 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 openvino_common @@ -54,9 +54,9 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 ament_lint_auto diff --git a/dynamic_vino_lib/src/engines/engine.cpp b/openvino_wrapper_lib/src/engines/engine.cpp similarity index 91% rename from dynamic_vino_lib/src/engines/engine.cpp rename to openvino_wrapper_lib/src/engines/engine.cpp index 6f22b406..ab8704d4 100644 --- a/dynamic_vino_lib/src/engines/engine.cpp +++ b/openvino_wrapper_lib/src/engines/engine.cpp @@ -16,8 +16,8 @@ * @brief a header file with definition of Engine class * @file engine.cpp */ -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/slog.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) Engines::Engine::Engine( diff --git a/dynamic_vino_lib/src/engines/engine_manager.cpp b/openvino_wrapper_lib/src/engines/engine_manager.cpp similarity index 93% rename from dynamic_vino_lib/src/engines/engine_manager.cpp rename to openvino_wrapper_lib/src/engines/engine_manager.cpp index 11c25cce..f3906838 100644 --- a/dynamic_vino_lib/src/engines/engine_manager.cpp +++ b/openvino_wrapper_lib/src/engines/engine_manager.cpp @@ -16,12 +16,12 @@ * @brief a header file with definition of Engine class * @file engine.cpp */ -#include "dynamic_vino_lib/engines/engine_manager.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/utils/version_info.hpp" -#include +#include "openvino_wrapper_lib/engines/engine_manager.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/utils/version_info.hpp" +#include #include #if(defined(USE_OLD_E_PLUGIN_API)) #include diff --git a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp b/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp similarity index 66% rename from dynamic_vino_lib/src/inferences/age_gender_detection.cpp rename to openvino_wrapper_lib/src/inferences/age_gender_detection.cpp index 41d3be08..59138e3a 100644 --- a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp @@ -21,38 +21,38 @@ #include #include #include -#include "dynamic_vino_lib/inferences/age_gender_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/inferences/age_gender_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" // AgeGenderResult -dynamic_vino_lib::AgeGenderResult::AgeGenderResult(const cv::Rect & location) +openvino_wrapper_lib::AgeGenderResult::AgeGenderResult(const cv::Rect & location) : Result(location) { } // AgeGender Detection -dynamic_vino_lib::AgeGenderDetection::AgeGenderDetection() -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::AgeGenderDetection::AgeGenderDetection() +: openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::AgeGenderDetection::~AgeGenderDetection() = default; +openvino_wrapper_lib::AgeGenderDetection::~AgeGenderDetection() = default; -void dynamic_vino_lib::AgeGenderDetection::loadNetwork( +void openvino_wrapper_lib::AgeGenderDetection::loadNetwork( std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::AgeGenderDetection::enqueue( +bool openvino_wrapper_lib::AgeGenderDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = dynamic_vino_lib::BaseInference::enqueue( + bool succeed = openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); if (!succeed) { return false; @@ -62,14 +62,14 @@ bool dynamic_vino_lib::AgeGenderDetection::enqueue( return true; } -bool dynamic_vino_lib::AgeGenderDetection::submitRequest() +bool openvino_wrapper_lib::AgeGenderDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::AgeGenderDetection::fetchResults() +bool openvino_wrapper_lib::AgeGenderDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -84,23 +84,23 @@ bool dynamic_vino_lib::AgeGenderDetection::fetchResults() return true; } -int dynamic_vino_lib::AgeGenderDetection::getResultsLength() const +int openvino_wrapper_lib::AgeGenderDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::AgeGenderDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::AgeGenderDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::AgeGenderDetection::getName() const +const std::string openvino_wrapper_lib::AgeGenderDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::AgeGenderDetection::observeOutput( +void openvino_wrapper_lib::AgeGenderDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -108,7 +108,7 @@ void dynamic_vino_lib::AgeGenderDetection::observeOutput( } } -const std::vector dynamic_vino_lib::AgeGenderDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::AgeGenderDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/base_filter.cpp b/openvino_wrapper_lib/src/inferences/base_filter.cpp similarity index 83% rename from dynamic_vino_lib/src/inferences/base_filter.cpp rename to openvino_wrapper_lib/src/inferences/base_filter.cpp index 6a3bb1f3..5b4d381a 100644 --- a/dynamic_vino_lib/src/inferences/base_filter.cpp +++ b/openvino_wrapper_lib/src/inferences/base_filter.cpp @@ -17,20 +17,20 @@ * @file base_filter.cpp */ -#include "dynamic_vino_lib/inferences/base_filter.hpp" +#include "openvino_wrapper_lib/inferences/base_filter.hpp" #include #include #include -dynamic_vino_lib::BaseFilter::BaseFilter() {} +openvino_wrapper_lib::BaseFilter::BaseFilter() {} -bool dynamic_vino_lib::BaseFilter::isValidFilterConditions( +bool openvino_wrapper_lib::BaseFilter::isValidFilterConditions( const std::string & filter_conditions) { return strip(filter_conditions) != ""; } -void dynamic_vino_lib::BaseFilter::acceptFilterConditions( +void openvino_wrapper_lib::BaseFilter::acceptFilterConditions( const std::string & filter_conditions) { striped_conditions_ = strip(filter_conditions); @@ -38,7 +38,7 @@ void dynamic_vino_lib::BaseFilter::acceptFilterConditions( infixToSuffix(infix_conditions); } -bool dynamic_vino_lib::BaseFilter::isRelationOperator(const std::string & str) +bool openvino_wrapper_lib::BaseFilter::isRelationOperator(const std::string & str) { if (std::find(relation_operators_.begin(), relation_operators_.end(), str) != relation_operators_.end()) @@ -48,7 +48,7 @@ bool dynamic_vino_lib::BaseFilter::isRelationOperator(const std::string & str) return false; } -bool dynamic_vino_lib::BaseFilter::isLogicOperator(const std::string & str) +bool openvino_wrapper_lib::BaseFilter::isLogicOperator(const std::string & str) { if (std::find(logic_operators_.begin(), logic_operators_.end(), str) != logic_operators_.end()) @@ -58,7 +58,7 @@ bool dynamic_vino_lib::BaseFilter::isLogicOperator(const std::string & str) return false; } -bool dynamic_vino_lib::BaseFilter::isPriorTo( +bool openvino_wrapper_lib::BaseFilter::isPriorTo( const std::string & operator1, const std::string & operator2) { if (isRelationOperator(operator1) && isLogicOperator(operator2)) { @@ -67,13 +67,13 @@ bool dynamic_vino_lib::BaseFilter::isPriorTo( return false; } -std::string dynamic_vino_lib::BaseFilter::boolToStr(bool value) +std::string openvino_wrapper_lib::BaseFilter::boolToStr(bool value) { if (value) {return "true";} return "false"; } -bool dynamic_vino_lib::BaseFilter::strToBool(const std::string & value) +bool openvino_wrapper_lib::BaseFilter::strToBool(const std::string & value) { if (!value.compare("true")) {return true;} else if (!value.compare("false")) { return false; @@ -84,12 +84,12 @@ bool dynamic_vino_lib::BaseFilter::strToBool(const std::string & value) } const std::vector & -dynamic_vino_lib::BaseFilter::getSuffixConditions() const +openvino_wrapper_lib::BaseFilter::getSuffixConditions() const { return suffix_conditons_; } -bool dynamic_vino_lib::BaseFilter::logicOperation( +bool openvino_wrapper_lib::BaseFilter::logicOperation( const std::string & logic1, const std::string & op, const std::string & logic2) { if (!op.compare("&&")) { @@ -102,7 +102,7 @@ bool dynamic_vino_lib::BaseFilter::logicOperation( } } -bool dynamic_vino_lib::BaseFilter::stringCompare( +bool openvino_wrapper_lib::BaseFilter::stringCompare( const std::string & candidate, const std::string & op, const std::string & target) { if (!op.compare("==")) { @@ -115,7 +115,7 @@ bool dynamic_vino_lib::BaseFilter::stringCompare( } } -bool dynamic_vino_lib::BaseFilter::floatCompare( +bool openvino_wrapper_lib::BaseFilter::floatCompare( float candidate, const std::string & op, float target) { if (!op.compare("<=")) { @@ -132,7 +132,7 @@ bool dynamic_vino_lib::BaseFilter::floatCompare( } } -float dynamic_vino_lib::BaseFilter::stringToFloat(const std::string & candidate) +float openvino_wrapper_lib::BaseFilter::stringToFloat(const std::string & candidate) { float result = 0; try { @@ -143,7 +143,7 @@ float dynamic_vino_lib::BaseFilter::stringToFloat(const std::string & candidate) return result; } -std::vector dynamic_vino_lib::BaseFilter::split( +std::vector openvino_wrapper_lib::BaseFilter::split( const std::string & filter_conditions) { std::vector seperators; @@ -174,7 +174,7 @@ std::vector dynamic_vino_lib::BaseFilter::split( return infix_conditions; } -void dynamic_vino_lib::BaseFilter::infixToSuffix( +void openvino_wrapper_lib::BaseFilter::infixToSuffix( std::vector & infix_conditions) { std::stack operator_stack; @@ -206,7 +206,7 @@ void dynamic_vino_lib::BaseFilter::infixToSuffix( } } -std::string dynamic_vino_lib::BaseFilter::strip(const std::string & str) +std::string openvino_wrapper_lib::BaseFilter::strip(const std::string & str) { std::string stripped_string = ""; for (auto character : str) { diff --git a/dynamic_vino_lib/src/inferences/base_inference.cpp b/openvino_wrapper_lib/src/inferences/base_inference.cpp similarity index 69% rename from dynamic_vino_lib/src/inferences/base_inference.cpp rename to openvino_wrapper_lib/src/inferences/base_inference.cpp index f0b6cc49..52138e5c 100644 --- a/dynamic_vino_lib/src/inferences/base_inference.cpp +++ b/openvino_wrapper_lib/src/inferences/base_inference.cpp @@ -19,26 +19,26 @@ #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" // Result -dynamic_vino_lib::Result::Result(const cv::Rect & location) +openvino_wrapper_lib::Result::Result(const cv::Rect & location) { location_ = location; } // BaseInference -dynamic_vino_lib::BaseInference::BaseInference() = default; +openvino_wrapper_lib::BaseInference::BaseInference() = default; -dynamic_vino_lib::BaseInference::~BaseInference() = default; +openvino_wrapper_lib::BaseInference::~BaseInference() = default; -void dynamic_vino_lib::BaseInference::loadEngine(const std::shared_ptr engine) +void openvino_wrapper_lib::BaseInference::loadEngine(const std::shared_ptr engine) { engine_ = engine; } -bool dynamic_vino_lib::BaseInference::submitRequest() +bool openvino_wrapper_lib::BaseInference::submitRequest() { if (!engine_->getRequest()) { return false; @@ -53,7 +53,7 @@ bool dynamic_vino_lib::BaseInference::submitRequest() return true; } -bool dynamic_vino_lib::BaseInference::SynchronousRequest() +bool openvino_wrapper_lib::BaseInference::SynchronousRequest() { if (!engine_->getRequest()) { return false; @@ -67,7 +67,7 @@ bool dynamic_vino_lib::BaseInference::SynchronousRequest() return true; } -bool dynamic_vino_lib::BaseInference::fetchResults() +bool openvino_wrapper_lib::BaseInference::fetchResults() { if (results_fetched_) { return false; @@ -76,7 +76,7 @@ bool dynamic_vino_lib::BaseInference::fetchResults() return true; } -void dynamic_vino_lib::BaseInference::addCandidatedModel(std::shared_ptr model) +void openvino_wrapper_lib::BaseInference::addCandidatedModel(std::shared_ptr model) { slog::info << "TESTING in addCandidatedModel()" << slog::endl; if (model != nullptr) { diff --git a/dynamic_vino_lib/src/inferences/base_reidentification.cpp b/openvino_wrapper_lib/src/inferences/base_reidentification.cpp similarity index 87% rename from dynamic_vino_lib/src/inferences/base_reidentification.cpp rename to openvino_wrapper_lib/src/inferences/base_reidentification.cpp index 6ef8429f..559565cc 100644 --- a/dynamic_vino_lib/src/inferences/base_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/base_reidentification.cpp @@ -23,17 +23,17 @@ #include #include #include -#include "dynamic_vino_lib/inferences/base_reidentification.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/base_reidentification.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Tracker -dynamic_vino_lib::Tracker::Tracker( +openvino_wrapper_lib::Tracker::Tracker( int max_record_size, double same_track_thresh, double new_track_thresh) : max_record_size_(max_record_size), same_track_thresh_(same_track_thresh), new_track_thresh_(new_track_thresh) {} -int dynamic_vino_lib::Tracker::processNewTrack(const std::vector & feature) +int openvino_wrapper_lib::Tracker::processNewTrack(const std::vector & feature) { int most_similar_id; double similarity = findMostSimilarTrack(feature, most_similar_id); @@ -45,7 +45,7 @@ int dynamic_vino_lib::Tracker::processNewTrack(const std::vector & featur return most_similar_id; } -double dynamic_vino_lib::Tracker::findMostSimilarTrack( +double openvino_wrapper_lib::Tracker::findMostSimilarTrack( const std::vector & feature, int & most_similar_id) { double max_similarity = 0; @@ -60,7 +60,7 @@ double dynamic_vino_lib::Tracker::findMostSimilarTrack( return max_similarity; } -double dynamic_vino_lib::Tracker::calcSimilarity( +double openvino_wrapper_lib::Tracker::calcSimilarity( const std::vector & feature_a, const std::vector & feature_b) { if (feature_a.size() != feature_b.size()) { @@ -84,7 +84,7 @@ double dynamic_vino_lib::Tracker::calcSimilarity( return mul_sum / (sqrt(denom_a) * sqrt(denom_b)); } -void dynamic_vino_lib::Tracker::updateMatchTrack( +void openvino_wrapper_lib::Tracker::updateMatchTrack( int track_id, const std::vector & feature) { if (recorded_tracks_.find(track_id) != recorded_tracks_.end()) { @@ -95,7 +95,7 @@ void dynamic_vino_lib::Tracker::updateMatchTrack( } } -void dynamic_vino_lib::Tracker::removeEarlestTrack() +void openvino_wrapper_lib::Tracker::removeEarlestTrack() { std::lock_guard lk(tracks_mtx_); int64_t earlest_time = LONG_MAX; @@ -110,7 +110,7 @@ void dynamic_vino_lib::Tracker::removeEarlestTrack() } -int dynamic_vino_lib::Tracker::addNewTrack(const std::vector & feature) +int openvino_wrapper_lib::Tracker::addNewTrack(const std::vector & feature) { if (recorded_tracks_.size() >= max_record_size_) { std::thread remove_thread(std::bind(&Tracker::removeEarlestTrack, this)); @@ -125,14 +125,14 @@ int dynamic_vino_lib::Tracker::addNewTrack(const std::vector & feature) return max_track_id_; } -int64_t dynamic_vino_lib::Tracker::getCurrentTime() +int64_t openvino_wrapper_lib::Tracker::getCurrentTime() { auto tp = std::chrono::time_point_cast( std::chrono::system_clock::now()); return static_cast(tp.time_since_epoch().count()); } -bool dynamic_vino_lib::Tracker::saveTracksToFile(std::string filepath) +bool openvino_wrapper_lib::Tracker::saveTracksToFile(std::string filepath) { std::ofstream outfile(filepath); if (!outfile.is_open()) { @@ -152,7 +152,7 @@ bool dynamic_vino_lib::Tracker::saveTracksToFile(std::string filepath) return true; } -bool dynamic_vino_lib::Tracker::loadTracksFromFile(std::string filepath) +bool openvino_wrapper_lib::Tracker::loadTracksFromFile(std::string filepath) { std::ifstream infile(filepath); if (!infile.is_open()) { diff --git a/dynamic_vino_lib/src/inferences/emotions_detection.cpp b/openvino_wrapper_lib/src/inferences/emotions_detection.cpp similarity index 74% rename from dynamic_vino_lib/src/inferences/emotions_detection.cpp rename to openvino_wrapper_lib/src/inferences/emotions_detection.cpp index 17d7785b..e239c228 100644 --- a/dynamic_vino_lib/src/inferences/emotions_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/emotions_detection.cpp @@ -22,39 +22,39 @@ #include #include #include -#include "dynamic_vino_lib/inferences/emotions_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/emotions_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // EmotionsResult -dynamic_vino_lib::EmotionsResult::EmotionsResult(const cv::Rect & location) +openvino_wrapper_lib::EmotionsResult::EmotionsResult(const cv::Rect & location) : Result(location) { } // Emotions Detection -dynamic_vino_lib::EmotionsDetection::EmotionsDetection() -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::EmotionsDetection::EmotionsDetection() +: openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::EmotionsDetection::~EmotionsDetection() = default; +openvino_wrapper_lib::EmotionsDetection::~EmotionsDetection() = default; -void dynamic_vino_lib::EmotionsDetection::loadNetwork( +void openvino_wrapper_lib::EmotionsDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::EmotionsDetection::enqueue( +bool openvino_wrapper_lib::EmotionsDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = dynamic_vino_lib::BaseInference::enqueue( + bool succeed = openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); if (!succeed) { slog::err << "Failed enqueue Emotion frame." << slog::endl; @@ -66,14 +66,14 @@ bool dynamic_vino_lib::EmotionsDetection::enqueue( return true; } -bool dynamic_vino_lib::EmotionsDetection::submitRequest() +bool openvino_wrapper_lib::EmotionsDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::EmotionsDetection::fetchResults() +bool openvino_wrapper_lib::EmotionsDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -108,23 +108,23 @@ bool dynamic_vino_lib::EmotionsDetection::fetchResults() return true; } -int dynamic_vino_lib::EmotionsDetection::getResultsLength() const +int openvino_wrapper_lib::EmotionsDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::EmotionsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::EmotionsDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::EmotionsDetection::getName() const +const std::string openvino_wrapper_lib::EmotionsDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::EmotionsDetection::observeOutput( +void openvino_wrapper_lib::EmotionsDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -132,7 +132,7 @@ void dynamic_vino_lib::EmotionsDetection::observeOutput( } } -const std::vector dynamic_vino_lib::EmotionsDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::EmotionsDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/face_detection.cpp b/openvino_wrapper_lib/src/inferences/face_detection.cpp similarity index 76% rename from dynamic_vino_lib/src/inferences/face_detection.cpp rename to openvino_wrapper_lib/src/inferences/face_detection.cpp index e9820b68..0037bea3 100644 --- a/dynamic_vino_lib/src/inferences/face_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/face_detection.cpp @@ -22,18 +22,18 @@ #include #include -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // FaceDetectionResult -dynamic_vino_lib::FaceDetectionResult::FaceDetectionResult(const cv::Rect & location) +openvino_wrapper_lib::FaceDetectionResult::FaceDetectionResult(const cv::Rect & location) : ObjectDetectionResult(location) { } // FaceDetection -dynamic_vino_lib::FaceDetection::FaceDetection( +openvino_wrapper_lib::FaceDetection::FaceDetection( bool enable_roi_constraint, double show_output_thresh) : ObjectDetection(enable_roi_constraint, show_output_thresh) diff --git a/dynamic_vino_lib/src/inferences/face_reidentification.cpp b/openvino_wrapper_lib/src/inferences/face_reidentification.cpp similarity index 66% rename from dynamic_vino_lib/src/inferences/face_reidentification.cpp rename to openvino_wrapper_lib/src/inferences/face_reidentification.cpp index 1dddbfdf..392d4d62 100644 --- a/dynamic_vino_lib/src/inferences/face_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/face_reidentification.cpp @@ -20,37 +20,37 @@ #include #include #include -#include "dynamic_vino_lib/inferences/face_reidentification.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/face_reidentification.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // FaceReidentificationResult -dynamic_vino_lib::FaceReidentificationResult::FaceReidentificationResult( +openvino_wrapper_lib::FaceReidentificationResult::FaceReidentificationResult( const cv::Rect & location) : Result(location) {} // FaceReidentification -dynamic_vino_lib::FaceReidentification::FaceReidentification(double match_thresh) -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::FaceReidentification::FaceReidentification(double match_thresh) +: openvino_wrapper_lib::BaseInference() { - face_tracker_ = std::make_shared(1000, match_thresh, 0.3); + face_tracker_ = std::make_shared(1000, match_thresh, 0.3); } -dynamic_vino_lib::FaceReidentification::~FaceReidentification() = default; -void dynamic_vino_lib::FaceReidentification::loadNetwork( +openvino_wrapper_lib::FaceReidentification::~FaceReidentification() = default; +void openvino_wrapper_lib::FaceReidentification::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::FaceReidentification::enqueue( +bool openvino_wrapper_lib::FaceReidentification::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -60,14 +60,14 @@ bool dynamic_vino_lib::FaceReidentification::enqueue( return true; } -bool dynamic_vino_lib::FaceReidentification::submitRequest() +bool openvino_wrapper_lib::FaceReidentification::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::FaceReidentification::fetchResults() +bool openvino_wrapper_lib::FaceReidentification::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); @@ -85,23 +85,23 @@ bool dynamic_vino_lib::FaceReidentification::fetchResults() return true; } -int dynamic_vino_lib::FaceReidentification::getResultsLength() const +int openvino_wrapper_lib::FaceReidentification::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::FaceReidentification::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::FaceReidentification::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::FaceReidentification::getName() const +const std::string openvino_wrapper_lib::FaceReidentification::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::FaceReidentification::observeOutput( +void openvino_wrapper_lib::FaceReidentification::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -109,7 +109,7 @@ void dynamic_vino_lib::FaceReidentification::observeOutput( } } -const std::vector dynamic_vino_lib::FaceReidentification::getFilteredROIs( +const std::vector openvino_wrapper_lib::FaceReidentification::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp b/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp similarity index 67% rename from dynamic_vino_lib/src/inferences/head_pose_detection.cpp rename to openvino_wrapper_lib/src/inferences/head_pose_detection.cpp index a5b4fa36..591c6fdd 100644 --- a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp @@ -21,38 +21,38 @@ #include #include #include -#include "dynamic_vino_lib/inferences/head_pose_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" // HeadPoseResult -dynamic_vino_lib::HeadPoseResult::HeadPoseResult(const cv::Rect & location) +openvino_wrapper_lib::HeadPoseResult::HeadPoseResult(const cv::Rect & location) : Result(location) { } // Head Pose Detection -dynamic_vino_lib::HeadPoseDetection::HeadPoseDetection() -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::HeadPoseDetection::HeadPoseDetection() +: openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::HeadPoseDetection::~HeadPoseDetection() = default; +openvino_wrapper_lib::HeadPoseDetection::~HeadPoseDetection() = default; -void dynamic_vino_lib::HeadPoseDetection::loadNetwork( +void openvino_wrapper_lib::HeadPoseDetection::loadNetwork( std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::HeadPoseDetection::enqueue( +bool openvino_wrapper_lib::HeadPoseDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = dynamic_vino_lib::BaseInference::enqueue( + bool succeed = openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); if (!succeed) { return false; @@ -62,14 +62,14 @@ bool dynamic_vino_lib::HeadPoseDetection::enqueue( return true; } -bool dynamic_vino_lib::HeadPoseDetection::submitRequest() +bool openvino_wrapper_lib::HeadPoseDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::HeadPoseDetection::fetchResults() +bool openvino_wrapper_lib::HeadPoseDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -86,23 +86,23 @@ bool dynamic_vino_lib::HeadPoseDetection::fetchResults() return true; } -int dynamic_vino_lib::HeadPoseDetection::getResultsLength() const +int openvino_wrapper_lib::HeadPoseDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::HeadPoseDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::HeadPoseDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::HeadPoseDetection::getName() const +const std::string openvino_wrapper_lib::HeadPoseDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::HeadPoseDetection::observeOutput( +void openvino_wrapper_lib::HeadPoseDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -110,7 +110,7 @@ void dynamic_vino_lib::HeadPoseDetection::observeOutput( } } -const std::vector dynamic_vino_lib::HeadPoseDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::HeadPoseDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/landmarks_detection.cpp b/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp similarity index 70% rename from dynamic_vino_lib/src/inferences/landmarks_detection.cpp rename to openvino_wrapper_lib/src/inferences/landmarks_detection.cpp index 505c85d8..f3e468c8 100644 --- a/dynamic_vino_lib/src/inferences/landmarks_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp @@ -20,34 +20,34 @@ #include #include #include -#include "dynamic_vino_lib/inferences/landmarks_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // LandmarksDetectionResult -dynamic_vino_lib::LandmarksDetectionResult::LandmarksDetectionResult( +openvino_wrapper_lib::LandmarksDetectionResult::LandmarksDetectionResult( const cv::Rect & location) : Result(location) {} // LandmarksDetection -dynamic_vino_lib::LandmarksDetection::LandmarksDetection() -: dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::LandmarksDetection::LandmarksDetection() +: openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::LandmarksDetection::~LandmarksDetection() = default; -void dynamic_vino_lib::LandmarksDetection::loadNetwork( +openvino_wrapper_lib::LandmarksDetection::~LandmarksDetection() = default; +void openvino_wrapper_lib::LandmarksDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::LandmarksDetection::enqueue( +bool openvino_wrapper_lib::LandmarksDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -57,14 +57,14 @@ bool dynamic_vino_lib::LandmarksDetection::enqueue( return true; } -bool dynamic_vino_lib::LandmarksDetection::submitRequest() +bool openvino_wrapper_lib::LandmarksDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::LandmarksDetection::fetchResults() +bool openvino_wrapper_lib::LandmarksDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); @@ -87,23 +87,23 @@ bool dynamic_vino_lib::LandmarksDetection::fetchResults() return true; } -int dynamic_vino_lib::LandmarksDetection::getResultsLength() const +int openvino_wrapper_lib::LandmarksDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::LandmarksDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::LandmarksDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::LandmarksDetection::getName() const +const std::string openvino_wrapper_lib::LandmarksDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::LandmarksDetection::observeOutput( +void openvino_wrapper_lib::LandmarksDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -111,7 +111,7 @@ void dynamic_vino_lib::LandmarksDetection::observeOutput( } } -const std::vector dynamic_vino_lib::LandmarksDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::LandmarksDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp b/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp similarity index 69% rename from dynamic_vino_lib/src/inferences/license_plate_detection.cpp rename to openvino_wrapper_lib/src/inferences/license_plate_detection.cpp index ed862a88..aa0f8c1d 100644 --- a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp @@ -20,28 +20,28 @@ #include #include #include -#include "dynamic_vino_lib/inferences/license_plate_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // LicensePlateDetectionResult -dynamic_vino_lib::LicensePlateDetectionResult::LicensePlateDetectionResult( +openvino_wrapper_lib::LicensePlateDetectionResult::LicensePlateDetectionResult( const cv::Rect & location) : Result(location) {} // LicensePlateDetection -dynamic_vino_lib::LicensePlateDetection::LicensePlateDetection() -: dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::LicensePlateDetection::LicensePlateDetection() +: openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::LicensePlateDetection::~LicensePlateDetection() = default; -void dynamic_vino_lib::LicensePlateDetection::loadNetwork( +openvino_wrapper_lib::LicensePlateDetection::~LicensePlateDetection() = default; +void openvino_wrapper_lib::LicensePlateDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -void dynamic_vino_lib::LicensePlateDetection::fillSeqBlob() +void openvino_wrapper_lib::LicensePlateDetection::fillSeqBlob() { ov::Tensor seq_tensor = getEngine()->getRequest().get_tensor( valid_model_->getSeqInputName()); @@ -52,13 +52,13 @@ void dynamic_vino_lib::LicensePlateDetection::fillSeqBlob() std::fill(tensor_data, tensor_data + max_sequence_size, 1.0f); } -bool dynamic_vino_lib::LicensePlateDetection::enqueue( +bool openvino_wrapper_lib::LicensePlateDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -69,14 +69,14 @@ bool dynamic_vino_lib::LicensePlateDetection::enqueue( return true; } -bool dynamic_vino_lib::LicensePlateDetection::submitRequest() +bool openvino_wrapper_lib::LicensePlateDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::LicensePlateDetection::fetchResults() +bool openvino_wrapper_lib::LicensePlateDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); @@ -98,23 +98,23 @@ bool dynamic_vino_lib::LicensePlateDetection::fetchResults() return true; } -int dynamic_vino_lib::LicensePlateDetection::getResultsLength() const +int openvino_wrapper_lib::LicensePlateDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::LicensePlateDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::LicensePlateDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::LicensePlateDetection::getName() const +const std::string openvino_wrapper_lib::LicensePlateDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::LicensePlateDetection::observeOutput( +void openvino_wrapper_lib::LicensePlateDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -122,7 +122,7 @@ void dynamic_vino_lib::LicensePlateDetection::observeOutput( } } -const std::vector dynamic_vino_lib::LicensePlateDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::LicensePlateDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/object_detection.cpp b/openvino_wrapper_lib/src/inferences/object_detection.cpp similarity index 68% rename from dynamic_vino_lib/src/inferences/object_detection.cpp rename to openvino_wrapper_lib/src/inferences/object_detection.cpp index 9c0299e9..8470a103 100644 --- a/dynamic_vino_lib/src/inferences/object_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/object_detection.cpp @@ -22,37 +22,37 @@ #include #include #include -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // ObjectDetectionResult -dynamic_vino_lib::ObjectDetectionResult::ObjectDetectionResult(const cv::Rect & location) +openvino_wrapper_lib::ObjectDetectionResult::ObjectDetectionResult(const cv::Rect & location) : Result(location) { } // ObjectDetection -dynamic_vino_lib::ObjectDetection::ObjectDetection( +openvino_wrapper_lib::ObjectDetection::ObjectDetection( bool enable_roi_constraint, double show_output_thresh) : show_output_thresh_(show_output_thresh), - enable_roi_constraint_(enable_roi_constraint), dynamic_vino_lib::BaseInference() + enable_roi_constraint_(enable_roi_constraint), openvino_wrapper_lib::BaseInference() { result_filter_ = std::make_shared(); result_filter_->init(); } -dynamic_vino_lib::ObjectDetection::~ObjectDetection() = default; +openvino_wrapper_lib::ObjectDetection::~ObjectDetection() = default; -void dynamic_vino_lib::ObjectDetection::loadNetwork( +void openvino_wrapper_lib::ObjectDetection::loadNetwork( std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::ObjectDetection::enqueue( +bool openvino_wrapper_lib::ObjectDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { @@ -74,9 +74,9 @@ bool dynamic_vino_lib::ObjectDetection::enqueue( return true; } -bool dynamic_vino_lib::ObjectDetection::fetchResults() +bool openvino_wrapper_lib::ObjectDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -87,23 +87,23 @@ bool dynamic_vino_lib::ObjectDetection::fetchResults() getEngine(), results_, show_output_thresh_, enable_roi_constraint_); } -int dynamic_vino_lib::ObjectDetection::getResultsLength() const +int openvino_wrapper_lib::ObjectDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::ObjectDetection::Result * -dynamic_vino_lib::ObjectDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::ObjectDetection::Result * +openvino_wrapper_lib::ObjectDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::ObjectDetection::getName() const +const std::string openvino_wrapper_lib::ObjectDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::ObjectDetection::observeOutput( +void openvino_wrapper_lib::ObjectDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -111,7 +111,7 @@ void dynamic_vino_lib::ObjectDetection::observeOutput( } } -const std::vector dynamic_vino_lib::ObjectDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::ObjectDetection::getFilteredROIs( const std::string filter_conditions) const { if (!result_filter_->isValidFilterConditions(filter_conditions)) { @@ -128,22 +128,22 @@ const std::vector dynamic_vino_lib::ObjectDetection::getFilteredROIs( // ObjectDetectionResultFilter -dynamic_vino_lib::ObjectDetectionResultFilter::ObjectDetectionResultFilter() {} +openvino_wrapper_lib::ObjectDetectionResultFilter::ObjectDetectionResultFilter() {} -void dynamic_vino_lib::ObjectDetectionResultFilter::init() +void openvino_wrapper_lib::ObjectDetectionResultFilter::init() { key_to_function_.insert(std::make_pair("label", isValidLabel)); key_to_function_.insert(std::make_pair("confidence", isValidConfidence)); } -void dynamic_vino_lib::ObjectDetectionResultFilter::acceptResults( +void openvino_wrapper_lib::ObjectDetectionResultFilter::acceptResults( const std::vector & results) { results_ = results; } std::vector -dynamic_vino_lib::ObjectDetectionResultFilter::getFilteredLocations() +openvino_wrapper_lib::ObjectDetectionResultFilter::getFilteredLocations() { std::vector locations; for (auto result : results_) { @@ -154,25 +154,25 @@ dynamic_vino_lib::ObjectDetectionResultFilter::getFilteredLocations() return locations; } -bool dynamic_vino_lib::ObjectDetectionResultFilter::isValidLabel( +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidLabel( const Result & result, const std::string & op, const std::string & target) { return stringCompare(result.getLabel(), op, target); } -bool dynamic_vino_lib::ObjectDetectionResultFilter::isValidConfidence( +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidConfidence( const Result & result, const std::string & op, const std::string & target) { return floatCompare(result.getConfidence(), op, stringToFloat(target)); } -bool dynamic_vino_lib::ObjectDetectionResultFilter::isValidResult( +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidResult( const Result & result) { ISVALIDRESULT(key_to_function_, result); } -double dynamic_vino_lib::ObjectDetection::calcIoU( +double openvino_wrapper_lib::ObjectDetection::calcIoU( const cv::Rect & box_1, const cv::Rect & box_2) { diff --git a/dynamic_vino_lib/src/inferences/object_segmentation.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation.cpp similarity index 79% rename from dynamic_vino_lib/src/inferences/object_segmentation.cpp rename to openvino_wrapper_lib/src/inferences/object_segmentation.cpp index 55a020e2..699731e3 100644 --- a/dynamic_vino_lib/src/inferences/object_segmentation.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation.cpp @@ -24,25 +24,25 @@ #include #include -#include "dynamic_vino_lib/inferences/object_segmentation.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // ObjectSegmentationResult -dynamic_vino_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect &location) +openvino_wrapper_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect &location) : Result(location) { } // ObjectSegmentation -dynamic_vino_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh) - : show_output_thresh_(show_output_thresh), dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh) + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::ObjectSegmentation::~ObjectSegmentation() = default; +openvino_wrapper_lib::ObjectSegmentation::~ObjectSegmentation() = default; -void dynamic_vino_lib::ObjectSegmentation::loadNetwork( +void openvino_wrapper_lib::ObjectSegmentation::loadNetwork( const std::shared_ptr network) { slog::info << "Loading Network: " << network->getModelCategory() << slog::endl; @@ -54,7 +54,7 @@ void dynamic_vino_lib::ObjectSegmentation::loadNetwork( * Deprecated! * This function only support OpenVINO version <=2018R5 */ -bool dynamic_vino_lib::ObjectSegmentation::enqueue_for_one_input( +bool openvino_wrapper_lib::ObjectSegmentation::enqueue_for_one_input( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -63,7 +63,7 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue_for_one_input( width_ = frame.cols; height_ = frame.rows; } - if (!dynamic_vino_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -74,7 +74,7 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue_for_one_input( return true; } -bool dynamic_vino_lib::ObjectSegmentation::enqueue( +bool openvino_wrapper_lib::ObjectSegmentation::enqueue( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -106,14 +106,14 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue( return true; } -bool dynamic_vino_lib::ObjectSegmentation::submitRequest() +bool openvino_wrapper_lib::ObjectSegmentation::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::ObjectSegmentation::fetchResults() +bool openvino_wrapper_lib::ObjectSegmentation::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; @@ -199,23 +199,23 @@ bool dynamic_vino_lib::ObjectSegmentation::fetchResults() return true; } -int dynamic_vino_lib::ObjectSegmentation::getResultsLength() const +int openvino_wrapper_lib::ObjectSegmentation::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::ObjectSegmentation::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::ObjectSegmentation::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::ObjectSegmentation::getName() const +const std::string openvino_wrapper_lib::ObjectSegmentation::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::ObjectSegmentation::observeOutput( +void openvino_wrapper_lib::ObjectSegmentation::observeOutput( const std::shared_ptr &output) { if (output != nullptr) @@ -224,7 +224,7 @@ void dynamic_vino_lib::ObjectSegmentation::observeOutput( } } -const std::vector dynamic_vino_lib::ObjectSegmentation::getFilteredROIs( +const std::vector openvino_wrapper_lib::ObjectSegmentation::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) diff --git a/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp similarity index 80% rename from dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp rename to openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp index e1189db6..7c35fc55 100644 --- a/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp @@ -24,25 +24,25 @@ #include #include -#include "dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // ObjectSegmentationResult -dynamic_vino_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect &location) +openvino_wrapper_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect &location) : Result(location) { } // ObjectSegmentation -dynamic_vino_lib::ObjectSegmentationMaskrcnn::ObjectSegmentationMaskrcnn(double show_output_thresh) - : show_output_thresh_(show_output_thresh), dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::ObjectSegmentationMaskrcnn(double show_output_thresh) + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::ObjectSegmentationMaskrcnn::~ObjectSegmentationMaskrcnn() = default; +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::~ObjectSegmentationMaskrcnn() = default; -void dynamic_vino_lib::ObjectSegmentationMaskrcnn::loadNetwork( +void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::loadNetwork( const std::shared_ptr network) { slog::info << "Loading Network: " << network->getModelCategory() << slog::endl; @@ -54,7 +54,7 @@ void dynamic_vino_lib::ObjectSegmentationMaskrcnn::loadNetwork( * Deprecated! * This function only support OpenVINO version <=2018R5 */ -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -63,7 +63,7 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( width_ = frame.cols; height_ = frame.rows; } - if (!dynamic_vino_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -74,7 +74,7 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( return true; } -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue( +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -106,15 +106,15 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue( return true; } -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::submitRequest() +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::fetchResults() +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; @@ -196,23 +196,23 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::fetchResults() return true; } -int dynamic_vino_lib::ObjectSegmentationMaskrcnn::getResultsLength() const +int openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::ObjectSegmentationMaskrcnn::getName() const +const std::string openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::ObjectSegmentationMaskrcnn::observeOutput( +void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::observeOutput( const std::shared_ptr &output) { if (output != nullptr) @@ -221,7 +221,7 @@ void dynamic_vino_lib::ObjectSegmentationMaskrcnn::observeOutput( } } -const std::vector dynamic_vino_lib::ObjectSegmentationMaskrcnn::getFilteredROIs( +const std::vector openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) diff --git a/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp b/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp similarity index 71% rename from dynamic_vino_lib/src/inferences/person_attribs_detection.cpp rename to openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp index a9c5451d..79b5c446 100644 --- a/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp @@ -21,34 +21,34 @@ #include #include #include -#include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/person_attribs_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // PersonAttribsDetectionResult -dynamic_vino_lib::PersonAttribsDetectionResult::PersonAttribsDetectionResult( +openvino_wrapper_lib::PersonAttribsDetectionResult::PersonAttribsDetectionResult( const cv::Rect & location) : Result(location) {} // PersonAttribsDetection -dynamic_vino_lib::PersonAttribsDetection::PersonAttribsDetection(double attribs_confidence) -: attribs_confidence_(attribs_confidence), dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::PersonAttribsDetection::PersonAttribsDetection(double attribs_confidence) +: attribs_confidence_(attribs_confidence), openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::PersonAttribsDetection::~PersonAttribsDetection() = default; -void dynamic_vino_lib::PersonAttribsDetection::loadNetwork( +openvino_wrapper_lib::PersonAttribsDetection::~PersonAttribsDetection() = default; +void openvino_wrapper_lib::PersonAttribsDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::PersonAttribsDetection::enqueue( +bool openvino_wrapper_lib::PersonAttribsDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -58,14 +58,14 @@ bool dynamic_vino_lib::PersonAttribsDetection::enqueue( return true; } -bool dynamic_vino_lib::PersonAttribsDetection::submitRequest() +bool openvino_wrapper_lib::PersonAttribsDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::PersonAttribsDetection::fetchResults() +bool openvino_wrapper_lib::PersonAttribsDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); @@ -102,23 +102,23 @@ bool dynamic_vino_lib::PersonAttribsDetection::fetchResults() return true; } -int dynamic_vino_lib::PersonAttribsDetection::getResultsLength() const +int openvino_wrapper_lib::PersonAttribsDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::PersonAttribsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::PersonAttribsDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::PersonAttribsDetection::getName() const +const std::string openvino_wrapper_lib::PersonAttribsDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::PersonAttribsDetection::observeOutput( +void openvino_wrapper_lib::PersonAttribsDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -126,7 +126,7 @@ void dynamic_vino_lib::PersonAttribsDetection::observeOutput( } } -const std::vector dynamic_vino_lib::PersonAttribsDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::PersonAttribsDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/person_reidentification.cpp b/openvino_wrapper_lib/src/inferences/person_reidentification.cpp similarity index 64% rename from dynamic_vino_lib/src/inferences/person_reidentification.cpp rename to openvino_wrapper_lib/src/inferences/person_reidentification.cpp index c26c3b2d..9d4d891a 100644 --- a/dynamic_vino_lib/src/inferences/person_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/person_reidentification.cpp @@ -20,37 +20,37 @@ #include #include #include -#include "dynamic_vino_lib/inferences/person_reidentification.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/person_reidentification.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // PersonReidentificationResult -dynamic_vino_lib::PersonReidentificationResult::PersonReidentificationResult( +openvino_wrapper_lib::PersonReidentificationResult::PersonReidentificationResult( const cv::Rect & location) : Result(location) {} // PersonReidentification -dynamic_vino_lib::PersonReidentification::PersonReidentification(double match_thresh) -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::PersonReidentification::PersonReidentification(double match_thresh) +: openvino_wrapper_lib::BaseInference() { - person_tracker_ = std::make_shared(1000, match_thresh, 0.3); + person_tracker_ = std::make_shared(1000, match_thresh, 0.3); } -dynamic_vino_lib::PersonReidentification::~PersonReidentification() = default; -void dynamic_vino_lib::PersonReidentification::loadNetwork( +openvino_wrapper_lib::PersonReidentification::~PersonReidentification() = default; +void openvino_wrapper_lib::PersonReidentification::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::PersonReidentification::enqueue( +bool openvino_wrapper_lib::PersonReidentification::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -60,14 +60,14 @@ bool dynamic_vino_lib::PersonReidentification::enqueue( return true; } -bool dynamic_vino_lib::PersonReidentification::submitRequest() +bool openvino_wrapper_lib::PersonReidentification::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::PersonReidentification::fetchResults() +bool openvino_wrapper_lib::PersonReidentification::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); @@ -85,23 +85,23 @@ bool dynamic_vino_lib::PersonReidentification::fetchResults() return true; } -int dynamic_vino_lib::PersonReidentification::getResultsLength() const +int openvino_wrapper_lib::PersonReidentification::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::PersonReidentification::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::PersonReidentification::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::PersonReidentification::getName() const +const std::string openvino_wrapper_lib::PersonReidentification::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::PersonReidentification::observeOutput( +void openvino_wrapper_lib::PersonReidentification::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -109,7 +109,7 @@ void dynamic_vino_lib::PersonReidentification::observeOutput( } } -const std::vector dynamic_vino_lib::PersonReidentification::getFilteredROIs( +const std::vector openvino_wrapper_lib::PersonReidentification::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp b/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp similarity index 68% rename from dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp rename to openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp index 92f17916..232d73ea 100644 --- a/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp @@ -20,34 +20,34 @@ #include #include #include -#include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // VehicleAttribsDetectionResult -dynamic_vino_lib::VehicleAttribsDetectionResult::VehicleAttribsDetectionResult( +openvino_wrapper_lib::VehicleAttribsDetectionResult::VehicleAttribsDetectionResult( const cv::Rect & location) : Result(location) {} // VehicleAttribsDetection -dynamic_vino_lib::VehicleAttribsDetection::VehicleAttribsDetection() -: dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::VehicleAttribsDetection::VehicleAttribsDetection() +: openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::VehicleAttribsDetection::~VehicleAttribsDetection() = default; -void dynamic_vino_lib::VehicleAttribsDetection::loadNetwork( +openvino_wrapper_lib::VehicleAttribsDetection::~VehicleAttribsDetection() = default; +void openvino_wrapper_lib::VehicleAttribsDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::VehicleAttribsDetection::enqueue( +bool openvino_wrapper_lib::VehicleAttribsDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -57,14 +57,14 @@ bool dynamic_vino_lib::VehicleAttribsDetection::enqueue( return true; } -bool dynamic_vino_lib::VehicleAttribsDetection::submitRequest() +bool openvino_wrapper_lib::VehicleAttribsDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::VehicleAttribsDetection::fetchResults() +bool openvino_wrapper_lib::VehicleAttribsDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; @@ -87,23 +87,23 @@ bool dynamic_vino_lib::VehicleAttribsDetection::fetchResults() return true; } -int dynamic_vino_lib::VehicleAttribsDetection::getResultsLength() const +int openvino_wrapper_lib::VehicleAttribsDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::VehicleAttribsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::VehicleAttribsDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::VehicleAttribsDetection::getName() const +const std::string openvino_wrapper_lib::VehicleAttribsDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::VehicleAttribsDetection::observeOutput( +void openvino_wrapper_lib::VehicleAttribsDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -111,7 +111,7 @@ void dynamic_vino_lib::VehicleAttribsDetection::observeOutput( } } -const std::vector dynamic_vino_lib::VehicleAttribsDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::VehicleAttribsDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inputs/image_input.cpp b/openvino_wrapper_lib/src/inputs/image_input.cpp similarity index 93% rename from dynamic_vino_lib/src/inputs/image_input.cpp rename to openvino_wrapper_lib/src/inputs/image_input.cpp index db1195ed..4c6bdf6f 100644 --- a/dynamic_vino_lib/src/inputs/image_input.cpp +++ b/openvino_wrapper_lib/src/inputs/image_input.cpp @@ -18,8 +18,8 @@ */ #include -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/slog.hpp" Input::Image::Image(const std::string & file) { diff --git a/dynamic_vino_lib/src/inputs/image_topic.cpp b/openvino_wrapper_lib/src/inputs/image_topic.cpp similarity index 95% rename from dynamic_vino_lib/src/inputs/image_topic.cpp rename to openvino_wrapper_lib/src/inputs/image_topic.cpp index 55be9786..a716e2fe 100644 --- a/dynamic_vino_lib/src/inputs/image_topic.cpp +++ b/openvino_wrapper_lib/src/inputs/image_topic.cpp @@ -19,8 +19,8 @@ #include #include -#include "dynamic_vino_lib/inputs/image_topic.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/image_topic.hpp" +#include "openvino_wrapper_lib/slog.hpp" #define INPUT_TOPIC "/openvino_toolkit/image_raw" diff --git a/dynamic_vino_lib/src/inputs/ip_camera.cpp b/openvino_wrapper_lib/src/inputs/ip_camera.cpp similarity index 96% rename from dynamic_vino_lib/src/inputs/ip_camera.cpp rename to openvino_wrapper_lib/src/inputs/ip_camera.cpp index 1e7d3eae..e579ba54 100644 --- a/dynamic_vino_lib/src/inputs/ip_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/ip_camera.cpp @@ -16,7 +16,7 @@ * @brief a header file with declaration of IpCamera class * @file ip_camera.cpp */ -#include "dynamic_vino_lib/inputs/ip_camera.hpp" +#include "openvino_wrapper_lib/inputs/ip_camera.hpp" bool Input::IpCamera::initialize() diff --git a/dynamic_vino_lib/src/inputs/realsense_camera.cpp b/openvino_wrapper_lib/src/inputs/realsense_camera.cpp similarity index 96% rename from dynamic_vino_lib/src/inputs/realsense_camera.cpp rename to openvino_wrapper_lib/src/inputs/realsense_camera.cpp index c2dcff9c..f9aa759d 100644 --- a/dynamic_vino_lib/src/inputs/realsense_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/realsense_camera.cpp @@ -16,8 +16,8 @@ * @brief a header file with declaration of RealSenseCamera class * @file realsense_camera.cpp */ -#include "dynamic_vino_lib/inputs/realsense_camera.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/realsense_camera.hpp" +#include "openvino_wrapper_lib/slog.hpp" // RealSenseCamera bool Input::RealSenseCamera::initialize() diff --git a/dynamic_vino_lib/src/inputs/standard_camera.cpp b/openvino_wrapper_lib/src/inputs/standard_camera.cpp similarity index 97% rename from dynamic_vino_lib/src/inputs/standard_camera.cpp rename to openvino_wrapper_lib/src/inputs/standard_camera.cpp index 2bc20f02..8b25f717 100644 --- a/dynamic_vino_lib/src/inputs/standard_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/standard_camera.cpp @@ -16,7 +16,7 @@ * @brief a header file with declaration of StandardCamera class * @file standard_camera.cpp */ -#include "dynamic_vino_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" bool Input::StandardCamera::initialize() { diff --git a/dynamic_vino_lib/src/inputs/video_input.cpp b/openvino_wrapper_lib/src/inputs/video_input.cpp similarity index 96% rename from dynamic_vino_lib/src/inputs/video_input.cpp rename to openvino_wrapper_lib/src/inputs/video_input.cpp index 97a54745..4c4e2a80 100644 --- a/dynamic_vino_lib/src/inputs/video_input.cpp +++ b/openvino_wrapper_lib/src/inputs/video_input.cpp @@ -19,7 +19,7 @@ #include -#include "dynamic_vino_lib/inputs/video_input.hpp" +#include "openvino_wrapper_lib/inputs/video_input.hpp" // Video Input::Video::Video(const std::string & video) diff --git a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp similarity index 97% rename from dynamic_vino_lib/src/models/age_gender_detection_model.cpp rename to openvino_wrapper_lib/src/models/age_gender_detection_model.cpp index f5b241a8..ac3eea86 100644 --- a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp @@ -19,8 +19,8 @@ #include #include #include -#include "dynamic_vino_lib/models/age_gender_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/age_gender_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Age Gender Classification Network Models::AgeGenderDetectionModel::AgeGenderDetectionModel( diff --git a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp similarity index 97% rename from dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp rename to openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp index 693f1481..1340d490 100644 --- a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp +++ b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp @@ -19,8 +19,8 @@ #include -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Face Detection Network Models::SSDModelAttr::SSDModelAttr( diff --git a/dynamic_vino_lib/src/models/base_model.cpp b/openvino_wrapper_lib/src/models/base_model.cpp similarity index 93% rename from dynamic_vino_lib/src/models/base_model.cpp rename to openvino_wrapper_lib/src/models/base_model.cpp index 01588b94..70647b5a 100644 --- a/dynamic_vino_lib/src/models/base_model.cpp +++ b/openvino_wrapper_lib/src/models/base_model.cpp @@ -23,9 +23,9 @@ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Base Network Models::BaseModel::BaseModel( diff --git a/dynamic_vino_lib/src/models/emotion_detection_model.cpp b/openvino_wrapper_lib/src/models/emotion_detection_model.cpp similarity index 96% rename from dynamic_vino_lib/src/models/emotion_detection_model.cpp rename to openvino_wrapper_lib/src/models/emotion_detection_model.cpp index 7ee3ab94..9d7579bb 100644 --- a/dynamic_vino_lib/src/models/emotion_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/emotion_detection_model.cpp @@ -18,8 +18,8 @@ */ #include #include -#include "dynamic_vino_lib/models/emotion_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/emotion_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Emotions Detection Network diff --git a/dynamic_vino_lib/src/models/face_detection_model.cpp b/openvino_wrapper_lib/src/models/face_detection_model.cpp similarity index 91% rename from dynamic_vino_lib/src/models/face_detection_model.cpp rename to openvino_wrapper_lib/src/models/face_detection_model.cpp index 149c7ddf..ced9982e 100644 --- a/dynamic_vino_lib/src/models/face_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/face_detection_model.cpp @@ -19,8 +19,8 @@ #include -#include "dynamic_vino_lib/models/face_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/face_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Face Detection Network Models::FaceDetectionModel::FaceDetectionModel( diff --git a/dynamic_vino_lib/src/models/face_reidentification_model.cpp b/openvino_wrapper_lib/src/models/face_reidentification_model.cpp similarity index 94% rename from dynamic_vino_lib/src/models/face_reidentification_model.cpp rename to openvino_wrapper_lib/src/models/face_reidentification_model.cpp index c8a8ab97..d8deb8f5 100644 --- a/dynamic_vino_lib/src/models/face_reidentification_model.cpp +++ b/openvino_wrapper_lib/src/models/face_reidentification_model.cpp @@ -17,8 +17,8 @@ * @file face_reidentification_model.cpp */ #include -#include "dynamic_vino_lib/models/face_reidentification_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/face_reidentification_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Face Reidentification Network Models::FaceReidentificationModel::FaceReidentificationModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp b/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp similarity index 96% rename from dynamic_vino_lib/src/models/head_pose_detection_model.cpp rename to openvino_wrapper_lib/src/models/head_pose_detection_model.cpp index ebfd4c1d..2f4ec293 100644 --- a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp @@ -20,8 +20,8 @@ #include #include -#include "dynamic_vino_lib/models/head_pose_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Head Pose Network Models::HeadPoseDetectionModel::HeadPoseDetectionModel( diff --git a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp b/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/landmarks_detection_model.cpp rename to openvino_wrapper_lib/src/models/landmarks_detection_model.cpp index a956f3c2..3c261c5b 100644 --- a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp @@ -17,8 +17,8 @@ * @file landmarks_detection_model.cpp */ #include -#include "dynamic_vino_lib/models/landmarks_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Landmarks Detection Network Models::LandmarksDetectionModel::LandmarksDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp b/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/license_plate_detection_model.cpp rename to openvino_wrapper_lib/src/models/license_plate_detection_model.cpp index f197d839..bfdf4ce5 100644 --- a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp @@ -17,8 +17,8 @@ * @file license_plate_detection_model.cpp */ #include -#include "dynamic_vino_lib/models/license_plate_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Vehicle Attributes Detection Network Models::LicensePlateDetectionModel::LicensePlateDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/object_detection_ssd_model.cpp rename to openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp index f6a24f4c..2c938ca8 100644 --- a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp @@ -19,11 +19,11 @@ #include #include #include -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/models/object_detection_ssd_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/models/object_detection_ssd_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Object Detection Network Models::ObjectDetectionSSDModel::ObjectDetectionSSDModel( @@ -93,7 +93,7 @@ bool Models::ObjectDetectionSSDModel::matToBlob( bool Models::ObjectDetectionSSDModel::fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh, const bool & enable_roi_constraint) { @@ -130,7 +130,7 @@ bool Models::ObjectDetectionSSDModel::fetchResults( if (enable_roi_constraint) {r &= cv::Rect(0, 0, frame_size.width, frame_size.height);} - dynamic_vino_lib::ObjectDetectionResult result(r); + openvino_wrapper_lib::ObjectDetectionResult result(r); std::string label = label_num < labels.size() ? labels[label_num] : std::string("label #") + std::to_string(label_num); result.setLabel(label); diff --git a/dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp similarity index 96% rename from dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp rename to openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp index c812bfb1..8dd7176d 100644 --- a/dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp @@ -20,10 +20,10 @@ #include #include #include -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/models/object_detection_yolov5_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" // Validated Object Detection Network @@ -129,7 +129,7 @@ bool Models::ObjectDetectionYolov5Model::matToBlob( bool Models::ObjectDetectionYolov5Model::fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh, const bool & enable_roi_constraint) { diff --git a/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp similarity index 98% rename from dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp rename to openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp index 0b7bc772..d0d127ce 100644 --- a/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp @@ -19,9 +19,9 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network Models::ObjectSegmentationMaskrcnnModel::ObjectSegmentationMaskrcnnModel( diff --git a/dynamic_vino_lib/src/models/object_segmentation_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp similarity index 97% rename from dynamic_vino_lib/src/models/object_segmentation_model.cpp rename to openvino_wrapper_lib/src/models/object_segmentation_model.cpp index 3b22751c..31cd4c78 100644 --- a/dynamic_vino_lib/src/models/object_segmentation_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp @@ -19,9 +19,9 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network Models::ObjectSegmentationModel::ObjectSegmentationModel( const std::string & label_loc, diff --git a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/person_attribs_detection_model.cpp rename to openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp index ef1d7e8a..405740d6 100644 --- a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp @@ -18,8 +18,8 @@ */ #include #include -#include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Person Attributes Detection Network Models::PersonAttribsDetectionModel::PersonAttribsDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/person_reidentification_model.cpp b/openvino_wrapper_lib/src/models/person_reidentification_model.cpp similarity index 94% rename from dynamic_vino_lib/src/models/person_reidentification_model.cpp rename to openvino_wrapper_lib/src/models/person_reidentification_model.cpp index af71d2c0..911a3609 100644 --- a/dynamic_vino_lib/src/models/person_reidentification_model.cpp +++ b/openvino_wrapper_lib/src/models/person_reidentification_model.cpp @@ -17,8 +17,8 @@ * @file person_reidentification_model.cpp */ #include -#include "dynamic_vino_lib/models/person_reidentification_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/person_reidentification_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Person Reidentification Network Models::PersonReidentificationModel::PersonReidentificationModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp rename to openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp index 361658e8..e5a65947 100644 --- a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp @@ -17,8 +17,8 @@ * @file vehicle_attribs_detection_model.cpp */ #include -#include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Vehicle Attributes Detection Network Models::VehicleAttribsDetectionModel::VehicleAttribsDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/outputs/base_output.cpp b/openvino_wrapper_lib/src/outputs/base_output.cpp similarity index 89% rename from dynamic_vino_lib/src/outputs/base_output.cpp rename to openvino_wrapper_lib/src/outputs/base_output.cpp index fee27873..e401ce44 100644 --- a/dynamic_vino_lib/src/outputs/base_output.cpp +++ b/openvino_wrapper_lib/src/outputs/base_output.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" void Outputs::BaseOutput::setPipeline(Pipeline * const pipeline) { diff --git a/dynamic_vino_lib/src/outputs/image_window_output.cpp b/openvino_wrapper_lib/src/outputs/image_window_output.cpp similarity index 91% rename from dynamic_vino_lib/src/outputs/image_window_output.cpp rename to openvino_wrapper_lib/src/outputs/image_window_output.cpp index 29f70c63..1cb37940 100644 --- a/dynamic_vino_lib/src/outputs/image_window_output.cpp +++ b/openvino_wrapper_lib/src/outputs/image_window_output.cpp @@ -23,8 +23,8 @@ #include #include -#include "dynamic_vino_lib/outputs/image_window_output.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/image_window_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" Outputs::ImageWindowOutput::ImageWindowOutput(const std::string & output_name, int focal_length) : BaseOutput(output_name), focal_length_(focal_length) @@ -64,7 +64,7 @@ unsigned Outputs::ImageWindowOutput::findOutput( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -75,7 +75,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -87,7 +87,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -98,7 +98,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -111,7 +111,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -133,7 +133,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -144,7 +144,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) + const std::vector & results) { std::map class_color; for (unsigned i = 0; i < results.size(); i++) { @@ -179,7 +179,7 @@ void Outputs::ImageWindowOutput::mergeMask( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -202,7 +202,7 @@ void Outputs::ImageWindowOutput::accept( void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) + const std::vector & results) { std::map class_color; for (unsigned i = 0; i < results.size(); i++) { @@ -224,7 +224,7 @@ void Outputs::ImageWindowOutput::mergeMask( } } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -246,7 +246,7 @@ void Outputs::ImageWindowOutput::accept( void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -262,7 +262,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -280,7 +280,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -293,7 +293,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -342,7 +342,7 @@ cv::Mat Outputs::ImageWindowOutput::getRotationTransform(double yaw, double pitc } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { auto result = results[i]; diff --git a/dynamic_vino_lib/src/outputs/ros_service_output.cpp b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp similarity index 89% rename from dynamic_vino_lib/src/outputs/ros_service_output.cpp rename to openvino_wrapper_lib/src/outputs/ros_service_output.cpp index 08105a82..5220a29a 100644 --- a/dynamic_vino_lib/src/outputs/ros_service_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp @@ -20,7 +20,7 @@ #include #include #include -#include "dynamic_vino_lib/outputs/ros_service_output.hpp" +#include "openvino_wrapper_lib/outputs/ros_service_output.hpp" #include "cv_bridge/cv_bridge.h" void Outputs::RosServiceOutput::setServiceResponse( @@ -42,7 +42,7 @@ void Outputs::RosServiceOutput::setResponseForFace( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (age_gender_topic_ != nullptr) { response->age_gender.objects = age_gender_topic_->objects; @@ -50,7 +50,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (emotions_topic_ != nullptr) { response->emotion.emotions = emotions_topic_->emotions; @@ -58,7 +58,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (headpose_topic_ != nullptr) { response->headpose.headposes = headpose_topic_->headposes; @@ -66,7 +66,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { slog::info << "in People::Response ..."; if (faces_topic_ != nullptr) { diff --git a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp similarity index 73% rename from dynamic_vino_lib/src/outputs/ros_topic_output.cpp rename to openvino_wrapper_lib/src/outputs/ros_topic_output.cpp index 717792da..8a87d5f6 100644 --- a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp @@ -20,9 +20,9 @@ #include #include #include -#include "dynamic_vino_lib/outputs/ros_topic_output.hpp" -#include "dynamic_vino_lib/pipeline_params.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/ros_topic_output.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" #include "cv_bridge/cv_bridge.h" Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, @@ -34,19 +34,19 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, } else { node_ = rclcpp::Node::make_shared(output_name + "_topic_publisher"); } - pub_license_plate_ = node_->create_publisher( + pub_license_plate_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_license_plates", 16); - pub_vehicle_attribs_ = node_->create_publisher( + pub_vehicle_attribs_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16); - pub_landmarks_ = node_->create_publisher( + pub_landmarks_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_landmarks", 16); - pub_face_reid_ = node_->create_publisher( + pub_face_reid_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/reidentified_faces", 16); - pub_person_attribs_ = node_->create_publisher( + pub_person_attribs_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/person_attributes", 16); - pub_person_reid_ = node_->create_publisher( + pub_person_reid_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16); - pub_segmented_object_ = node_->create_publisher( + pub_segmented_object_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/segmented_obejcts", 16); pub_detected_object_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_objects", 16); @@ -54,12 +54,12 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/faces", 16); pub_emotion_ = - node_->create_publisher( + node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/emotions", 16); - pub_age_gender_ = node_->create_publisher( + pub_age_gender_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/age_genders", 16); pub_headpose_ = - node_->create_publisher( + node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/headposes", 16); emotions_topic_ = nullptr; detected_objects_topic_ = nullptr; @@ -81,10 +81,10 @@ void Outputs::RosTopicOutput::feedFrame(const cv::Mat & frame) } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - vehicle_attribs_topic_ = std::make_shared(); - people_msgs::msg::VehicleAttribs attribs; + vehicle_attribs_topic_ = std::make_shared(); + openvino_people_msgs::msg::VehicleAttribs attribs; for (auto & r : results) { auto loc = r.getLocation(); attribs.roi.x_offset = loc.x; @@ -98,10 +98,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - license_plate_topic_ = std::make_shared(); - people_msgs::msg::LicensePlate plate; + license_plate_topic_ = std::make_shared(); + openvino_people_msgs::msg::LicensePlate plate; for (auto & r : results) { auto loc = r.getLocation(); plate.roi.x_offset = loc.x; @@ -114,10 +114,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - face_reid_topic_ = std::make_shared(); - people_msgs::msg::Reidentification face; + face_reid_topic_ = std::make_shared(); + openvino_people_msgs::msg::Reidentification face; for (auto & r : results) { auto loc = r.getLocation(); face.roi.x_offset = loc.x; @@ -130,10 +130,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - landmarks_topic_ = std::make_shared(); - people_msgs::msg::Landmark landmark; + landmarks_topic_ = std::make_shared(); + openvino_people_msgs::msg::Landmark landmark; for (auto & r : results) { auto loc = r.getLocation(); landmark.roi.x_offset = loc.x; @@ -152,10 +152,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - person_attribs_topic_ = std::make_shared(); - people_msgs::msg::PersonAttribute person_attrib; + person_attribs_topic_ = std::make_shared(); + openvino_people_msgs::msg::PersonAttribute person_attrib; for (auto & r : results) { auto loc = r.getLocation(); person_attrib.roi.x_offset = loc.x; @@ -168,10 +168,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - person_reid_topic_ = std::make_shared(); - people_msgs::msg::Reidentification person; + person_reid_topic_ = std::make_shared(); + openvino_people_msgs::msg::Reidentification person; for (auto & r : results) { auto loc = r.getLocation(); person.roi.x_offset = loc.x; @@ -184,10 +184,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - segmented_objects_topic_ = std::make_shared(); - people_msgs::msg::ObjectInMask object; + segmented_objects_topic_ = std::make_shared(); + openvino_people_msgs::msg::ObjectInMask object; for (auto & r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; @@ -207,10 +207,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - segmented_objects_topic_ = std::make_shared(); - people_msgs::msg::ObjectInMask object; + segmented_objects_topic_ = std::make_shared(); + openvino_people_msgs::msg::ObjectInMask object; for (auto & r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; @@ -230,7 +230,7 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { detected_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInBox object; @@ -247,7 +247,7 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { faces_topic_ = std::make_shared(); @@ -265,11 +265,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector & results) { - emotions_topic_ = std::make_shared(); + emotions_topic_ = std::make_shared(); - people_msgs::msg::Emotion emotion; + openvino_people_msgs::msg::Emotion emotion; for (auto r : results) { auto loc = r.getLocation(); emotion.roi.x_offset = loc.x; @@ -281,11 +281,11 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector & results) { - age_gender_topic_ = std::make_shared(); + age_gender_topic_ = std::make_shared(); - people_msgs::msg::AgeGender ag; + openvino_people_msgs::msg::AgeGender ag; for (auto r : results) { auto loc = r.getLocation(); ag.roi.x_offset = loc.x; @@ -305,11 +305,11 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector & results) { - headpose_topic_ = std::make_shared(); + headpose_topic_ = std::make_shared(); - people_msgs::msg::HeadPose hp; + openvino_people_msgs::msg::HeadPose hp; for (auto r : results) { auto loc = r.getLocation(); hp.roi.x_offset = loc.x; diff --git a/dynamic_vino_lib/src/outputs/rviz_output.cpp b/openvino_wrapper_lib/src/outputs/rviz_output.cpp similarity index 72% rename from dynamic_vino_lib/src/outputs/rviz_output.cpp rename to openvino_wrapper_lib/src/outputs/rviz_output.cpp index 647c219b..f35e6414 100644 --- a/dynamic_vino_lib/src/outputs/rviz_output.cpp +++ b/openvino_wrapper_lib/src/outputs/rviz_output.cpp @@ -22,8 +22,8 @@ #include #include #include "cv_bridge/cv_bridge.h" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/outputs/rviz_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/rviz_output.hpp" Outputs::RvizOutput::RvizOutput(std::string output_name, const rclcpp::Node::SharedPtr node) : BaseOutput(output_name) @@ -45,63 +45,63 @@ void Outputs::RvizOutput::feedFrame(const cv::Mat & frame) } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } diff --git a/dynamic_vino_lib/src/pipeline.cpp b/openvino_wrapper_lib/src/pipeline.cpp similarity index 95% rename from dynamic_vino_lib/src/pipeline.cpp rename to openvino_wrapper_lib/src/pipeline.cpp index ee583cd3..cd454103 100644 --- a/dynamic_vino_lib/src/pipeline.cpp +++ b/openvino_wrapper_lib/src/pipeline.cpp @@ -17,7 +17,7 @@ * @file pipeline.cpp */ -#include +#include #include #include #include @@ -25,9 +25,9 @@ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" Pipeline::Pipeline(const std::string & name) { @@ -121,7 +121,7 @@ void Pipeline::addConnect(const std::string & parent, const std::string & name) bool Pipeline::add( const std::string & parent, const std::string & name, - std::shared_ptr inference) + std::shared_ptr inference) { if (parent.empty() || name.empty() || !isLegalConnect(parent, name)) { slog::err << "ARGuments ERROR when adding inference instance!" << slog::endl; @@ -138,14 +138,14 @@ bool Pipeline::add( bool Pipeline::add( const std::string & name, - std::shared_ptr inference) + std::shared_ptr inference) { if (name.empty()) { slog::err << "Item name can't be empty!" << slog::endl; return false; } - std::map>::iterator it = + std::map>::iterator it = name_to_detection_map_.find(name); if (it != name_to_detection_map_.end()) { slog::warn << "inferance instance for [" << name << diff --git a/dynamic_vino_lib/src/pipeline_manager.cpp b/openvino_wrapper_lib/src/pipeline_manager.cpp similarity index 78% rename from dynamic_vino_lib/src/pipeline_manager.cpp rename to openvino_wrapper_lib/src/pipeline_manager.cpp index 9040209f..184ac922 100644 --- a/dynamic_vino_lib/src/pipeline_manager.cpp +++ b/openvino_wrapper_lib/src/pipeline_manager.cpp @@ -17,55 +17,55 @@ * @file pipeline_manager.cpp */ -#include +#include #include #include #include #include #if 0 -#include "dynamic_vino_lib/inferences/landmarks_detection.hpp" -#include "dynamic_vino_lib/inferences/face_reidentification.hpp" -#include "dynamic_vino_lib/models/face_reidentification_model.hpp" -#include "dynamic_vino_lib/models/landmarks_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_reidentification.hpp" +#include "openvino_wrapper_lib/models/face_reidentification_model.hpp" +#include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" #endif -#include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" -#include "dynamic_vino_lib/models/license_plate_detection_model.hpp" -#include "dynamic_vino_lib/models/person_reidentification_model.hpp" -#include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" -#include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/license_plate_detection.hpp" -#include "dynamic_vino_lib/inferences/person_reidentification.hpp" -#include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/models/face_detection_model.hpp" -#include "dynamic_vino_lib/inferences/age_gender_detection.hpp" -#include "dynamic_vino_lib/models/age_gender_detection_model.hpp" -#include "dynamic_vino_lib/inferences/emotions_detection.hpp" -#include "dynamic_vino_lib/models/emotion_detection_model.hpp" -#include "dynamic_vino_lib/inferences/head_pose_detection.hpp" -#include "dynamic_vino_lib/models/head_pose_detection_model.hpp" -#include "dynamic_vino_lib/models/object_detection_yolov5_model.hpp" -#include "dynamic_vino_lib/models/object_detection_ssd_model.hpp" -#include "dynamic_vino_lib/inferences/object_segmentation.hpp" -#include "dynamic_vino_lib/models/object_segmentation_model.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/inputs/realsense_camera.hpp" -#include "dynamic_vino_lib/inputs/realsense_camera_topic.hpp" -#include "dynamic_vino_lib/inputs/standard_camera.hpp" -#include "dynamic_vino_lib/inputs/ip_camera.hpp" -#include "dynamic_vino_lib/inputs/video_input.hpp" -#include "dynamic_vino_lib/outputs/image_window_output.hpp" -#include "dynamic_vino_lib/outputs/ros_topic_output.hpp" -#include "dynamic_vino_lib/outputs/rviz_output.hpp" -#include "dynamic_vino_lib/outputs/ros_service_output.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/pipeline_params.hpp" -#include "dynamic_vino_lib/services/pipeline_processing_server.hpp" -#include "dynamic_vino_lib/engines/engine_manager.hpp" +#include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" +#include "openvino_wrapper_lib/models/person_reidentification_model.hpp" +#include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" +#include "openvino_wrapper_lib/inferences/person_reidentification.hpp" +#include "openvino_wrapper_lib/inferences/person_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/models/face_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/age_gender_detection.hpp" +#include "openvino_wrapper_lib/models/age_gender_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/emotions_detection.hpp" +#include "openvino_wrapper_lib/models/emotion_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" +#include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" +#include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" +#include "openvino_wrapper_lib/models/object_detection_ssd_model.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/inputs/realsense_camera.hpp" +#include "openvino_wrapper_lib/inputs/realsense_camera_topic.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/inputs/ip_camera.hpp" +#include "openvino_wrapper_lib/inputs/video_input.hpp" +#include "openvino_wrapper_lib/outputs/image_window_output.hpp" +#include "openvino_wrapper_lib/outputs/ros_topic_output.hpp" +#include "openvino_wrapper_lib/outputs/rviz_output.hpp" +#include "openvino_wrapper_lib/outputs/ros_service_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" +#include "openvino_wrapper_lib/engines/engine_manager.hpp" std::shared_ptr PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData & params, rclcpp::Node::SharedPtr node) @@ -186,16 +186,16 @@ PipelineManager::parseOutput(const PipelineData & pdata) return outputs; } -std::map> +std::map> PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & params) { - std::map> inferences; + std::map> inferences; for (auto & infer : params.infers) { if (infer.name.empty() || infer.model.empty()) { continue; } slog::info << "Parsing Inference: " << infer.name << slog::endl; - std::shared_ptr object = nullptr; + std::shared_ptr object = nullptr; if (infer.name == kInferTpye_FaceDetection) { object = createFaceDetection(infer); @@ -237,46 +237,46 @@ PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & pa } -std::shared_ptr +std::shared_ptr PipelineManager::createFaceDetection( const Params::ParamManager::InferenceRawData & infer) { return createObjectDetection(infer); } -std::shared_ptr +std::shared_ptr PipelineManager::createAgeGenderRecognition(const Params::ParamManager::InferenceRawData & param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); auto engine = engine_manager_.createEngine(param.engine, model); - auto infer = std::make_shared(); + auto infer = std::make_shared(); infer->loadNetwork(model); infer->loadEngine(engine); return infer; } -std::shared_ptr +std::shared_ptr PipelineManager::createEmotionRecognition(const Params::ParamManager::InferenceRawData & param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); auto engine = engine_manager_.createEngine(param.engine, model); - auto infer = std::make_shared(); + auto infer = std::make_shared(); infer->loadNetwork(model); infer->loadEngine(engine); return infer; } -std::shared_ptr +std::shared_ptr PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceRawData & param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); auto engine = engine_manager_.createEngine(param.engine, model); - auto infer = std::make_shared(); + auto infer = std::make_shared(); infer->loadNetwork(model); infer->loadEngine(engine); @@ -284,12 +284,12 @@ PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceR } -std::shared_ptr +std::shared_ptr PipelineManager::createObjectDetection( const Params::ParamManager::InferenceRawData & infer) { std::shared_ptr object_detection_model; - std::shared_ptr object_inference_ptr; + std::shared_ptr object_inference_ptr; slog::debug << "for test in createObjectDetection()" << slog::endl; if (infer.model_type == kInferTpye_ObjectDetectionTypeSSD) { object_detection_model = @@ -301,7 +301,7 @@ PipelineManager::createObjectDetection( } slog::debug << "for test in createObjectDetection(), Created SSDModel" << slog::endl; - object_inference_ptr = std::make_shared( + object_inference_ptr = std::make_shared( infer.enable_roi_constraint, infer.confidence_threshold); // To-do theshold configuration slog::debug << "for test in createObjectDetection(), before modelInit()" << slog::endl; object_detection_model->modelInit(); @@ -314,7 +314,7 @@ PipelineManager::createObjectDetection( return object_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer) { auto model = @@ -323,7 +323,7 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR slog::info << "Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Segmentation Engine initialized." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( + auto segmentation_inference_ptr = std::make_shared( infer.confidence_threshold); slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); @@ -332,7 +332,7 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR return segmentation_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer) { auto model = @@ -341,7 +341,7 @@ PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::In slog::info << "Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Segmentation Engine initialized." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( + auto segmentation_inference_ptr = std::make_shared( infer.confidence_threshold); slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); @@ -350,12 +350,12 @@ PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::In return segmentation_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createPersonReidentification( const Params::ParamManager::InferenceRawData & infer) { std::shared_ptr person_reidentification_model; - std::shared_ptr reidentification_inference_ptr; + std::shared_ptr reidentification_inference_ptr; slog::debug << "for test in createPersonReidentification()"<(infer.label, infer.model, infer.batch); @@ -363,7 +363,7 @@ PipelineManager::createPersonReidentification( slog::info << "Reidentification model initialized" << slog::endl; auto person_reidentification_engine = engine_manager_.createEngine(infer.engine, person_reidentification_model); reidentification_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); slog::debug<< "for test in createPersonReidentification(), before loadNetwork"<loadNetwork(person_reidentification_model); reidentification_inference_ptr->loadEngine(person_reidentification_engine); @@ -372,7 +372,7 @@ PipelineManager::createPersonReidentification( return reidentification_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createVehicleAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -381,14 +381,14 @@ PipelineManager::createVehicleAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto vehicle_attribs_ptr = - std::make_shared(); + std::make_shared(); vehicle_attribs_ptr->loadNetwork(model); vehicle_attribs_ptr->loadEngine(engine); return vehicle_attribs_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createLicensePlateDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -397,14 +397,14 @@ PipelineManager::createLicensePlateDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto license_plate_ptr = - std::make_shared(); + std::make_shared(); license_plate_ptr->loadNetwork(model); license_plate_ptr->loadEngine(engine); return license_plate_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createPersonAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -414,7 +414,7 @@ PipelineManager::createPersonAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto attribs_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); attribs_inference_ptr->loadNetwork(model); attribs_inference_ptr->loadEngine(engine); @@ -422,7 +422,7 @@ PipelineManager::createPersonAttribsDetection( } #if 0 -std::shared_ptr +std::shared_ptr PipelineManager::createPersonReidentification( const Params::ParamManager::InferenceRawData & infer) { @@ -431,14 +431,14 @@ PipelineManager::createPersonReidentification( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto reidentification_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); reidentification_inference_ptr->loadNetwork(model); reidentification_inference_ptr->loadEngine(engine); return reidentification_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createPersonAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -448,14 +448,14 @@ PipelineManager::createPersonAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto attribs_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); attribs_inference_ptr->loadNetwork(model); attribs_inference_ptr->loadEngine(engine); return attribs_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createLandmarksDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -464,14 +464,14 @@ PipelineManager::createLandmarksDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto landmarks_inference_ptr = - std::make_shared(); + std::make_shared(); landmarks_inference_ptr->loadNetwork(model); landmarks_inference_ptr->loadEngine(engine); return landmarks_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createFaceReidentification( const Params::ParamManager::InferenceRawData & infer) { @@ -480,14 +480,14 @@ PipelineManager::createFaceReidentification( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto face_reid_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); face_reid_ptr->loadNetwork(model); face_reid_ptr->loadEngine(engine); return face_reid_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createVehicleAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -496,14 +496,14 @@ PipelineManager::createVehicleAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto vehicle_attribs_ptr = - std::make_shared(); + std::make_shared(); vehicle_attribs_ptr->loadNetwork(model); vehicle_attribs_ptr->loadEngine(engine); return vehicle_attribs_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createLicensePlateDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -512,7 +512,7 @@ PipelineManager::createLicensePlateDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto license_plate_ptr = - std::make_shared(); + std::make_shared(); license_plate_ptr->loadNetwork(model); license_plate_ptr->loadEngine(engine); @@ -573,7 +573,7 @@ void PipelineManager::runAll() void PipelineManager::runService() { auto node = std::make_shared>("pipeline_service"); + >("pipeline_service"); while (service_.state != PipelineState_ThreadStopped && service_.thread != nullptr) { rclcpp::spin_some(node); std::this_thread::sleep_for(std::chrono::milliseconds(1)); diff --git a/dynamic_vino_lib/src/pipeline_params.cpp b/openvino_wrapper_lib/src/pipeline_params.cpp similarity index 95% rename from dynamic_vino_lib/src/pipeline_params.cpp rename to openvino_wrapper_lib/src/pipeline_params.cpp index 43bc953c..9b9b3c41 100644 --- a/dynamic_vino_lib/src/pipeline_params.cpp +++ b/openvino_wrapper_lib/src/pipeline_params.cpp @@ -17,11 +17,11 @@ * @file pipeline.cpp */ -#include +#include #include #include #include -#include "dynamic_vino_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" PipelineParams::PipelineParams(const std::string & name) { diff --git a/dynamic_vino_lib/src/services/frame_processing_server.cpp b/openvino_wrapper_lib/src/services/frame_processing_server.cpp similarity index 85% rename from dynamic_vino_lib/src/services/frame_processing_server.cpp rename to openvino_wrapper_lib/src/services/frame_processing_server.cpp index 3a97a036..052751dc 100644 --- a/dynamic_vino_lib/src/services/frame_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/frame_processing_server.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dynamic_vino_lib/services/frame_processing_server.hpp" -#include +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" +#include #include #include -#include +#include #include #include #include @@ -25,11 +25,11 @@ #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/slog.hpp" namespace vino_service { @@ -93,5 +93,5 @@ void FrameProcessingServer::cbService( } template class FrameProcessingServer; -template class FrameProcessingServer; +template class FrameProcessingServer; } // namespace vino_service diff --git a/dynamic_vino_lib/src/services/pipeline_processing_server.cpp b/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp similarity index 88% rename from dynamic_vino_lib/src/services/pipeline_processing_server.cpp rename to openvino_wrapper_lib/src/services/pipeline_processing_server.cpp index 7323c6f6..b24fb2eb 100644 --- a/dynamic_vino_lib/src/services/pipeline_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dynamic_vino_lib/services/pipeline_processing_server.hpp" +#include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" #include -#include +#include #include #include #include @@ -23,9 +23,9 @@ #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/slog.hpp" namespace vino_service { @@ -52,13 +52,13 @@ void PipelineProcessingServer::setResponse( std::shared_ptr response) { for (auto it = pipelines_->begin(); it != pipelines_->end(); ++it) { - pipeline_srv_msgs::msg::Pipeline pipeline_msg; + openvino_msgs::msg::Pipeline pipeline_msg; pipeline_msg.name = it->first; pipeline_msg.running_status = std::to_string(it->second.state); auto connection_map = it->second.pipeline->getPipelineDetail(); for (auto & current_pipe : connection_map) { - pipeline_srv_msgs::msg::Connection connection; + openvino_msgs::msg::Connection connection; connection.input = current_pipe.first.c_str(); connection.output = current_pipe.second.c_str(); pipeline_msg.connections.push_back(connection); @@ -100,5 +100,5 @@ void PipelineProcessingServer::cbService( } setResponse(response); } -template class PipelineProcessingServer; +template class PipelineProcessingServer; } // namespace vino_service diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index bd9b9ddc..14ed6f0c 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -11,7 +11,7 @@ set(OpenVINO_LIBRARIES openvino::runtime) cmake_minimum_required(VERSION 3.5) -project(dynamic_vino_sample) +project(openvino_sample) # Default to C++17 if(NOT CMAKE_CXX_STANDARD) @@ -38,11 +38,11 @@ find_package(rcutils) find_package(OpenCV REQUIRED) find_package(cv_bridge REQUIRED) find_package(OpenVINO REQUIRED) -find_package(dynamic_vino_lib REQUIRED) +find_package(openvino_wrapper_lib REQUIRED) find_package(object_msgs REQUIRED) -find_package(people_msgs REQUIRED) -find_package(pipeline_srv_msgs REQUIRED) -find_package(vino_param_lib REQUIRED) +find_package(openvino_people_msgs REQUIRED) +find_package(openvino_msgs REQUIRED) +find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) find_package(realsense2 REQUIRED) find_package(rclcpp_components) @@ -97,8 +97,8 @@ source_group("include" FILES ${MAIN_HEADERS}) include_directories(${OpenCV_INCLUDE_DIRS}) include_directories(${PROJECT_SOURCE_DIR}/include) -include_directories(${dynamic_vino_lib_INCLUDE_DIRS}) -include_directories(${vino_param_lib_INCLUDE_DIRS}) +include_directories(${openvino_wrapper_lib_INCLUDE_DIRS}) +include_directories(${openvino_param_lib_INCLUDE_DIRS}) include_directories(${OpenVINO_DIRS}) include_directories(${realsense2_INCLUDE_DIRS}) @@ -115,8 +115,8 @@ target_link_libraries(vino_param_sample ) ament_target_dependencies(vino_param_sample - "vino_param_lib" - "dynamic_vino_lib" + "openvino_param_lib" + "openvino_wrapper_lib" "yaml_cpp_vendor" ) @@ -133,11 +133,11 @@ ament_target_dependencies(pipeline_with_params "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" "yaml_cpp_vendor" "realsense2" @@ -157,11 +157,11 @@ ament_target_dependencies(composable_pipeline "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" "yaml_cpp_vendor" "realsense2" @@ -181,11 +181,11 @@ ament_target_dependencies(image_object_server "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) @@ -202,11 +202,11 @@ ament_target_dependencies(image_people_server "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) @@ -223,11 +223,11 @@ ament_target_dependencies(image_object_client "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) @@ -244,11 +244,11 @@ ament_target_dependencies(image_people_client "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) diff --git a/sample/launch/image_object_server.launch.py b/sample/launch/image_object_server.launch.py index 2d3bbbba..d8a9eb0f 100644 --- a/sample/launch/image_object_server.launch.py +++ b/sample/launch/image_object_server.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', 'image_object_server.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_object_server', + package='openvino_sample', node_executable='image_object_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/sample/launch/image_people_server.launch.py b/sample/launch/image_people_server.launch.py index c0a4ee57..f57ae3c5 100644 --- a/sample/launch/image_people_server.launch.py +++ b/sample/launch/image_people_server.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', 'image_people_server.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_people_server', + package='openvino_sample', node_executable='image_people_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/sample/launch/multi_pipeline_service.launch.py b/sample/launch/multi_pipeline_service.launch.py index 2bcdd2f6..85327f3d 100644 --- a/sample/launch/multi_pipeline_service.launch.py +++ b/sample/launch/multi_pipeline_service.launch.py @@ -22,14 +22,14 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', 'multi_pipleine_service.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default2.rviz') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object1/detected_objects', diff --git a/sample/launch/pipeline_composite_object_topic.launch.py b/sample/launch/pipeline_composite_object_topic.launch.py index 5184448f..97aaf9e1 100644 --- a/sample/launch/pipeline_composite_object_topic.launch.py +++ b/sample/launch/pipeline_composite_object_topic.launch.py @@ -5,7 +5,7 @@ import os def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', 'pipeline_composite_object_topic.yaml') container = ComposableNodeContainer( node_name='vision_pipeline', @@ -20,7 +20,7 @@ def generate_launch_description(): parameters=[get_package_share_directory('realsense_examples')+'/config/d435i.yaml'], extra_arguments=[{'use_intra_process_comms':'true'}]), ComposableNode( - package='dynamic_vino_sample', + package='openvino_sample', node_plugin='ComposablePipeline', node_name='composable_pipeline', parameters=[{"config":default_yaml}], diff --git a/sample/launch/pipeline_face_reidentification.launch.py b/sample/launch/pipeline_face_reidentification.launch.py index 758cc881..11102297 100644 --- a/sample/launch/pipeline_face_reidentification.launch.py +++ b/sample/launch/pipeline_face_reidentification.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_face_reidentification.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_face_reidentification.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_face_reidentification.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], diff --git a/sample/launch/pipeline_image.launch.py b/sample/launch/pipeline_image.launch.py index 4aa1c41a..fa8a5490 100644 --- a/sample/launch/pipeline_image.launch.py +++ b/sample/launch/pipeline_image.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_image.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_image.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_image.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object.launch.py b/sample/launch/pipeline_object.launch.py index c61ac818..e21ca0f5 100644 --- a/sample/launch/pipeline_object.launch.py +++ b/sample/launch/pipeline_object.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_object.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_topic.launch.py b/sample/launch/pipeline_object_topic.launch.py index aca2810b..cbe02686 100644 --- a/sample/launch/pipeline_object_topic.launch.py +++ b/sample/launch/pipeline_object_topic.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_object_topic.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object_topic.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object_topic.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_yolo.launch.py b/sample/launch/pipeline_object_yolo.launch.py index 0cd67db9..37471645 100644 --- a/sample/launch/pipeline_object_yolo.launch.py +++ b/sample/launch/pipeline_object_yolo.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_object_yolo.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object_yolo.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object_yolo.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_yolo_topic.launch.py b/sample/launch/pipeline_object_yolo_topic.launch.py index 28ec64ed..f8d9229b 100644 --- a/sample/launch/pipeline_object_yolo_topic.launch.py +++ b/sample/launch/pipeline_object_yolo_topic.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_object_yolo_topic.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object_yolo_topic.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object_yolo_topic.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_people.launch.py b/sample/launch/pipeline_people.launch.py index b1c9e213..47e5be26 100644 --- a/sample/launch/pipeline_people.launch.py +++ b/sample/launch/pipeline_people.launch.py @@ -25,17 +25,17 @@ def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_people.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_people.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_people.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_people_ip.launch.py b/sample/launch/pipeline_people_ip.launch.py index 8f97e5d7..3b07a37a 100644 --- a/sample/launch/pipeline_people_ip.launch.py +++ b/sample/launch/pipeline_people_ip.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_people_ip.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_people_ip.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_people_ip.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_person_attributes.launch.py b/sample/launch/pipeline_person_attributes.launch.py index 467e7b07..a8f09e49 100644 --- a/sample/launch/pipeline_person_attributes.launch.py +++ b/sample/launch/pipeline_person_attributes.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_person_attributes.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_person_attributes.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_person_attributes.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_reidentification.launch.py b/sample/launch/pipeline_reidentification.launch.py index 591a6180..28b5671b 100644 --- a/sample/launch/pipeline_reidentification.launch.py +++ b/sample/launch/pipeline_reidentification.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_reidentification.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_reidentification.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_reidentification.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation.launch.py b/sample/launch/pipeline_segmentation.launch.py index 8dee1812..4b02a22f 100644 --- a/sample/launch/pipeline_segmentation.launch.py +++ b/sample/launch/pipeline_segmentation.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_segmentation.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_segmentation.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation_image.launch.py b/sample/launch/pipeline_segmentation_image.launch.py index 81e5bea0..36e27628 100644 --- a/sample/launch/pipeline_segmentation_image.launch.py +++ b/sample/launch/pipeline_segmentation_image.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_segmentation_image.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation_image.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_segmentation_image.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation_maskrcnn.launch.py b/sample/launch/pipeline_segmentation_maskrcnn.launch.py index 5ccd9c52..f51dbbe2 100644 --- a/sample/launch/pipeline_segmentation_maskrcnn.launch.py +++ b/sample/launch/pipeline_segmentation_maskrcnn.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_segmentation.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation_maskrcnn.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_segmentation_maskrcnn.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_vehicle_detection.launch.py b/sample/launch/pipeline_vehicle_detection.launch.py index 1cfd6899..8b0ad7a2 100644 --- a/sample/launch/pipeline_vehicle_detection.launch.py +++ b/sample/launch/pipeline_vehicle_detection.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_vehicle_detection.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_vehicle_detection.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_vehicle_detection.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_video.launch.py b/sample/launch/pipeline_video.launch.py index 5ace9324..a5c31d20 100644 --- a/sample/launch/pipeline_video.launch.py +++ b/sample/launch/pipeline_video.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', #'pipeline_video.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_video.yaml')), + os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_video.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_sample', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/ros2_openvino_oa.launch.py b/sample/launch/ros2_openvino_oa.launch.py index 687c8fc7..25cbeb25 100644 --- a/sample/launch/ros2_openvino_oa.launch.py +++ b/sample/launch/ros2_openvino_oa.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', 'pipeline_object_topic.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), diff --git a/sample/package.xml b/sample/package.xml index b9a5ed0d..fd6111f2 100644 --- a/sample/package.xml +++ b/sample/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - dynamic_vino_sample + openvino_sample 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu @@ -33,8 +33,8 @@ limitations under the License. gflags yaml_cpp_vendor ament_index_cpp - dynamic_vino_lib - vino_param_lib + openvino_wrapper_lib + openvino_param_lib cv_bridge object_msgs realsense2 @@ -49,8 +49,8 @@ limitations under the License. ament_index_cpp class_loader cv_bridge - dynamic_vino_lib - vino_param_lib + openvino_wrapper_lib + openvino_param_lib object_msgs realsense2 diff --git a/sample/src/image_object_client.cpp b/sample/src/image_object_client.cpp index 26894d9b..de675ad4 100644 --- a/sample/src/image_object_client.cpp +++ b/sample/src/image_object_client.cpp @@ -13,13 +13,13 @@ // limitations under the License. #include -#include +#include #include #include #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" int main(int argc, char ** argv) { @@ -27,7 +27,7 @@ int main(int argc, char ** argv) auto node = rclcpp::Node::make_shared("service_example_for_object"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run dynamic_vino_sample image_object_client" + RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_sample image_object_client" ""); return -1; } diff --git a/sample/src/image_object_server.cpp b/sample/src/image_object_server.cpp index 6efc55f0..50cb7e81 100644 --- a/sample/src/image_object_server.cpp +++ b/sample/src/image_object_server.cpp @@ -13,17 +13,17 @@ // limitations under the License. #include -#include +#include #include #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/services/frame_processing_server.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino/openvino.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include diff --git a/sample/src/image_people_client.cpp b/sample/src/image_people_client.cpp index ba89b013..b439ccd7 100644 --- a/sample/src/image_people_client.cpp +++ b/sample/src/image_people_client.cpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include #include -#include +#include #include #include #include #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" int main(int argc, char ** argv) { @@ -30,15 +30,15 @@ int main(int argc, char ** argv) auto node = rclcpp::Node::make_shared("service_example_for_face"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run dynamic_vino_sample image_object_client" + RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_sample image_object_client" ""); return -1; } std::string image_path = argv[1]; - auto client = node->create_client("/openvino_toolkit/service"); - auto request = std::make_shared(); + auto client = node->create_client("/openvino_toolkit/service"); + auto request = std::make_shared(); request->image_path = image_path; while (!client->wait_for_service(std::chrono::seconds(1))) { diff --git a/sample/src/image_people_server.cpp b/sample/src/image_people_server.cpp index 99e6d4da..03f84b30 100644 --- a/sample/src/image_people_server.cpp +++ b/sample/src/image_people_server.cpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include -#include +#include #include #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/services/frame_processing_server.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino/openvino.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include @@ -39,7 +39,7 @@ int main(int argc, char ** argv) try { auto node = std::make_shared>("service_people_detection", config_path); + >("service_people_detection", config_path); rclcpp::spin(node); } catch (std::exception & e) { std::cout << e.what() << std::endl; diff --git a/sample/src/parameters.cpp b/sample/src/parameters.cpp index 07430996..45bef956 100644 --- a/sample/src/parameters.cpp +++ b/sample/src/parameters.cpp @@ -19,8 +19,8 @@ * \file sample/parameters.cpp */ -#include -#include +#include +#include #include #include #include diff --git a/sample/src/pipeline_composite.cpp b/sample/src/pipeline_composite.cpp index cc0f00b0..aea1630a 100644 --- a/sample/src/pipeline_composite.cpp +++ b/sample/src/pipeline_composite.cpp @@ -20,7 +20,7 @@ #include #include -#include +#include #include #include #include @@ -37,9 +37,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif diff --git a/sample/src/pipeline_with_params.cpp b/sample/src/pipeline_with_params.cpp index 4bc6ba78..6d11ff9a 100644 --- a/sample/src/pipeline_with_params.cpp +++ b/sample/src/pipeline_with_params.cpp @@ -20,7 +20,7 @@ #include #include -#include +#include #include #include #include @@ -37,10 +37,10 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/services/pipeline_processing_server.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" +#include "openvino_wrapper_lib/slog.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif @@ -65,7 +65,7 @@ int main(int argc, char * argv[]) rclcpp::executors::SingleThreadedExecutor exec; rclcpp::Node::SharedPtr main_node = rclcpp::Node::make_shared("openvino_pipeline"); rclcpp::Node::SharedPtr service_node = std::make_shared>("pipeline_service"); + >("pipeline_service"); // register signal SIGINT and signal handler //signal(SIGINT, signalHandler); diff --git a/script/viewer/service.py b/script/viewer/service.py index d0f99702..82d7d2e4 100644 --- a/script/viewer/service.py +++ b/script/viewer/service.py @@ -1,5 +1,5 @@ #!/usr/bin/env python -from pipeline_srv_msgs.srv import * +from openvino_msgs.srv import * import rclpy import sys from pipeTree import TreeNode diff --git a/script/viewer/viewer.py b/script/viewer/viewer.py index 93b71918..a82ace37 100644 --- a/script/viewer/viewer.py +++ b/script/viewer/viewer.py @@ -3,7 +3,7 @@ from PyQt5.QtGui import QPainter,QPen,QBrush,QColor from PyQt5.QtCore import QRect from service import reqPipelineService,getTree -from pipeline_srv_msgs.srv import * +from openvino_msgs.srv import * from pipeTree import TreeNode diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 5e871b1d..3dd4228e 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(dynamic_vino_test) +project(openvino_test) list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake) @@ -51,12 +51,12 @@ find_package(rmw REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(object_msgs REQUIRED) -find_package(people_msgs REQUIRED) -find_package(pipeline_srv_msgs REQUIRED) +find_package(openvino_people_msgs REQUIRED) +find_package(openvino_msgs REQUIRED) find_package(class_loader REQUIRED) -find_package(vino_param_lib REQUIRED) +find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) -find_package(dynamic_vino_lib REQUIRED) +find_package(openvino_wrapper_lib REQUIRED) set(CMAKE_BUILD_TYPE "Release") if("${CMAKE_BUILD_TYPE}" STREQUAL "") @@ -144,17 +144,17 @@ if(BUILD_TESTING) if(TARGET ${target}) ament_target_dependencies(${target} "rclcpp" - "vino_param_lib" + "openvino_param_lib" "object_msgs" - "people_msgs" - "pipeline_srv_msgs" + "openvino_people_msgs" + "openvino_msgs" "OpenVINO" "OpenCV" "realsense2" "ament_index_cpp" "yaml_cpp_vendor" "class_loader" - "dynamic_vino_lib") + "openvino_wrapper_lib") endif() endmacro() diff --git a/tests/launch/image_object_service_test.launch.py b/tests/launch/image_object_service_test.launch.py index aa4e85e7..269c60e4 100644 --- a/tests/launch/image_object_service_test.launch.py +++ b/tests/launch/image_object_service_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'image_object_service_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_object_server', + package='openvino_sample', node_executable='image_object_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/tests/launch/image_people_service_test.launch.py b/tests/launch/image_people_service_test.launch.py index 6db0d65f..5673dac5 100644 --- a/tests/launch/image_people_service_test.launch.py +++ b/tests/launch/image_people_service_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'image_people_service_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_people_server', + package='openvino_sample', node_executable='image_people_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/tests/launch/pipeline_face_reidentification_test.launch.py b/tests/launch/pipeline_face_reidentification_test.launch.py index cd4b0844..108e640d 100644 --- a/tests/launch/pipeline_face_reidentification_test.launch.py +++ b/tests/launch/pipeline_face_reidentification_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_face_reidentification_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', '/ros2_openvino_toolkit/face_detection'), diff --git a/tests/launch/pipeline_face_test.launch.py b/tests/launch/pipeline_face_test.launch.py index 9c08bd36..45107d9b 100644 --- a/tests/launch/pipeline_face_test.launch.py +++ b/tests/launch/pipeline_face_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_face_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/tests/launch/pipeline_image_test.launch.py b/tests/launch/pipeline_image_test.launch.py index 947667d1..5f724bf2 100644 --- a/tests/launch/pipeline_image_test.launch.py +++ b/tests/launch/pipeline_image_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_image_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/tests/launch/pipeline_object_test.launch.py b/tests/launch/pipeline_object_test.launch.py index b324415d..4582f303 100644 --- a/tests/launch/pipeline_object_test.launch.py +++ b/tests/launch/pipeline_object_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_object_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/tests/launch/pipeline_reidentification_test.launch.py b/tests/launch/pipeline_reidentification_test.launch.py index b29f0316..15418d0c 100644 --- a/tests/launch/pipeline_reidentification_test.launch.py +++ b/tests/launch/pipeline_reidentification_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_reidentification_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/tests/launch/pipeline_segmentation_test.launch.py b/tests/launch/pipeline_segmentation_test.launch.py index 613e5747..b5d7430d 100644 --- a/tests/launch/pipeline_segmentation_test.launch.py +++ b/tests/launch/pipeline_segmentation_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_segmentation_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/segmentation/segmented_obejcts', diff --git a/tests/launch/pipeline_vehicle_detection_test.launch.py b/tests/launch/pipeline_vehicle_detection_test.launch.py index b039ec8d..f068b362 100644 --- a/tests/launch/pipeline_vehicle_detection_test.launch.py +++ b/tests/launch/pipeline_vehicle_detection_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_vehicle_detection_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_sample', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_license_plates', diff --git a/tests/package.xml b/tests/package.xml index a9ad9c4e..0d2bce43 100644 --- a/tests/package.xml +++ b/tests/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - dynamic_vino_test + openvino_test 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu @@ -35,12 +35,12 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 openvino_common - dynamic_vino_lib + openvino_wrapper_lib rosidl_default_runtime builtin_interfaces @@ -53,11 +53,11 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 - dynamic_vino_lib + openvino_wrapper_lib ament_lint_auto ament_lint_common diff --git a/tests/src/lib/unittest_createPipelineCheck.cpp b/tests/src/lib/unittest_createPipelineCheck.cpp index 3cca1133..b531391b 100644 --- a/tests/src/lib/unittest_createPipelineCheck.cpp +++ b/tests/src/lib/unittest_createPipelineCheck.cpp @@ -15,7 +15,7 @@ #include #include #include -#include +#include #include #include @@ -32,16 +32,16 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" std::string getConfigPath(std::string config_file) { std::string content; std::string prefix_path; - ament_index_cpp::get_resource("packages", "dynamic_vino_test", content, &prefix_path); - return prefix_path + "/share/dynamic_vino_test/param/" + config_file; + ament_index_cpp::get_resource("packages", "openvino_test", content, &prefix_path); + return prefix_path + "/share/openvino_test/param/" + config_file; } TEST(UnitTestCheckPipeline, testCreatePipeline) diff --git a/tests/src/service/unittest_objectService.cpp b/tests/src/service/unittest_objectService.cpp index c808f154..ecf11b33 100644 --- a/tests/src/service/unittest_objectService.cpp +++ b/tests/src/service/unittest_objectService.cpp @@ -13,7 +13,7 @@ // limitations under the License. #include -#include +#include #include #include #include @@ -22,7 +22,7 @@ #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" std::string generate_file_path(std::string path) { @@ -79,7 +79,7 @@ int main(int argc, char ** argv) rclcpp::init(argc, argv); testing::InitGoogleTest(&argc, argv); auto offset = std::chrono::seconds(20); - system("ros2 launch dynamic_vino_test image_object_service_test.launch.py &"); + system("ros2 launch openvino_test image_object_service_test.launch.py &"); rclcpp::sleep_for(offset); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT image_object_server &"); diff --git a/tests/src/service/unittest_peopleService.cpp b/tests/src/service/unittest_peopleService.cpp index 85883e84..745a203d 100644 --- a/tests/src/service/unittest_peopleService.cpp +++ b/tests/src/service/unittest_peopleService.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include #include -#include +#include #include #include #include @@ -24,7 +24,7 @@ #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" std::string generate_file_path(std::string path) { @@ -38,11 +38,11 @@ TEST(UnitTestPeople, testPeople) { auto node = rclcpp::Node::make_shared("openvino_people_service_test"); - auto client = node->create_client("/openvino_toolkit/service"); + auto client = node->create_client("/openvino_toolkit/service"); ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20))); - auto request = std::make_shared(); + auto request = std::make_shared(); std::string buffer = generate_file_path("data/images/team.jpg"); std::cout << buffer << std::endl; @@ -71,7 +71,7 @@ int main(int argc, char ** argv) rclcpp::init(argc, argv); testing::InitGoogleTest(&argc, argv); auto offset = std::chrono::seconds(20); - system("ros2 launch dynamic_vino_test image_people_service_test.launch.py &"); + system("ros2 launch openvino_test image_people_service_test.launch.py &"); rclcpp::sleep_for(offset); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT image_people_server &"); diff --git a/tests/src/topic/unittest_faceDetectionCheck.cpp b/tests/src/topic/unittest_faceDetectionCheck.cpp index 8dbc135c..e7e22f6c 100644 --- a/tests/src/topic/unittest_faceDetectionCheck.cpp +++ b/tests/src/topic/unittest_faceDetectionCheck.cpp @@ -14,13 +14,13 @@ #include #include -#include -#include +#include +#include #include -#include -#include +#include +#include #include -#include +#include #include #include @@ -37,9 +37,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -102,7 +102,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { emotion_test_pass = true; sub_called.set_value(true); }; @@ -111,7 +111,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) executor.add_node(node); { - auto sub2 = node->create_subscription( + auto sub2 = node->create_subscription( "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -130,7 +130,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_ageGender_callback = - [&sub_called](const people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { ageGender_test_pass = true; sub_called.set_value(true); }; @@ -139,7 +139,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) executor.add_node(node); { - auto sub3 = node->create_subscription( + auto sub3 = node->create_subscription( "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -158,7 +158,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_headPose_callback = - [&sub_called](const people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { headPose_test_pass = true; sub_called.set_value(true); }; @@ -167,7 +167,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) executor.add_node(node); { - auto sub4 = node->create_subscription( + auto sub4 = node->create_subscription( "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); @@ -183,7 +183,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_face_test.launch.py &"); + system("ros2 launch openvino_test pipeline_face_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_face_reidentification.cpp b/tests/src/topic/unittest_face_reidentification.cpp index e0b50eff..beb6e867 100644 --- a/tests/src/topic/unittest_face_reidentification.cpp +++ b/tests/src/topic/unittest_face_reidentification.cpp @@ -14,12 +14,12 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include -#include +#include #include #include @@ -36,9 +36,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -100,7 +100,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_landmark_detection_callback = - [&sub_called](const people_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { if(msg->landmarks.size() > 0) landmark_detection = true; sub_called.set_value(true); @@ -110,7 +110,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -128,7 +128,7 @@ TEST(UnitTestFaceReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_face_reidentification_callback = - [&sub_called](const people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { if(msg->reidentified_vector.size() > 0) test_pass = true; sub_called.set_value(true); @@ -138,7 +138,7 @@ TEST(UnitTestFaceReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); @@ -154,7 +154,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_face_reidentification_test.launch.py &"); + system("ros2 launch openvino_test pipeline_face_reidentification_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_imageCheck.cpp b/tests/src/topic/unittest_imageCheck.cpp index ceef983f..6990df51 100644 --- a/tests/src/topic/unittest_imageCheck.cpp +++ b/tests/src/topic/unittest_imageCheck.cpp @@ -14,13 +14,13 @@ #include #include -#include -#include +#include +#include #include -#include -#include +#include +#include #include -#include +#include #include #include @@ -37,9 +37,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -102,7 +102,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { emotion_test_pass = true; sub_called.set_value(true); }; @@ -111,7 +111,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) executor.add_node(node); { - auto sub2 = node->create_subscription( + auto sub2 = node->create_subscription( "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -130,7 +130,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_ageGender_callback = - [&sub_called](const people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { ageGender_test_pass = true; sub_called.set_value(true); }; @@ -139,7 +139,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) executor.add_node(node); { - auto sub3 = node->create_subscription( + auto sub3 = node->create_subscription( "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -158,7 +158,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_headPose_callback = - [&sub_called](const people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { headPose_test_pass = true; sub_called.set_value(true); }; @@ -167,7 +167,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) executor.add_node(node); { - auto sub4 = node->create_subscription( + auto sub4 = node->create_subscription( "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); @@ -183,7 +183,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_image_test.launch.py &"); + system("ros2 launch openvino_test pipeline_image_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_objectDetectionCheck.cpp b/tests/src/topic/unittest_objectDetectionCheck.cpp index 91bfb486..e5917c13 100644 --- a/tests/src/topic/unittest_objectDetectionCheck.cpp +++ b/tests/src/topic/unittest_objectDetectionCheck.cpp @@ -15,7 +15,7 @@ #include #include #include -#include +#include #include #include @@ -32,9 +32,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -91,7 +91,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(60); - system("ros2 launch dynamic_vino_test pipeline_object_test.launch.py &"); + system("ros2 launch openvino_test pipeline_object_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_reidentification.cpp b/tests/src/topic/unittest_reidentification.cpp index b67c9fe5..cb19f460 100644 --- a/tests/src/topic/unittest_reidentification.cpp +++ b/tests/src/topic/unittest_reidentification.cpp @@ -14,10 +14,10 @@ #include #include -#include -#include +#include +#include #include -#include +#include #include #include @@ -34,9 +34,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -69,7 +69,7 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_reidentification_callback = - [&sub_called](const people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -78,7 +78,7 @@ TEST(UnitTestPersonReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); @@ -94,7 +94,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_reidentification_test.launch.py &"); + system("ros2 launch openvino_test pipeline_reidentification_test.launch.py &"); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT pipeline_with_params &"); rclcpp::shutdown(); diff --git a/tests/src/topic/unittest_segmentationCheck.cpp b/tests/src/topic/unittest_segmentationCheck.cpp index 93c14dc0..97e10a85 100644 --- a/tests/src/topic/unittest_segmentationCheck.cpp +++ b/tests/src/topic/unittest_segmentationCheck.cpp @@ -14,9 +14,9 @@ #include #include -#include +#include #include -#include +#include #include #include @@ -33,9 +33,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -67,7 +67,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_faceDetection_callback = - [&sub_called](const people_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -76,7 +76,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/segmented_obejcts", qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -92,7 +92,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(60); - system("ros2 launch dynamic_vino_test pipeline_segmentation_test.launch.py &"); + system("ros2 launch openvino_test pipeline_segmentation_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_vehicleDetectionCheck.cpp b/tests/src/topic/unittest_vehicleDetectionCheck.cpp index 1390d7bf..30649361 100644 --- a/tests/src/topic/unittest_vehicleDetectionCheck.cpp +++ b/tests/src/topic/unittest_vehicleDetectionCheck.cpp @@ -14,12 +14,12 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include -#include +#include #include #include @@ -36,9 +36,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -71,7 +71,7 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_vehicle_callback = - [&sub_called](const people_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -80,7 +80,7 @@ TEST(UnitTestPersonReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/detected_license_plates", qos, openvino_vehicle_callback); executor.spin_once(std::chrono::seconds(0)); @@ -96,7 +96,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_vehicle_detection_test.launch.py &"); + system("ros2 launch openvino_test pipeline_vehicle_detection_test.launch.py &"); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT pipeline_with_params &"); rclcpp::shutdown(); diff --git a/vino_param_lib/include/vino_param_lib/slog.hpp b/vino_param_lib/include/vino_param_lib/slog.hpp deleted file mode 120000 index f8aaab99..00000000 --- a/vino_param_lib/include/vino_param_lib/slog.hpp +++ /dev/null @@ -1 +0,0 @@ -../../../dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp \ No newline at end of file From 77dedc187fa9e6718c73c4e0d91d2a20539bd2ca Mon Sep 17 00:00:00 2001 From: wujiawei Date: Thu, 5 Jan 2023 14:15:37 +0800 Subject: [PATCH 14/40] rename to openvino_node --- .../getting_started_with_ros2_ov2.0.md | 14 +++++++------- docker/docker_instructions_ov2.0.md | 16 ++++++++-------- sample/CMakeLists.txt | 2 +- sample/launch/image_object_server.launch.py | 4 ++-- sample/launch/image_people_server.launch.py | 4 ++-- sample/launch/multi_pipeline_service.launch.py | 6 +++--- .../pipeline_composite_object_topic.launch.py | 4 ++-- .../pipeline_face_reidentification.launch.py | 8 ++++---- sample/launch/pipeline_image.launch.py | 8 ++++---- sample/launch/pipeline_object.launch.py | 8 ++++---- sample/launch/pipeline_object_topic.launch.py | 8 ++++---- sample/launch/pipeline_object_yolo.launch.py | 8 ++++---- .../launch/pipeline_object_yolo_topic.launch.py | 8 ++++---- sample/launch/pipeline_people.launch.py | 8 ++++---- sample/launch/pipeline_people_ip.launch.py | 8 ++++---- .../launch/pipeline_person_attributes.launch.py | 8 ++++---- .../launch/pipeline_reidentification.launch.py | 8 ++++---- sample/launch/pipeline_segmentation.launch.py | 8 ++++---- .../launch/pipeline_segmentation_image.launch.py | 8 ++++---- .../pipeline_segmentation_maskrcnn.launch.py | 8 ++++---- .../launch/pipeline_vehicle_detection.launch.py | 8 ++++---- sample/launch/pipeline_video.launch.py | 8 ++++---- sample/launch/ros2_openvino_oa.launch.py | 4 ++-- sample/package.xml | 2 +- sample/src/image_object_client.cpp | 2 +- sample/src/image_people_client.cpp | 2 +- tests/launch/image_object_service_test.launch.py | 2 +- tests/launch/image_people_service_test.launch.py | 2 +- ...pipeline_face_reidentification_test.launch.py | 2 +- tests/launch/pipeline_face_test.launch.py | 2 +- tests/launch/pipeline_image_test.launch.py | 2 +- tests/launch/pipeline_object_test.launch.py | 2 +- .../pipeline_reidentification_test.launch.py | 2 +- .../launch/pipeline_segmentation_test.launch.py | 2 +- .../pipeline_vehicle_detection_test.launch.py | 2 +- 35 files changed, 99 insertions(+), 99 deletions(-) diff --git a/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md index 427fe776..b6ee87bd 100644 --- a/doc/quick_start/getting_started_with_ros2_ov2.0.md +++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md @@ -105,31 +105,31 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehic * Check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. Please refer to the quick start document for [yaml configuration guidance](./yaml_configuration_guide.md) for detailed configuration guidance. * run face detection sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_people.launch.py + ros2 launch openvino_node pipeline_people.launch.py ``` * run person reidentification sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_reidentification.launch.py + ros2 launch openvino_node pipeline_reidentification.launch.py ``` * run person face reidentification sample code input from RealSenseCamera. ``` - ros2 launch openvino_sample pipeline_face_reidentification.launch.py + ros2 launch openvino_node pipeline_face_reidentification.launch.py ``` * run face detection sample code input from Image. ``` - ros2 launch openvino_sample pipeline_image.launch.py + ros2 launch openvino_node pipeline_image.launch.py ``` * run object segmentation sample code input from RealSenseCameraTopic. ``` - ros2 launch openvino_sample pipeline_segmentation.launch.py + ros2 launch openvino_node pipeline_segmentation.launch.py ``` * run vehicle detection sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_vehicle_detection.launch.py + ros2 launch openvino_node pipeline_vehicle_detection.launch.py ``` * run person attributes sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_person_attributes.launch.py + ros2 launch openvino_node pipeline_person_attributes.launch.py ``` # More Information diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md index 6fc3761d..1fc9e078 100644 --- a/docker/docker_instructions_ov2.0.md +++ b/docker/docker_instructions_ov2.0.md @@ -97,35 +97,35 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehic * Check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. Please refer to the quick start document for [yaml configuration guidance](../doc/quick_start/yaml_configuration_guide.md) for detailed configuration guidance. * run face detection sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_people.launch.py + ros2 launch openvino_node pipeline_people.launch.py ``` * run person reidentification sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_reidentification.launch.py + ros2 launch openvino_node pipeline_reidentification.launch.py ``` * run person face reidentification sample code input from RealSenseCamera. ``` - ros2 launch openvino_sample pipeline_face_reidentification.launch.py + ros2 launch openvino_node pipeline_face_reidentification.launch.py ``` * run face detection sample code input from Image. ``` - ros2 launch openvino_sample pipeline_image.launch.py + ros2 launch openvino_node pipeline_image.launch.py ``` * run object segmentation sample code input from RealSenseCameraTopic. ``` - ros2 launch openvino_sample pipeline_segmentation.launch.py + ros2 launch openvino_node pipeline_segmentation.launch.py ``` * run object segmentation sample code input from Image. ``` - ros2 launch openvino_sample pipeline_segmentation_image.launch.py + ros2 launch openvino_node pipeline_segmentation_image.launch.py ``` * run vehicle detection sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_vehicle_detection.launch.py + ros2 launch openvino_node pipeline_vehicle_detection.launch.py ``` * run person attributes sample code input from StandardCamera. ``` - ros2 launch openvino_sample pipeline_person_attributes.launch.py + ros2 launch openvino_node pipeline_person_attributes.launch.py ``` # More Information diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 14ed6f0c..6452c709 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -11,7 +11,7 @@ set(OpenVINO_LIBRARIES openvino::runtime) cmake_minimum_required(VERSION 3.5) -project(openvino_sample) +project(openvino_node) # Default to C++17 if(NOT CMAKE_CXX_STANDARD) diff --git a/sample/launch/image_object_server.launch.py b/sample/launch/image_object_server.launch.py index d8a9eb0f..cdf978cd 100644 --- a/sample/launch/image_object_server.launch.py +++ b/sample/launch/image_object_server.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'image_object_server.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='image_object_server', + package='openvino_node', node_executable='image_object_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/sample/launch/image_people_server.launch.py b/sample/launch/image_people_server.launch.py index f57ae3c5..0e2873d1 100644 --- a/sample/launch/image_people_server.launch.py +++ b/sample/launch/image_people_server.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'image_people_server.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='image_people_server', + package='openvino_node', node_executable='image_people_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/sample/launch/multi_pipeline_service.launch.py b/sample/launch/multi_pipeline_service.launch.py index 85327f3d..aacc6973 100644 --- a/sample/launch/multi_pipeline_service.launch.py +++ b/sample/launch/multi_pipeline_service.launch.py @@ -22,14 +22,14 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'multi_pipleine_service.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default2.rviz') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object1/detected_objects', diff --git a/sample/launch/pipeline_composite_object_topic.launch.py b/sample/launch/pipeline_composite_object_topic.launch.py index 97aaf9e1..767a28ed 100644 --- a/sample/launch/pipeline_composite_object_topic.launch.py +++ b/sample/launch/pipeline_composite_object_topic.launch.py @@ -5,7 +5,7 @@ import os def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'pipeline_composite_object_topic.yaml') container = ComposableNodeContainer( node_name='vision_pipeline', @@ -20,7 +20,7 @@ def generate_launch_description(): parameters=[get_package_share_directory('realsense_examples')+'/config/d435i.yaml'], extra_arguments=[{'use_intra_process_comms':'true'}]), ComposableNode( - package='openvino_sample', + package='openvino_node', node_plugin='ComposablePipeline', node_name='composable_pipeline', parameters=[{"config":default_yaml}], diff --git a/sample/launch/pipeline_face_reidentification.launch.py b/sample/launch/pipeline_face_reidentification.launch.py index 11102297..5a2ceb51 100644 --- a/sample/launch/pipeline_face_reidentification.launch.py +++ b/sample/launch/pipeline_face_reidentification.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_face_reidentification.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_face_reidentification.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_face_reidentification.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], diff --git a/sample/launch/pipeline_image.launch.py b/sample/launch/pipeline_image.launch.py index fa8a5490..0ac9f013 100644 --- a/sample/launch/pipeline_image.launch.py +++ b/sample/launch/pipeline_image.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_image.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_image.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_image.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object.launch.py b/sample/launch/pipeline_object.launch.py index e21ca0f5..457faae1 100644 --- a/sample/launch/pipeline_object.launch.py +++ b/sample/launch/pipeline_object.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_topic.launch.py b/sample/launch/pipeline_object_topic.launch.py index cbe02686..07de7471 100644 --- a/sample/launch/pipeline_object_topic.launch.py +++ b/sample/launch/pipeline_object_topic.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object_topic.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object_topic.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_topic.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_yolo.launch.py b/sample/launch/pipeline_object_yolo.launch.py index 37471645..d5df63ac 100644 --- a/sample/launch/pipeline_object_yolo.launch.py +++ b/sample/launch/pipeline_object_yolo.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object_yolo.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object_yolo.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_yolo_topic.launch.py b/sample/launch/pipeline_object_yolo_topic.launch.py index f8d9229b..451f4b95 100644 --- a/sample/launch/pipeline_object_yolo_topic.launch.py +++ b/sample/launch/pipeline_object_yolo_topic.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object_yolo_topic.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_object_yolo_topic.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo_topic.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_people.launch.py b/sample/launch/pipeline_people.launch.py index 47e5be26..88386dcd 100644 --- a/sample/launch/pipeline_people.launch.py +++ b/sample/launch/pipeline_people.launch.py @@ -25,17 +25,17 @@ def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_people.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_people.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_people.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_people_ip.launch.py b/sample/launch/pipeline_people_ip.launch.py index 3b07a37a..eb69a212 100644 --- a/sample/launch/pipeline_people_ip.launch.py +++ b/sample/launch/pipeline_people_ip.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_people_ip.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_people_ip.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_people_ip.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_person_attributes.launch.py b/sample/launch/pipeline_person_attributes.launch.py index a8f09e49..10645ca2 100644 --- a/sample/launch/pipeline_person_attributes.launch.py +++ b/sample/launch/pipeline_person_attributes.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_person_attributes.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_person_attributes.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_person_attributes.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_reidentification.launch.py b/sample/launch/pipeline_reidentification.launch.py index 28b5671b..defca5b3 100644 --- a/sample/launch/pipeline_reidentification.launch.py +++ b/sample/launch/pipeline_reidentification.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_reidentification.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_reidentification.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_reidentification.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation.launch.py b/sample/launch/pipeline_segmentation.launch.py index 4b02a22f..d5303ae4 100644 --- a/sample/launch/pipeline_segmentation.launch.py +++ b/sample/launch/pipeline_segmentation.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_segmentation.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_segmentation.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation_image.launch.py b/sample/launch/pipeline_segmentation_image.launch.py index 36e27628..584ddfc3 100644 --- a/sample/launch/pipeline_segmentation_image.launch.py +++ b/sample/launch/pipeline_segmentation_image.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_segmentation_image.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_segmentation_image.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_image.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation_maskrcnn.launch.py b/sample/launch/pipeline_segmentation_maskrcnn.launch.py index f51dbbe2..b07d5476 100644 --- a/sample/launch/pipeline_segmentation_maskrcnn.launch.py +++ b/sample/launch/pipeline_segmentation_maskrcnn.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_segmentation.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_segmentation_maskrcnn.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_maskrcnn.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_vehicle_detection.launch.py b/sample/launch/pipeline_vehicle_detection.launch.py index 8b0ad7a2..a147d95c 100644 --- a/sample/launch/pipeline_vehicle_detection.launch.py +++ b/sample/launch/pipeline_vehicle_detection.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_vehicle_detection.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_vehicle_detection.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_vehicle_detection.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_video.launch.py b/sample/launch/pipeline_video.launch.py index a5c31d20..63f76cec 100644 --- a/sample/launch/pipeline_video.launch.py +++ b/sample/launch/pipeline_video.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_video.yaml') - default_rviz = os.path.join(get_package_share_directory('openvino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_sample'), 'param','pipeline_video.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_video.yaml')), # Openvino detection launch_ros.actions.Node( - package='openvino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/ros2_openvino_oa.launch.py b/sample/launch/ros2_openvino_oa.launch.py index 25cbeb25..b759e165 100644 --- a/sample/launch/ros2_openvino_oa.launch.py +++ b/sample/launch/ros2_openvino_oa.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('openvino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'pipeline_object_topic.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), diff --git a/sample/package.xml b/sample/package.xml index fd6111f2..b82fcf92 100644 --- a/sample/package.xml +++ b/sample/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - openvino_sample + openvino_node 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu diff --git a/sample/src/image_object_client.cpp b/sample/src/image_object_client.cpp index de675ad4..9704febf 100644 --- a/sample/src/image_object_client.cpp +++ b/sample/src/image_object_client.cpp @@ -27,7 +27,7 @@ int main(int argc, char ** argv) auto node = rclcpp::Node::make_shared("service_example_for_object"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_sample image_object_client" + RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_node image_object_client" ""); return -1; } diff --git a/sample/src/image_people_client.cpp b/sample/src/image_people_client.cpp index b439ccd7..0b1ce773 100644 --- a/sample/src/image_people_client.cpp +++ b/sample/src/image_people_client.cpp @@ -30,7 +30,7 @@ int main(int argc, char ** argv) auto node = rclcpp::Node::make_shared("service_example_for_face"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_sample image_object_client" + RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_node image_object_client" ""); return -1; } diff --git a/tests/launch/image_object_service_test.launch.py b/tests/launch/image_object_service_test.launch.py index 269c60e4..9b8ecb32 100644 --- a/tests/launch/image_object_service_test.launch.py +++ b/tests/launch/image_object_service_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='image_object_server', + package='openvino_node', node_executable='image_object_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/tests/launch/image_people_service_test.launch.py b/tests/launch/image_people_service_test.launch.py index 5673dac5..a9519dd4 100644 --- a/tests/launch/image_people_service_test.launch.py +++ b/tests/launch/image_people_service_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='image_people_server', + package='openvino_node', node_executable='image_people_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/tests/launch/pipeline_face_reidentification_test.launch.py b/tests/launch/pipeline_face_reidentification_test.launch.py index 108e640d..9515a86e 100644 --- a/tests/launch/pipeline_face_reidentification_test.launch.py +++ b/tests/launch/pipeline_face_reidentification_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', '/ros2_openvino_toolkit/face_detection'), diff --git a/tests/launch/pipeline_face_test.launch.py b/tests/launch/pipeline_face_test.launch.py index 45107d9b..2311342e 100644 --- a/tests/launch/pipeline_face_test.launch.py +++ b/tests/launch/pipeline_face_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/tests/launch/pipeline_image_test.launch.py b/tests/launch/pipeline_image_test.launch.py index 5f724bf2..e4a2b738 100644 --- a/tests/launch/pipeline_image_test.launch.py +++ b/tests/launch/pipeline_image_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/tests/launch/pipeline_object_test.launch.py b/tests/launch/pipeline_object_test.launch.py index 4582f303..752080c7 100644 --- a/tests/launch/pipeline_object_test.launch.py +++ b/tests/launch/pipeline_object_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/tests/launch/pipeline_reidentification_test.launch.py b/tests/launch/pipeline_reidentification_test.launch.py index 15418d0c..080d619c 100644 --- a/tests/launch/pipeline_reidentification_test.launch.py +++ b/tests/launch/pipeline_reidentification_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/tests/launch/pipeline_segmentation_test.launch.py b/tests/launch/pipeline_segmentation_test.launch.py index b5d7430d..5cceb3eb 100644 --- a/tests/launch/pipeline_segmentation_test.launch.py +++ b/tests/launch/pipeline_segmentation_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/segmentation/segmented_obejcts', diff --git a/tests/launch/pipeline_vehicle_detection_test.launch.py b/tests/launch/pipeline_vehicle_detection_test.launch.py index f068b362..deb7cda3 100644 --- a/tests/launch/pipeline_vehicle_detection_test.launch.py +++ b/tests/launch/pipeline_vehicle_detection_test.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='openvino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_license_plates', From c336e63599546fecd86cb820737360c0c8ce97e5 Mon Sep 17 00:00:00 2001 From: wujiawei Date: Mon, 6 Feb 2023 10:17:07 +0800 Subject: [PATCH 15/40] disable face reidentification pipeline --- README.md | 1 - doc/quick_start/getting_started_with_ros2_ov2.0.md | 4 ---- docker/docker_instructions_ov2.0.md | 4 ---- 3 files changed, 9 deletions(-) diff --git a/README.md b/README.md index 3837e09e..5ede16c4 100644 --- a/README.md +++ b/README.md @@ -180,7 +180,6 @@ Specific topic(s) can be generated and published according to the given inferenc |Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))| |Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))| |Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([openvino_people_msgs::msg::ReidentificationStamped](../../../openvino_people_msgs/msg/ReidentificationStamped.msg))| -|Face Reidenfication|```/ros2_openvino_toolkit/reidentified_faces```([openvino_people_msgs::msg::ReidentificationStamped](../../../openvino_people_msgs/msg/ReidentificationStamped.msg))| |Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([openvino_people_msgs::msg::VehicleAttribsStamped](../../../openvino_people_msgs/msg/PersonAttributeStamped.msg))| |Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([openvino_people_msgs::msg::LicensePlateStamped](../../../openvino_people_msgs/msg/LicensePlateStamped.msg))| diff --git a/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md index b6ee87bd..fc1c782b 100644 --- a/doc/quick_start/getting_started_with_ros2_ov2.0.md +++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md @@ -111,10 +111,6 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehic ``` ros2 launch openvino_node pipeline_reidentification.launch.py ``` - * run person face reidentification sample code input from RealSenseCamera. - ``` - ros2 launch openvino_node pipeline_face_reidentification.launch.py - ``` * run face detection sample code input from Image. ``` ros2 launch openvino_node pipeline_image.launch.py diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md index 1fc9e078..444d8519 100644 --- a/docker/docker_instructions_ov2.0.md +++ b/docker/docker_instructions_ov2.0.md @@ -103,10 +103,6 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehic ``` ros2 launch openvino_node pipeline_reidentification.launch.py ``` - * run person face reidentification sample code input from RealSenseCamera. - ``` - ros2 launch openvino_node pipeline_face_reidentification.launch.py - ``` * run face detection sample code input from Image. ``` ros2 launch openvino_node pipeline_image.launch.py From 69245bf68a4a035af3be5d0e6294c029e790c5ed Mon Sep 17 00:00:00 2001 From: Chloe Wu Date: Tue, 14 Feb 2023 09:31:24 +0800 Subject: [PATCH 16/40] rename package for release (#258) * rename package for release * rename to openvino_node --- README.md | 24 +-- .../getting_started_with_ros2_ov2.0.md | 14 +- docker/docker_instructions_ov2.0.md | 16 +- .../outputs/ros_topic_output.hpp | 183 ------------------ .../CMakeLists.txt | 2 +- .../msg/Connection.msg | 0 .../msg/Pipeline.msg | 0 .../msg/PipelineRequest.msg | 0 .../package.xml | 2 +- .../srv/PipelineSrv.srv | 0 .../CMakeLists.txt | 2 +- .../openvino_param_lib}/param_manager.hpp | 6 +- .../include/openvino_param_lib}/slog.hpp | 6 +- .../package.xml | 2 +- .../param/pipeline.yaml | 0 .../src/param_manager.cpp | 4 +- .../CMakeLists.txt | 2 +- .../msg/AgeGender.msg | 0 .../msg/AgeGenderStamped.msg | 2 +- .../msg/Emotion.msg | 0 .../msg/EmotionsStamped.msg | 2 +- .../msg/HeadPose.msg | 0 .../msg/HeadPoseStamped.msg | 2 +- .../msg/Landmark.msg | 0 .../msg/LandmarkStamped.msg | 0 .../msg/LicensePlate.msg | 0 .../msg/LicensePlateStamped.msg | 2 +- .../msg/ObjectInMask.msg | 0 .../msg/ObjectsInMasks.msg | 0 .../msg/PersonAttribute.msg | 0 .../msg/PersonAttributeStamped.msg | 0 .../msg/PersonsStamped.msg | 6 +- .../msg/Reidentification.msg | 0 .../msg/ReidentificationStamped.msg | 0 .../msg/VehicleAttribs.msg | 0 .../msg/VehicleAttribsStamped.msg | 2 +- .../package.xml | 2 +- .../srv/AgeGenderSrv.srv | 0 .../srv/EmotionSrv.srv | 0 .../srv/HeadPoseSrv.srv | 0 .../srv/People.srv | 0 .../CMakeLists.txt | 14 +- .../Doxyfile | 0 .../openvino_wrapper_lib}/engines/engine.hpp | 8 +- .../engines/engine_manager.hpp | 10 +- .../inferences/age_gender_detection.hpp | 24 +-- .../inferences/base_filter.hpp | 12 +- .../inferences/base_inference.hpp | 18 +- .../inferences/base_reidentification.hpp | 10 +- .../inferences/emotions_detection.hpp | 20 +- .../inferences/face_detection.hpp | 16 +- .../inferences/face_reidentification.hpp | 24 +-- .../inferences/head_pose_detection.hpp | 20 +- .../inferences/inference_manager.hpp | 22 +-- .../inferences/landmarks_detection.hpp | 20 +- .../inferences/license_plate_detection.hpp | 20 +- .../inferences/object_detection.hpp | 24 +-- .../inferences/object_segmentation.hpp | 20 +- .../object_segmentation_maskrcnn.hpp | 20 +- .../inferences/person_attribs_detection.hpp | 20 +- .../inferences/person_reidentification.hpp | 24 +-- .../inferences/vehicle_attribs_detection.hpp | 20 +- .../inputs/base_input.hpp | 8 +- .../inputs/image_input.hpp | 8 +- .../inputs/image_topic.hpp | 10 +- .../inputs/ip_camera.hpp | 8 +- .../inputs/realsense_camera.hpp | 8 +- .../inputs/realsense_camera_topic.hpp | 8 +- .../inputs/ros2_handler.hpp | 6 +- .../inputs/standard_camera.hpp | 8 +- .../inputs/video_input.hpp | 8 +- .../models/age_gender_detection_model.hpp | 8 +- .../models/attributes/base_attribute.hpp | 8 +- .../models/base_model.hpp | 14 +- .../models/emotion_detection_model.hpp | 8 +- .../models/face_detection_model.hpp | 8 +- .../models/face_reidentification_model.hpp | 8 +- .../models/head_pose_detection_model.hpp | 8 +- .../models/landmarks_detection_model.hpp | 8 +- .../models/license_plate_detection_model.hpp | 8 +- .../models/object_detection_ssd_model.hpp | 12 +- .../models/object_detection_yolov5_model.hpp | 12 +- .../object_segmentation_maskrcnn_model.hpp | 8 +- .../models/object_segmentation_model.hpp | 8 +- .../models/person_attribs_detection_model.hpp | 8 +- .../models/person_reidentification_model.hpp | 8 +- .../vehicle_attribs_detection_model.hpp | 8 +- .../outputs/base_output.hpp | 88 ++++----- .../outputs/image_window_output.hpp | 38 ++-- .../outputs/ros_service_output.hpp | 30 +-- .../outputs/ros_topic_output.hpp | 183 ++++++++++++++++++ .../outputs/rviz_output.hpp | 32 +-- .../openvino_wrapper_lib}/pipeline.hpp | 20 +- .../pipeline_manager.hpp | 40 ++-- .../openvino_wrapper_lib}/pipeline_params.hpp | 14 +- .../services/frame_processing_server.hpp | 24 +-- .../services/pipeline_processing_server.hpp | 16 +- .../include/openvino_wrapper_lib/slog.hpp | 175 +++++++++++++++++ .../utils/mutex_counter.hpp | 6 +- .../utils/version_info.hpp | 6 +- .../package.xml | 14 +- .../src/engines/engine.cpp | 4 +- .../src/engines/engine_manager.cpp | 12 +- .../src/inferences/age_gender_detection.cpp | 38 ++-- .../src/inferences/base_filter.cpp | 34 ++-- .../src/inferences/base_inference.cpp | 20 +- .../src/inferences/base_reidentification.cpp | 24 +-- .../src/inferences/emotions_detection.cpp | 40 ++-- .../src/inferences/face_detection.cpp | 10 +- .../src/inferences/face_reidentification.cpp | 42 ++-- .../src/inferences/head_pose_detection.cpp | 38 ++-- .../src/inferences/landmarks_detection.cpp | 40 ++-- .../inferences/license_plate_detection.cpp | 42 ++-- .../src/inferences/object_detection.cpp | 50 ++--- .../src/inferences/object_segmentation.cpp | 42 ++-- .../object_segmentation_maskrcnn.cpp | 42 ++-- .../inferences/person_attribs_detection.cpp | 40 ++-- .../inferences/person_reidentification.cpp | 42 ++-- .../inferences/vehicle_attribs_detection.cpp | 40 ++-- .../src/inputs/image_input.cpp | 4 +- .../src/inputs/image_topic.cpp | 4 +- .../src/inputs/ip_camera.cpp | 2 +- .../src/inputs/realsense_camera.cpp | 4 +- .../src/inputs/standard_camera.cpp | 2 +- .../src/inputs/video_input.cpp | 2 +- .../src/models/age_gender_detection_model.cpp | 4 +- .../src/models/attributes/ssd_model_attr.cpp | 4 +- .../src/models/base_model.cpp | 6 +- .../src/models/emotion_detection_model.cpp | 4 +- .../src/models/face_detection_model.cpp | 4 +- .../models/face_reidentification_model.cpp | 4 +- .../src/models/head_pose_detection_model.cpp | 4 +- .../src/models/landmarks_detection_model.cpp | 4 +- .../models/license_plate_detection_model.cpp | 4 +- .../src/models/object_detection_ssd_model.cpp | 14 +- .../models/object_detection_yolov5_model.cpp | 10 +- .../object_segmentation_maskrcnn_model.cpp | 6 +- .../src/models/object_segmentation_model.cpp | 6 +- .../models/person_attribs_detection_model.cpp | 4 +- .../models/person_reidentification_model.cpp | 4 +- .../vehicle_attribs_detection_model.cpp | 4 +- .../src/outputs/base_output.cpp | 4 +- .../src/outputs/image_window_output.cpp | 34 ++-- .../src/outputs/ros_service_output.cpp | 10 +- .../src/outputs/ros_topic_output.cpp | 96 ++++----- .../src/outputs/rviz_output.cpp | 26 +-- .../src/pipeline.cpp | 14 +- .../src/pipeline_manager.cpp | 160 +++++++-------- .../src/pipeline_params.cpp | 4 +- .../src/services/frame_processing_server.cpp | 18 +- .../services/pipeline_processing_server.cpp | 16 +- sample/CMakeLists.txt | 66 +++---- sample/launch/image_object_server.launch.py | 4 +- sample/launch/image_people_server.launch.py | 4 +- .../launch/multi_pipeline_service.launch.py | 6 +- .../pipeline_composite_object_topic.launch.py | 4 +- .../pipeline_face_reidentification.launch.py | 8 +- sample/launch/pipeline_image.launch.py | 8 +- sample/launch/pipeline_object.launch.py | 8 +- sample/launch/pipeline_object_topic.launch.py | 8 +- sample/launch/pipeline_object_yolo.launch.py | 8 +- .../pipeline_object_yolo_topic.launch.py | 8 +- sample/launch/pipeline_people.launch.py | 8 +- sample/launch/pipeline_people_ip.launch.py | 8 +- .../pipeline_person_attributes.launch.py | 8 +- .../pipeline_reidentification.launch.py | 8 +- sample/launch/pipeline_segmentation.launch.py | 8 +- .../pipeline_segmentation_image.launch.py | 8 +- .../pipeline_segmentation_maskrcnn.launch.py | 8 +- .../pipeline_vehicle_detection.launch.py | 8 +- sample/launch/pipeline_video.launch.py | 8 +- sample/launch/ros2_openvino_oa.launch.py | 4 +- sample/package.xml | 10 +- sample/src/image_object_client.cpp | 6 +- sample/src/image_object_server.cpp | 14 +- sample/src/image_people_client.cpp | 14 +- sample/src/image_people_server.cpp | 18 +- sample/src/parameters.cpp | 4 +- sample/src/pipeline_composite.cpp | 8 +- sample/src/pipeline_with_params.cpp | 12 +- script/viewer/service.py | 2 +- script/viewer/viewer.py | 2 +- tests/CMakeLists.txt | 18 +- .../image_object_service_test.launch.py | 4 +- .../image_people_service_test.launch.py | 4 +- ...eline_face_reidentification_test.launch.py | 4 +- tests/launch/pipeline_face_test.launch.py | 4 +- tests/launch/pipeline_image_test.launch.py | 4 +- tests/launch/pipeline_object_test.launch.py | 4 +- .../pipeline_reidentification_test.launch.py | 4 +- .../pipeline_segmentation_test.launch.py | 4 +- .../pipeline_vehicle_detection_test.launch.py | 4 +- tests/package.xml | 18 +- .../src/lib/unittest_createPipelineCheck.cpp | 12 +- tests/src/service/unittest_objectService.cpp | 6 +- tests/src/service/unittest_peopleService.cpp | 14 +- .../src/topic/unittest_faceDetectionCheck.cpp | 30 +-- .../topic/unittest_face_reidentification.cpp | 26 +-- tests/src/topic/unittest_imageCheck.cpp | 30 +-- .../topic/unittest_objectDetectionCheck.cpp | 10 +- tests/src/topic/unittest_reidentification.cpp | 18 +- .../src/topic/unittest_segmentationCheck.cpp | 16 +- .../topic/unittest_vehicleDetectionCheck.cpp | 22 +-- .../include/vino_param_lib/slog.hpp | 1 - 204 files changed, 1681 insertions(+), 1507 deletions(-) delete mode 100644 dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp rename {pipeline_srv_msgs => openvino_msgs}/CMakeLists.txt (98%) rename {pipeline_srv_msgs => openvino_msgs}/msg/Connection.msg (100%) rename {pipeline_srv_msgs => openvino_msgs}/msg/Pipeline.msg (100%) rename {pipeline_srv_msgs => openvino_msgs}/msg/PipelineRequest.msg (100%) rename {pipeline_srv_msgs => openvino_msgs}/package.xml (98%) rename {pipeline_srv_msgs => openvino_msgs}/srv/PipelineSrv.srv (100%) rename {vino_param_lib => openvino_param_lib}/CMakeLists.txt (99%) rename {vino_param_lib/include/vino_param_lib => openvino_param_lib/include/openvino_param_lib}/param_manager.hpp (96%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_param_lib/include/openvino_param_lib}/slog.hpp (97%) rename {vino_param_lib => openvino_param_lib}/package.xml (97%) rename {vino_param_lib => openvino_param_lib}/param/pipeline.yaml (100%) rename {vino_param_lib => openvino_param_lib}/src/param_manager.cpp (98%) rename {people_msgs => openvino_people_msgs}/CMakeLists.txt (98%) rename {people_msgs => openvino_people_msgs}/msg/AgeGender.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/AgeGenderStamped.msg (93%) rename {people_msgs => openvino_people_msgs}/msg/Emotion.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/EmotionsStamped.msg (93%) rename {people_msgs => openvino_people_msgs}/msg/HeadPose.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/HeadPoseStamped.msg (93%) rename {people_msgs => openvino_people_msgs}/msg/Landmark.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/LandmarkStamped.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/LicensePlate.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/LicensePlateStamped.msg (93%) rename {people_msgs => openvino_people_msgs}/msg/ObjectInMask.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/ObjectsInMasks.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/PersonAttribute.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/PersonAttributeStamped.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/PersonsStamped.msg (83%) rename {people_msgs => openvino_people_msgs}/msg/Reidentification.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/ReidentificationStamped.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/VehicleAttribs.msg (100%) rename {people_msgs => openvino_people_msgs}/msg/VehicleAttribsStamped.msg (92%) rename {people_msgs => openvino_people_msgs}/package.xml (98%) rename {people_msgs => openvino_people_msgs}/srv/AgeGenderSrv.srv (100%) rename {people_msgs => openvino_people_msgs}/srv/EmotionSrv.srv (100%) rename {people_msgs => openvino_people_msgs}/srv/HeadPoseSrv.srv (100%) rename {people_msgs => openvino_people_msgs}/srv/People.srv (100%) rename {dynamic_vino_lib => openvino_wrapper_lib}/CMakeLists.txt (97%) rename {dynamic_vino_lib => openvino_wrapper_lib}/Doxyfile (100%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/engines/engine.hpp (90%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/engines/engine_manager.hpp (86%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/age_gender_detection.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/base_filter.hpp (95%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/base_inference.hpp (92%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/base_reidentification.hpp (91%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/emotions_detection.hpp (85%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/face_detection.hpp (76%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/face_reidentification.hpp (81%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/head_pose_detection.hpp (86%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/inference_manager.hpp (78%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/landmarks_detection.hpp (84%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/license_plate_detection.hpp (86%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/object_detection.hpp (89%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/object_segmentation.hpp (87%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/object_segmentation_maskrcnn.hpp (87%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/person_attribs_detection.hpp (86%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/person_reidentification.hpp (81%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inferences/vehicle_attribs_detection.hpp (85%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/base_input.hpp (93%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/image_input.hpp (88%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/image_topic.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/ip_camera.hpp (88%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/realsense_camera.hpp (87%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/realsense_camera_topic.hpp (79%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/ros2_handler.hpp (92%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/standard_camera.hpp (88%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/inputs/video_input.hpp (87%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/age_gender_detection_model.hpp (86%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/attributes/base_attribute.hpp (95%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/base_model.hpp (91%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/emotion_detection_model.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/face_detection_model.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/face_reidentification_model.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/head_pose_detection_model.hpp (87%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/landmarks_detection_model.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/license_plate_detection_model.hpp (85%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/object_detection_ssd_model.hpp (81%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/object_detection_yolov5_model.hpp (83%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/object_segmentation_maskrcnn_model.hpp (85%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/object_segmentation_model.hpp (86%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/person_attribs_detection_model.hpp (82%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/person_reidentification_model.hpp (84%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/models/vehicle_attribs_detection_model.hpp (84%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/outputs/base_output.hpp (53%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/outputs/image_window_output.hpp (78%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/outputs/ros_service_output.hpp (61%) create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/outputs/rviz_output.hpp (73%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/pipeline.hpp (88%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/pipeline_manager.hpp (79%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/pipeline_params.hpp (89%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/services/frame_processing_server.hpp (67%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/services/pipeline_processing_server.hpp (75%) create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/utils/mutex_counter.hpp (87%) rename {dynamic_vino_lib/include/dynamic_vino_lib => openvino_wrapper_lib/include/openvino_wrapper_lib}/utils/version_info.hpp (94%) rename {dynamic_vino_lib => openvino_wrapper_lib}/package.xml (88%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/engines/engine.cpp (91%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/engines/engine_manager.cpp (93%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/age_gender_detection.cpp (66%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/base_filter.cpp (83%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/base_inference.cpp (69%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/base_reidentification.cpp (87%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/emotions_detection.cpp (74%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/face_detection.cpp (76%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/face_reidentification.cpp (66%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/head_pose_detection.cpp (67%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/landmarks_detection.cpp (70%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/license_plate_detection.cpp (69%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/object_detection.cpp (68%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/object_segmentation.cpp (79%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/object_segmentation_maskrcnn.cpp (80%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/person_attribs_detection.cpp (71%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/person_reidentification.cpp (64%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inferences/vehicle_attribs_detection.cpp (68%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inputs/image_input.cpp (93%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inputs/image_topic.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inputs/ip_camera.cpp (96%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inputs/realsense_camera.cpp (96%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inputs/standard_camera.cpp (97%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/inputs/video_input.cpp (96%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/age_gender_detection_model.cpp (97%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/attributes/ssd_model_attr.cpp (97%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/base_model.cpp (93%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/emotion_detection_model.cpp (96%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/face_detection_model.cpp (91%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/face_reidentification_model.cpp (94%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/head_pose_detection_model.cpp (96%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/landmarks_detection_model.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/license_plate_detection_model.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/object_detection_ssd_model.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/object_detection_yolov5_model.cpp (96%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/object_segmentation_maskrcnn_model.cpp (98%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/object_segmentation_model.cpp (97%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/person_attribs_detection_model.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/person_reidentification_model.cpp (94%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/models/vehicle_attribs_detection_model.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/outputs/base_output.cpp (89%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/outputs/image_window_output.cpp (91%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/outputs/ros_service_output.cpp (89%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/outputs/ros_topic_output.cpp (73%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/outputs/rviz_output.cpp (72%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/pipeline.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/pipeline_manager.cpp (78%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/pipeline_params.cpp (95%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/services/frame_processing_server.cpp (85%) rename {dynamic_vino_lib => openvino_wrapper_lib}/src/services/pipeline_processing_server.cpp (88%) delete mode 120000 vino_param_lib/include/vino_param_lib/slog.hpp diff --git a/README.md b/README.md index 88cad91a..3837e09e 100644 --- a/README.md +++ b/README.md @@ -173,16 +173,16 @@ Specific topic(s) can be generated and published according to the given inferenc |Inference|Published Topic| |---|---| |People Detection|```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([people_msgs:msg:EmotionsStamped](../../../people_msgs/msg/EmotionsStamped.msg))| -|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([people_msgs:msg:AgeGenderStamped](../../../people_msgs/msg/AgeGenderStamped.msg))| -|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([people_msgs:msg:HeadPoseStamped](../../../people_msgs/msg/HeadPoseStamped.msg))| +|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([openvino_people_msgs:msg:EmotionsStamped](../../../openvino_people_msgs/msg/EmotionsStamped.msg))| +|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([openvino_people_msgs:msg:AgeGenderStamped](../../../openvino_people_msgs/msg/AgeGenderStamped.msg))| +|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([openvino_people_msgs:msg:HeadPoseStamped](../../../openvino_people_msgs/msg/HeadPoseStamped.msg))| |Object Detection|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([people_msgs::msg::ObjectsInMasks](../../../people_msgs/msg/ObjectsInMasks.msg))| -|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([people_msgs::msg::ObjectsInMasks](../../../people_msgs/msg/ObjectsInMasks.msg))| -|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([people_msgs::msg::ReidentificationStamped](../../../people_msgs/msg/ReidentificationStamped.msg))| -|Face Reidenfication|```/ros2_openvino_toolkit/reidentified_faces```([people_msgs::msg::ReidentificationStamped](../../../people_msgs/msg/ReidentificationStamped.msg))| -|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([people_msgs::msg::VehicleAttribsStamped](../../../people_msgs/msg/PersonAttributeStamped.msg))| -|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([people_msgs::msg::LicensePlateStamped](../../../people_msgs/msg/LicensePlateStamped.msg))| +|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))| +|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))| +|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([openvino_people_msgs::msg::ReidentificationStamped](../../../openvino_people_msgs/msg/ReidentificationStamped.msg))| +|Face Reidenfication|```/ros2_openvino_toolkit/reidentified_faces```([openvino_people_msgs::msg::ReidentificationStamped](../../../openvino_people_msgs/msg/ReidentificationStamped.msg))| +|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([openvino_people_msgs::msg::VehicleAttribsStamped](../../../openvino_people_msgs/msg/PersonAttributeStamped.msg))| +|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([openvino_people_msgs::msg::LicensePlateStamped](../../../openvino_people_msgs/msg/LicensePlateStamped.msg))|

@@ -197,9 +197,9 @@ Several ROS2 Services are created, expecting to be used in client/server mode, e |---|---| |Object Detection Service|```/detect_object```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| |Face Detection Service|```/detect_face```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| -|Age Gender Detection Service|```/detect_age_gender```([people_msgs::srv::AgeGender](./people_msgs/srv/AgeGenderSrv.srv))| -|Headpose Detection Service|```/detect_head_pose```([people_msgs::srv::HeadPose](./people_msgs/srv/HeadPoseSrv.srv))| -|Emotion Detection Service|```/detect_emotion```([people_msgs::srv::Emotion](./people_msgs/srv/EmotionSrv.srv))| +|Age Gender Detection Service|```/detect_age_gender```([openvino_people_msgs::srv::AgeGender](./openvino_people_msgs/srv/AgeGenderSrv.srv))| +|Headpose Detection Service|```/detect_head_pose```([openvino_people_msgs::srv::HeadPose](./openvino_people_msgs/srv/HeadPoseSrv.srv))| +|Emotion Detection Service|```/detect_emotion```([openvino_people_msgs::srv::Emotion](./openvino_people_msgs/srv/EmotionSrv.srv))|

diff --git a/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md index 13b2f4c4..b6ee87bd 100644 --- a/doc/quick_start/getting_started_with_ros2_ov2.0.md +++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md @@ -105,31 +105,31 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehic * Check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. Please refer to the quick start document for [yaml configuration guidance](./yaml_configuration_guide.md) for detailed configuration guidance. * run face detection sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_people.launch.py + ros2 launch openvino_node pipeline_people.launch.py ``` * run person reidentification sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py + ros2 launch openvino_node pipeline_reidentification.launch.py ``` * run person face reidentification sample code input from RealSenseCamera. ``` - ros2 launch dynamic_vino_sample pipeline_face_reidentification.launch.py + ros2 launch openvino_node pipeline_face_reidentification.launch.py ``` * run face detection sample code input from Image. ``` - ros2 launch dynamic_vino_sample pipeline_image.launch.py + ros2 launch openvino_node pipeline_image.launch.py ``` * run object segmentation sample code input from RealSenseCameraTopic. ``` - ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py + ros2 launch openvino_node pipeline_segmentation.launch.py ``` * run vehicle detection sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_vehicle_detection.launch.py + ros2 launch openvino_node pipeline_vehicle_detection.launch.py ``` * run person attributes sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_person_attributes.launch.py + ros2 launch openvino_node pipeline_person_attributes.launch.py ``` # More Information diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md index 265fc9cb..1fc9e078 100644 --- a/docker/docker_instructions_ov2.0.md +++ b/docker/docker_instructions_ov2.0.md @@ -97,35 +97,35 @@ sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehic * Check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly. Please refer to the quick start document for [yaml configuration guidance](../doc/quick_start/yaml_configuration_guide.md) for detailed configuration guidance. * run face detection sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_people.launch.py + ros2 launch openvino_node pipeline_people.launch.py ``` * run person reidentification sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py + ros2 launch openvino_node pipeline_reidentification.launch.py ``` * run person face reidentification sample code input from RealSenseCamera. ``` - ros2 launch dynamic_vino_sample pipeline_face_reidentification.launch.py + ros2 launch openvino_node pipeline_face_reidentification.launch.py ``` * run face detection sample code input from Image. ``` - ros2 launch dynamic_vino_sample pipeline_image.launch.py + ros2 launch openvino_node pipeline_image.launch.py ``` * run object segmentation sample code input from RealSenseCameraTopic. ``` - ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py + ros2 launch openvino_node pipeline_segmentation.launch.py ``` * run object segmentation sample code input from Image. ``` - ros2 launch dynamic_vino_sample pipeline_segmentation_image.launch.py + ros2 launch openvino_node pipeline_segmentation_image.launch.py ``` * run vehicle detection sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_vehicle_detection.launch.py + ros2 launch openvino_node pipeline_vehicle_detection.launch.py ``` * run person attributes sample code input from StandardCamera. ``` - ros2 launch dynamic_vino_sample pipeline_person_attributes.launch.py + ros2 launch openvino_node pipeline_person_attributes.launch.py ``` # More Information diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp deleted file mode 100644 index a1bcd980..00000000 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_topic_output.hpp +++ /dev/null @@ -1,183 +0,0 @@ -// Copyright (c) 2018-2022 Intel Corporation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/** - * @brief A header file with declaration for RosTopicOutput Class - * @file ros_topic_output.hpp - */ - -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" - -namespace Outputs -{ -/** - * @class RosTopicOutput - * @brief This class handles and publish the detection result with ros topic. - */ -class RosTopicOutput : public BaseOutput -{ -public: - explicit RosTopicOutput(std::string output_name_, - const rclcpp::Node::SharedPtr node=nullptr); - /** - * @brief Calculate the camera matrix of a frame. - * @param[in] A frame. - */ - void feedFrame(const cv::Mat &) override; - /** - * @brief Publish all the detected infomations generated by the accept - * functions with ros topic. - */ - void handleOutput() override; - /** - * @brief Generate ros topic infomation according to - * the license plate detection result. - * @param[in] results a bundle of license plate detection results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the vehicle attributes detection result. - * @param[in] results a bundle of vehicle attributes detection results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the face reidentification result. - * @param[in] results a bundle of face reidentification results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the landmarks detection result. - * @param[in] results a bundle of landmarks detection results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the person attributes detection result. - * @param[in] results a bundle of person attributes detection results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the person reidentification result. - * @param[in] results a bundle of person reidentification results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the object segmentation result. - * @param[in] results a bundle of object segmentation results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the object segmentation result. - * @param[in] results a bundle of object segmentation maskrcnn results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the object detection result. - * @param[in] results a bundle of object detection results. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the face detection result. - * @param[in] An face detection result objetc. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the emotion detection result. - * @param[in] An emotion detection result objetc. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the age gender detection result. - * @param[in] An age gender detection result objetc. - */ - void accept(const std::vector &) override; - /** - * @brief Generate ros topic infomation according to - * the headpose detection result. - * @param[in] An head pose detection result objetc. - */ - void accept(const std::vector &) override; - -protected: - const std::string topic_name_; - std::shared_ptr node_; - rclcpp::Publisher::SharedPtr pub_license_plate_; - std::shared_ptr license_plate_topic_; - rclcpp::Publisher::SharedPtr pub_vehicle_attribs_; - std::shared_ptr vehicle_attribs_topic_; - rclcpp::Publisher::SharedPtr pub_landmarks_; - std::shared_ptr landmarks_topic_; - rclcpp::Publisher::SharedPtr pub_face_reid_; - std::shared_ptr face_reid_topic_; - rclcpp::Publisher::SharedPtr pub_person_attribs_; - std::shared_ptr person_attribs_topic_; - rclcpp::Publisher::SharedPtr pub_person_reid_; - std::shared_ptr person_reid_topic_; - rclcpp::Publisher::SharedPtr pub_segmented_object_; - std::shared_ptr segmented_objects_topic_; - rclcpp::Publisher::SharedPtr pub_detected_object_; - std::shared_ptr detected_objects_topic_; - rclcpp::Publisher::SharedPtr pub_face_; - std::shared_ptr faces_topic_; - rclcpp::Publisher::SharedPtr pub_emotion_; - std::shared_ptr emotions_topic_; - rclcpp::Publisher::SharedPtr pub_age_gender_; - std::shared_ptr age_gender_topic_; - rclcpp::Publisher::SharedPtr pub_headpose_; - std::shared_ptr headpose_topic_; -}; -} // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ diff --git a/pipeline_srv_msgs/CMakeLists.txt b/openvino_msgs/CMakeLists.txt similarity index 98% rename from pipeline_srv_msgs/CMakeLists.txt rename to openvino_msgs/CMakeLists.txt index eaa0cd1c..30b70b83 100644 --- a/pipeline_srv_msgs/CMakeLists.txt +++ b/openvino_msgs/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(pipeline_srv_msgs) +project(openvino_msgs) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) diff --git a/pipeline_srv_msgs/msg/Connection.msg b/openvino_msgs/msg/Connection.msg similarity index 100% rename from pipeline_srv_msgs/msg/Connection.msg rename to openvino_msgs/msg/Connection.msg diff --git a/pipeline_srv_msgs/msg/Pipeline.msg b/openvino_msgs/msg/Pipeline.msg similarity index 100% rename from pipeline_srv_msgs/msg/Pipeline.msg rename to openvino_msgs/msg/Pipeline.msg diff --git a/pipeline_srv_msgs/msg/PipelineRequest.msg b/openvino_msgs/msg/PipelineRequest.msg similarity index 100% rename from pipeline_srv_msgs/msg/PipelineRequest.msg rename to openvino_msgs/msg/PipelineRequest.msg diff --git a/pipeline_srv_msgs/package.xml b/openvino_msgs/package.xml similarity index 98% rename from pipeline_srv_msgs/package.xml rename to openvino_msgs/package.xml index 802a2b12..85d579d0 100644 --- a/pipeline_srv_msgs/package.xml +++ b/openvino_msgs/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - pipeline_srv_msgs + openvino_msgs 0.9.0 A package containing pipeline service message definitions. Yang Lu diff --git a/pipeline_srv_msgs/srv/PipelineSrv.srv b/openvino_msgs/srv/PipelineSrv.srv similarity index 100% rename from pipeline_srv_msgs/srv/PipelineSrv.srv rename to openvino_msgs/srv/PipelineSrv.srv diff --git a/vino_param_lib/CMakeLists.txt b/openvino_param_lib/CMakeLists.txt similarity index 99% rename from vino_param_lib/CMakeLists.txt rename to openvino_param_lib/CMakeLists.txt index 36cbde88..8a78469a 100644 --- a/vino_param_lib/CMakeLists.txt +++ b/openvino_param_lib/CMakeLists.txt @@ -13,7 +13,7 @@ # limitations under the License. cmake_minimum_required(VERSION 3.5) -project(vino_param_lib) +project(openvino_param_lib) find_package(ament_cmake REQUIRED) find_package(yaml_cpp_vendor REQUIRED) diff --git a/vino_param_lib/include/vino_param_lib/param_manager.hpp b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp similarity index 96% rename from vino_param_lib/include/vino_param_lib/param_manager.hpp rename to openvino_param_lib/include/openvino_param_lib/param_manager.hpp index 912d8ed6..558d9359 100644 --- a/vino_param_lib/include/vino_param_lib/param_manager.hpp +++ b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for parameter management * @file param_manager.hpp */ -#ifndef VINO_PARAM_LIB__PARAM_MANAGER_HPP_ -#define VINO_PARAM_LIB__PARAM_MANAGER_HPP_ +#ifndef OPENVINO_PARAM_LIB__PARAM_MANAGER_HPP_ +#define OPENVINO_PARAM_LIB__PARAM_MANAGER_HPP_ #include #include @@ -148,4 +148,4 @@ class ParamManager // singleton }; } // namespace Params -#endif // VINO_PARAM_LIB__PARAM_MANAGER_HPP_ +#endif // OPENVINO_PARAM_LIB__PARAM_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp b/openvino_param_lib/include/openvino_param_lib/slog.hpp similarity index 97% rename from dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp rename to openvino_param_lib/include/openvino_param_lib/slog.hpp index fef20a70..bf350394 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp +++ b/openvino_param_lib/include/openvino_param_lib/slog.hpp @@ -16,8 +16,8 @@ * @brief a header file with logging facility for common samples * @file slog.hpp */ -#ifndef DYNAMIC_VINO_LIB__SLOG_HPP_ -#define DYNAMIC_VINO_LIB__SLOG_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__SLOG_HPP_ +#define OPENVINO_WRAPPER_LIB__SLOG_HPP_ #pragma once @@ -172,4 +172,4 @@ static LogStream warn("WARNING", std::cout, YELLOW); static LogStream err("ERROR", std::cerr, RED); } // namespace slog -#endif // DYNAMIC_VINO_LIB__SLOG_HPP_ +#endif // OPENVINO_WRAPPER_LIB__SLOG_HPP_ diff --git a/vino_param_lib/package.xml b/openvino_param_lib/package.xml similarity index 97% rename from vino_param_lib/package.xml rename to openvino_param_lib/package.xml index 7f0ec3ab..6484dd58 100644 --- a/vino_param_lib/package.xml +++ b/openvino_param_lib/package.xml @@ -17,7 +17,7 @@ limitations under the License. --> - vino_param_lib + openvino_param_lib 0.9.0 Library for ROS2 OpenVINO parameter management Weizhi Liu diff --git a/vino_param_lib/param/pipeline.yaml b/openvino_param_lib/param/pipeline.yaml similarity index 100% rename from vino_param_lib/param/pipeline.yaml rename to openvino_param_lib/param/pipeline.yaml diff --git a/vino_param_lib/src/param_manager.cpp b/openvino_param_lib/src/param_manager.cpp similarity index 98% rename from vino_param_lib/src/param_manager.cpp rename to openvino_param_lib/src/param_manager.cpp index 037756a4..89527c95 100644 --- a/vino_param_lib/src/param_manager.cpp +++ b/openvino_param_lib/src/param_manager.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "vino_param_lib/param_manager.hpp" -#include +#include "openvino_param_lib/param_manager.hpp" +#include #include #include #include diff --git a/people_msgs/CMakeLists.txt b/openvino_people_msgs/CMakeLists.txt similarity index 98% rename from people_msgs/CMakeLists.txt rename to openvino_people_msgs/CMakeLists.txt index f7832982..d3257b00 100644 --- a/people_msgs/CMakeLists.txt +++ b/openvino_people_msgs/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(people_msgs) +project(openvino_people_msgs) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) diff --git a/people_msgs/msg/AgeGender.msg b/openvino_people_msgs/msg/AgeGender.msg similarity index 100% rename from people_msgs/msg/AgeGender.msg rename to openvino_people_msgs/msg/AgeGender.msg diff --git a/people_msgs/msg/AgeGenderStamped.msg b/openvino_people_msgs/msg/AgeGenderStamped.msg similarity index 93% rename from people_msgs/msg/AgeGenderStamped.msg rename to openvino_people_msgs/msg/AgeGenderStamped.msg index 56fb2828..25217127 100644 --- a/people_msgs/msg/AgeGenderStamped.msg +++ b/openvino_people_msgs/msg/AgeGenderStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/AgeGender[] objects +openvino_people_msgs/AgeGender[] objects diff --git a/people_msgs/msg/Emotion.msg b/openvino_people_msgs/msg/Emotion.msg similarity index 100% rename from people_msgs/msg/Emotion.msg rename to openvino_people_msgs/msg/Emotion.msg diff --git a/people_msgs/msg/EmotionsStamped.msg b/openvino_people_msgs/msg/EmotionsStamped.msg similarity index 93% rename from people_msgs/msg/EmotionsStamped.msg rename to openvino_people_msgs/msg/EmotionsStamped.msg index 689db83f..78914367 100644 --- a/people_msgs/msg/EmotionsStamped.msg +++ b/openvino_people_msgs/msg/EmotionsStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/Emotion[] emotions +openvino_people_msgs/Emotion[] emotions diff --git a/people_msgs/msg/HeadPose.msg b/openvino_people_msgs/msg/HeadPose.msg similarity index 100% rename from people_msgs/msg/HeadPose.msg rename to openvino_people_msgs/msg/HeadPose.msg diff --git a/people_msgs/msg/HeadPoseStamped.msg b/openvino_people_msgs/msg/HeadPoseStamped.msg similarity index 93% rename from people_msgs/msg/HeadPoseStamped.msg rename to openvino_people_msgs/msg/HeadPoseStamped.msg index 57468423..de80904a 100644 --- a/people_msgs/msg/HeadPoseStamped.msg +++ b/openvino_people_msgs/msg/HeadPoseStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/HeadPose[] headposes \ No newline at end of file +openvino_people_msgs/HeadPose[] headposes \ No newline at end of file diff --git a/people_msgs/msg/Landmark.msg b/openvino_people_msgs/msg/Landmark.msg similarity index 100% rename from people_msgs/msg/Landmark.msg rename to openvino_people_msgs/msg/Landmark.msg diff --git a/people_msgs/msg/LandmarkStamped.msg b/openvino_people_msgs/msg/LandmarkStamped.msg similarity index 100% rename from people_msgs/msg/LandmarkStamped.msg rename to openvino_people_msgs/msg/LandmarkStamped.msg diff --git a/people_msgs/msg/LicensePlate.msg b/openvino_people_msgs/msg/LicensePlate.msg similarity index 100% rename from people_msgs/msg/LicensePlate.msg rename to openvino_people_msgs/msg/LicensePlate.msg diff --git a/people_msgs/msg/LicensePlateStamped.msg b/openvino_people_msgs/msg/LicensePlateStamped.msg similarity index 93% rename from people_msgs/msg/LicensePlateStamped.msg rename to openvino_people_msgs/msg/LicensePlateStamped.msg index f2982b5c..04406dac 100644 --- a/people_msgs/msg/LicensePlateStamped.msg +++ b/openvino_people_msgs/msg/LicensePlateStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/LicensePlate[] licenses \ No newline at end of file +openvino_people_msgs/LicensePlate[] licenses \ No newline at end of file diff --git a/people_msgs/msg/ObjectInMask.msg b/openvino_people_msgs/msg/ObjectInMask.msg similarity index 100% rename from people_msgs/msg/ObjectInMask.msg rename to openvino_people_msgs/msg/ObjectInMask.msg diff --git a/people_msgs/msg/ObjectsInMasks.msg b/openvino_people_msgs/msg/ObjectsInMasks.msg similarity index 100% rename from people_msgs/msg/ObjectsInMasks.msg rename to openvino_people_msgs/msg/ObjectsInMasks.msg diff --git a/people_msgs/msg/PersonAttribute.msg b/openvino_people_msgs/msg/PersonAttribute.msg similarity index 100% rename from people_msgs/msg/PersonAttribute.msg rename to openvino_people_msgs/msg/PersonAttribute.msg diff --git a/people_msgs/msg/PersonAttributeStamped.msg b/openvino_people_msgs/msg/PersonAttributeStamped.msg similarity index 100% rename from people_msgs/msg/PersonAttributeStamped.msg rename to openvino_people_msgs/msg/PersonAttributeStamped.msg diff --git a/people_msgs/msg/PersonsStamped.msg b/openvino_people_msgs/msg/PersonsStamped.msg similarity index 83% rename from people_msgs/msg/PersonsStamped.msg rename to openvino_people_msgs/msg/PersonsStamped.msg index 85fee95b..f8ee471f 100644 --- a/people_msgs/msg/PersonsStamped.msg +++ b/openvino_people_msgs/msg/PersonsStamped.msg @@ -14,6 +14,6 @@ std_msgs/Header header object_msgs/ObjectInBox[] faces -people_msgs/Emotion[] emotions -people_msgs/AgeGender[] agegenders -people_msgs/HeadPose[] headposes +openvino_people_msgs/Emotion[] emotions +openvino_people_msgs/AgeGender[] agegenders +openvino_people_msgs/HeadPose[] headposes diff --git a/people_msgs/msg/Reidentification.msg b/openvino_people_msgs/msg/Reidentification.msg similarity index 100% rename from people_msgs/msg/Reidentification.msg rename to openvino_people_msgs/msg/Reidentification.msg diff --git a/people_msgs/msg/ReidentificationStamped.msg b/openvino_people_msgs/msg/ReidentificationStamped.msg similarity index 100% rename from people_msgs/msg/ReidentificationStamped.msg rename to openvino_people_msgs/msg/ReidentificationStamped.msg diff --git a/people_msgs/msg/VehicleAttribs.msg b/openvino_people_msgs/msg/VehicleAttribs.msg similarity index 100% rename from people_msgs/msg/VehicleAttribs.msg rename to openvino_people_msgs/msg/VehicleAttribs.msg diff --git a/people_msgs/msg/VehicleAttribsStamped.msg b/openvino_people_msgs/msg/VehicleAttribsStamped.msg similarity index 92% rename from people_msgs/msg/VehicleAttribsStamped.msg rename to openvino_people_msgs/msg/VehicleAttribsStamped.msg index 97cbd3c6..4e97859a 100644 --- a/people_msgs/msg/VehicleAttribsStamped.msg +++ b/openvino_people_msgs/msg/VehicleAttribsStamped.msg @@ -13,4 +13,4 @@ # limitations under the License. std_msgs/Header header -people_msgs/VehicleAttribs[] vehicles +openvino_people_msgs/VehicleAttribs[] vehicles diff --git a/people_msgs/package.xml b/openvino_people_msgs/package.xml similarity index 98% rename from people_msgs/package.xml rename to openvino_people_msgs/package.xml index f7357e00..6e59ce10 100644 --- a/people_msgs/package.xml +++ b/openvino_people_msgs/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - people_msgs + openvino_people_msgs 0.9.0 A package containing people message definitions. Weizhi Liu diff --git a/people_msgs/srv/AgeGenderSrv.srv b/openvino_people_msgs/srv/AgeGenderSrv.srv similarity index 100% rename from people_msgs/srv/AgeGenderSrv.srv rename to openvino_people_msgs/srv/AgeGenderSrv.srv diff --git a/people_msgs/srv/EmotionSrv.srv b/openvino_people_msgs/srv/EmotionSrv.srv similarity index 100% rename from people_msgs/srv/EmotionSrv.srv rename to openvino_people_msgs/srv/EmotionSrv.srv diff --git a/people_msgs/srv/HeadPoseSrv.srv b/openvino_people_msgs/srv/HeadPoseSrv.srv similarity index 100% rename from people_msgs/srv/HeadPoseSrv.srv rename to openvino_people_msgs/srv/HeadPoseSrv.srv diff --git a/people_msgs/srv/People.srv b/openvino_people_msgs/srv/People.srv similarity index 100% rename from people_msgs/srv/People.srv rename to openvino_people_msgs/srv/People.srv diff --git a/dynamic_vino_lib/CMakeLists.txt b/openvino_wrapper_lib/CMakeLists.txt similarity index 97% rename from dynamic_vino_lib/CMakeLists.txt rename to openvino_wrapper_lib/CMakeLists.txt index 5b13e8b7..4afcbc37 100644 --- a/dynamic_vino_lib/CMakeLists.txt +++ b/openvino_wrapper_lib/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(dynamic_vino_lib) +project(openvino_wrapper_lib) #################################### ## to use C++17 @@ -62,11 +62,11 @@ find_package(rmw REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(object_msgs REQUIRED) -find_package(people_msgs REQUIRED) -find_package(pipeline_srv_msgs REQUIRED) +find_package(openvino_people_msgs REQUIRED) +find_package(openvino_msgs REQUIRED) find_package(class_loader REQUIRED) find_package(cv_bridge REQUIRED) -find_package(vino_param_lib REQUIRED) +find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) if("${CMAKE_BUILD_TYPE}" STREQUAL "") @@ -233,13 +233,13 @@ ament_target_dependencies(${PROJECT_NAME} "std_msgs" "sensor_msgs" "object_msgs" - "people_msgs" - "pipeline_srv_msgs" + "openvino_people_msgs" + "openvino_msgs" "ament_index_cpp" "class_loader" "realsense2" "cv_bridge" - "vino_param_lib" + "openvino_param_lib" "yaml_cpp_vendor" ) diff --git a/dynamic_vino_lib/Doxyfile b/openvino_wrapper_lib/Doxyfile similarity index 100% rename from dynamic_vino_lib/Doxyfile rename to openvino_wrapper_lib/Doxyfile diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp similarity index 90% rename from dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp index a3db05c1..b576af7e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp @@ -16,12 +16,12 @@ * @brief A header file with declaration for Inference Engine class * @file engine.hpp */ -#ifndef DYNAMIC_VINO_LIB__ENGINES__ENGINE_HPP_ -#define DYNAMIC_VINO_LIB__ENGINES__ENGINE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_HPP_ +#define OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_HPP_ #pragma once -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" #include "openvino/openvino.hpp" namespace Engines @@ -72,4 +72,4 @@ class Engine }; } // namespace Engines -#endif // DYNAMIC_VINO_LIB__ENGINES__ENGINE_HPP_ +#endif // OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp index a8a9a976..2583316b 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp @@ -16,13 +16,13 @@ * @brief A header file with declaration for NetworkEngine class * @file engine.h */ -#ifndef DYNAMIC_VINO_LIB__ENGINES__ENGINE_MANAGER_HPP_ -#define DYNAMIC_VINO_LIB__ENGINES__ENGINE_MANAGER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_MANAGER_HPP_ +#define OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_MANAGER_HPP_ #pragma once -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" #include "openvino/openvino.hpp" namespace Engines @@ -58,4 +58,4 @@ class EngineManager }; } // namespace Engines -#endif // DYNAMIC_VINO_LIB__ENGINES__ENGINE_MANAGER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__ENGINES__ENGINE_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp index b982d1fb..4b5b2e40 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp @@ -16,17 +16,17 @@ * @brief A header file with declaration for AgeGenderDetection Class * @file age_gender_recignition.h */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ -#include -#include +#include +#include #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/models/age_gender_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/age_gender_detection_model.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" @@ -34,7 +34,7 @@ namespace Outputs { class BaseOuput; } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class AgeGenderResult @@ -74,7 +74,7 @@ class AgeGenderResult : public Result class AgeGenderDetection : public BaseInference { public: - using Result = dynamic_vino_lib::AgeGenderResult; + using Result = openvino_wrapper_lib::AgeGenderResult; AgeGenderDetection(); ~AgeGenderDetection() override; /** @@ -112,7 +112,7 @@ class AgeGenderDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -131,6 +131,6 @@ class AgeGenderDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp similarity index 95% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp index 62c2d560..b5aca1f2 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp @@ -16,16 +16,16 @@ * @brief A header file with declaration for BaseFilter Class * @file base_filter.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__BASE_FILTER_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__BASE_FILTER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__BASE_FILTER_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__BASE_FILTER_HPP_ #include #include #include #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** @@ -190,6 +190,6 @@ class BaseFilter std::vector relation_operators_ = {"==", "!=", "<=", ">=", "<", ">"}; std::vector logic_operators_ = {"&&", "||"}; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__BASE_FILTER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__BASE_FILTER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp similarity index 92% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp index e036ee9d..318fbeac 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp @@ -16,15 +16,15 @@ * @brief A header file with declaration for BaseInference Class * @file base_inference.h */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__BASE_INFERENCE_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__BASE_INFERENCE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__BASE_INFERENCE_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__BASE_INFERENCE_HPP_ #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" @@ -66,7 +66,7 @@ void matU8ToBlob( } } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class Result @@ -165,7 +165,7 @@ class BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - virtual const dynamic_vino_lib::Result * getLocationResult(int idx) const = 0; + virtual const openvino_wrapper_lib::Result * getLocationResult(int idx) const = 0; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -208,6 +208,6 @@ class BaseInference int enqueued_frames_ = 0; bool results_fetched_ = false; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__BASE_INFERENCE_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__BASE_INFERENCE_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp similarity index 91% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp index feb97d7d..44285be3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for BaseReidentification Class * @file base_reidentification.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ #include #include #include @@ -26,7 +26,7 @@ #include // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class Tracker @@ -96,5 +96,5 @@ class Tracker std::unordered_map recorded_tracks_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__BASE_REIDENTIFICATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp index 07e07d00..38d50fbe 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp @@ -15,24 +15,24 @@ * @brief A header file with declaration for EmotionsDetection Class * @file emotions_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" -#include "dynamic_vino_lib/models/emotion_detection_model.hpp" +#include "openvino_wrapper_lib/models/emotion_detection_model.hpp" namespace Outputs { class BaseOuput; } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class EmotionResult @@ -64,7 +64,7 @@ class EmotionsResult : public Result class EmotionsDetection : public BaseInference { public: - using Result = dynamic_vino_lib::EmotionsResult; + using Result = openvino_wrapper_lib::EmotionsResult; EmotionsDetection(); ~EmotionsDetection() override; /** @@ -102,7 +102,7 @@ class EmotionsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -125,6 +125,6 @@ class EmotionsDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib +} // namespace openvino_wrapper_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__EMOTIONS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp similarity index 76% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp index b4c37db1..6c18adbe 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for FaceDetection Class * @file face_detection.h */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__FACE_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__FACE_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__FACE_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__FACE_DETECTION_HPP_ #include #include @@ -28,13 +28,13 @@ #include #include -#include "dynamic_vino_lib/models/face_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/models/face_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class FaceDetectionResult @@ -55,5 +55,5 @@ class FaceDetection : public ObjectDetection public: explicit FaceDetection(bool, double); }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__FACE_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__FACE_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp similarity index 81% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp index e0f6f9ac..7175f3be 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp @@ -16,20 +16,20 @@ * @brief A header file with declaration for FaceReidentification Class * @file face_reidentification.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/face_reidentification_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/base_reidentification.hpp" +#include "openvino_wrapper_lib/models/face_reidentification_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_reidentification.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class FaceReidentificationResult @@ -53,7 +53,7 @@ class FaceReidentificationResult : public Result class FaceReidentification : public BaseInference { public: - using Result = dynamic_vino_lib::FaceReidentificationResult; + using Result = openvino_wrapper_lib::FaceReidentificationResult; explicit FaceReidentification(double); ~FaceReidentification() override; /** @@ -91,7 +91,7 @@ class FaceReidentification : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed reidentification result either through image window or ROS topic. @@ -108,7 +108,7 @@ class FaceReidentification : public BaseInference private: std::shared_ptr valid_model_; std::vector results_; - std::shared_ptr face_tracker_; + std::shared_ptr face_tracker_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__FACE_REIDENTIFICATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp index f5d5390f..1a0ebc4f 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp @@ -16,20 +16,20 @@ * @brief A header file with declaration for FaceDetection Class * @file head_pose_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ #include #include #include -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/models/head_pose_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class HeadPoseResult @@ -78,7 +78,7 @@ class HeadPoseResult : public Result class HeadPoseDetection : public BaseInference { public: - using Result = dynamic_vino_lib::HeadPoseResult; + using Result = openvino_wrapper_lib::HeadPoseResult; HeadPoseDetection(); ~HeadPoseDetection() override; /** @@ -116,7 +116,7 @@ class HeadPoseDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -139,5 +139,5 @@ class HeadPoseDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__HEAD_POSE_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp similarity index 78% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp index b9f7bb94..1f2c9881 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp @@ -16,10 +16,10 @@ * @brief a header file with declaration of Inference Manager class * @file inference_manager.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ -#include +#include #include #include #include @@ -28,7 +28,7 @@ #include #include #include -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" /** * @class InferenceManager @@ -84,20 +84,20 @@ class InferenceManager parseInputDevice(const Params::ParamManager::PipelineRawData & params); std::map> parseOutput( const Params::ParamManager::PipelineRawData & params); - std::map> + std::map> parseInference(const Params::ParamManager::PipelineRawData & params); - std::shared_ptr createFaceDetection( + std::shared_ptr createFaceDetection( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createAgeGenderRecognition( + std::shared_ptr createAgeGenderRecognition( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createEmotionRecognition( + std::shared_ptr createEmotionRecognition( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createHeadPoseEstimation( + std::shared_ptr createHeadPoseEstimation( const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createObjectDetection( + std::shared_ptr createObjectDetection( const Params::ParamManager::InferenceParams & infer); std::map pipelines_; }; -#endif // DYNAMIC_VINO_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp similarity index 84% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp index 30dbf28e..fe7a34e6 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp @@ -16,18 +16,18 @@ * @brief A header file with declaration for LandmarksDetection Class * @file landmarks_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/landmarks_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class LandmarksDetectionResult @@ -53,7 +53,7 @@ class LandmarksDetectionResult : public Result class LandmarksDetection : public BaseInference { public: - using Result = dynamic_vino_lib::LandmarksDetectionResult; + using Result = openvino_wrapper_lib::LandmarksDetectionResult; LandmarksDetection(); ~LandmarksDetection() override; /** @@ -91,7 +91,7 @@ class LandmarksDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -109,5 +109,5 @@ class LandmarksDetection : public BaseInference std::shared_ptr valid_model_; std::vector results_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__LANDMARKS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp index b3adec0e..1d9ef900 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp @@ -16,18 +16,18 @@ * @brief A header file with declaration for LicensePlateDetection Class * @file license_plate_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/license_plate_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class LicensePlateDetectionResult @@ -53,7 +53,7 @@ class LicensePlateDetectionResult : public Result class LicensePlateDetection : public BaseInference { public: - using Result = dynamic_vino_lib::LicensePlateDetectionResult; + using Result = openvino_wrapper_lib::LicensePlateDetectionResult; LicensePlateDetection(); ~LicensePlateDetection() override; /** @@ -95,7 +95,7 @@ class LicensePlateDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -128,5 +128,5 @@ class LicensePlateDetection : public BaseInference "U", "V", "W", "X", "Y", "Z" }; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp similarity index 89% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp index a83a7926..47b7cc68 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for ObjectDetection Class * @file object_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_DETECTION_HPP_ #include #include #include @@ -27,13 +27,13 @@ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/base_filter.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_filter.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class ObjectDetectionResult @@ -84,7 +84,7 @@ class ObjectDetectionResult : public Result class ObjectDetectionResultFilter : public BaseFilter { public: - using Result = dynamic_vino_lib::ObjectDetectionResult; + using Result = openvino_wrapper_lib::ObjectDetectionResult; ObjectDetectionResultFilter(); @@ -140,8 +140,8 @@ class ObjectDetectionResultFilter : public BaseFilter class ObjectDetection : public BaseInference { public: - using Result = dynamic_vino_lib::ObjectDetectionResult; - using Filter = dynamic_vino_lib::ObjectDetectionResultFilter; + using Result = openvino_wrapper_lib::ObjectDetectionResult; + using Filter = openvino_wrapper_lib::ObjectDetectionResultFilter; explicit ObjectDetection(bool, double); ~ObjectDetection() override; /** @@ -206,5 +206,5 @@ class ObjectDetection : public BaseInference double show_output_thresh_ = 0; bool enable_roi_constraint_ = false; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp index 081af67f..a450c567 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for ObjectSegmentation Class * @file object_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ #include #include #include @@ -25,13 +25,13 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class ObjectSegmentationResult @@ -71,7 +71,7 @@ class ObjectSegmentationResult : public Result class ObjectSegmentation : public BaseInference { public: - using Result = dynamic_vino_lib::ObjectSegmentationResult; + using Result = openvino_wrapper_lib::ObjectSegmentationResult; explicit ObjectSegmentation(double); ~ObjectSegmentation() override; /** @@ -113,7 +113,7 @@ class ObjectSegmentation : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -142,5 +142,5 @@ class ObjectSegmentation : public BaseInference {81, 0, 81} }; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp index 67de05fb..7954157b 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for ObjectSegmentation Class * @file object_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_MASKRCNN_HPP_ #include #include #include @@ -25,13 +25,13 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class ObjectSegmentationMaskrcnnResult @@ -71,7 +71,7 @@ class ObjectSegmentationMaskrcnnResult : public Result class ObjectSegmentationMaskrcnn : public BaseInference { public: - using Result = dynamic_vino_lib::ObjectSegmentationMaskrcnnResult; + using Result = openvino_wrapper_lib::ObjectSegmentationMaskrcnnResult; explicit ObjectSegmentationMaskrcnn(double); ~ObjectSegmentationMaskrcnn() override; /** @@ -113,7 +113,7 @@ class ObjectSegmentationMaskrcnn : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -142,5 +142,5 @@ class ObjectSegmentationMaskrcnn : public BaseInference {81, 0, 81} }; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp index 17287f49..f5a3c100 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp @@ -16,19 +16,19 @@ * @brief A header file with declaration for PersonAttribsDetection Class * @file person_attribs_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino/openvino.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class PersonAttribsDetectionResult @@ -71,7 +71,7 @@ class PersonAttribsDetectionResult : public Result class PersonAttribsDetection : public BaseInference { public: - using Result = dynamic_vino_lib::PersonAttribsDetectionResult; + using Result = openvino_wrapper_lib::PersonAttribsDetectionResult; explicit PersonAttribsDetection(double); ~PersonAttribsDetection() override; /** @@ -109,7 +109,7 @@ class PersonAttribsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -137,5 +137,5 @@ class PersonAttribsDetection : public BaseInference "has longhair", "has coat_jacket"}; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp similarity index 81% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp index 048484ef..be6d55f8 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp @@ -16,19 +16,19 @@ * @brief A header file with declaration for PersonReidentification Class * @file person_reidentification.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/person_reidentification_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/base_reidentification.hpp" +#include "openvino_wrapper_lib/models/person_reidentification_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/base_reidentification.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class PersonReidentificationResult @@ -51,7 +51,7 @@ class PersonReidentificationResult : public Result class PersonReidentification : public BaseInference { public: - using Result = dynamic_vino_lib::PersonReidentificationResult; + using Result = openvino_wrapper_lib::PersonReidentificationResult; explicit PersonReidentification(double); ~PersonReidentification() override; /** @@ -89,7 +89,7 @@ class PersonReidentification : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -106,7 +106,7 @@ class PersonReidentification : public BaseInference private: std::shared_ptr valid_model_; std::vector results_; - std::shared_ptr person_tracker_; + std::shared_ptr person_tracker_; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_REIDENTIFICATION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp index 5f40fbd8..575e99d1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp @@ -16,18 +16,18 @@ * @brief A header file with declaration for VehicleAttribsDetection Class * @file vehicle_attribs_detection.hpp */ -#ifndef DYNAMIC_VINO_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ -#define DYNAMIC_VINO_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ #include #include #include #include -#include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "opencv2/opencv.hpp" // namespace -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { /** * @class VehicleAttribsDetectionResult @@ -58,7 +58,7 @@ class VehicleAttribsDetectionResult : public Result class VehicleAttribsDetection : public BaseInference { public: - using Result = dynamic_vino_lib::VehicleAttribsDetectionResult; + using Result = openvino_wrapper_lib::VehicleAttribsDetectionResult; VehicleAttribsDetection(); ~VehicleAttribsDetection() override; /** @@ -96,7 +96,7 @@ class VehicleAttribsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const dynamic_vino_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. @@ -118,5 +118,5 @@ class VehicleAttribsDetection : public BaseInference const std::vector colors_ = { "white", "gray", "yellow", "red", "green", "blue", "black"}; }; -} // namespace dynamic_vino_lib -#endif // DYNAMIC_VINO_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp similarity index 93% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp index f01fd22d..79350653 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp @@ -16,8 +16,8 @@ * @brief A header file with declaration for BaseInput Class * @file base_input.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__BASE_INPUT_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__BASE_INPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__BASE_INPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__BASE_INPUT_HPP_ #include #include @@ -25,7 +25,7 @@ #include #include #include -#include "dynamic_vino_lib/inputs/ros2_handler.hpp" +#include "openvino_wrapper_lib/inputs/ros2_handler.hpp" /** * @class BaseInputDevice @@ -121,4 +121,4 @@ class BaseInputDevice : public Ros2Handler bool is_init_ = false; }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__BASE_INPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__BASE_INPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp index e3c0d837..e1a7b6c9 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp @@ -16,12 +16,12 @@ * @brief A header file with declaration for Image class * @file file_input.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__IMAGE_INPUT_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__IMAGE_INPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_INPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_INPUT_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -62,4 +62,4 @@ class Image : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__IMAGE_INPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_INPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp index a5b25f18..cc5274fd 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp @@ -17,15 +17,15 @@ * @file image_topic.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__IMAGE_TOPIC_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__IMAGE_TOPIC_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_TOPIC_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_TOPIC_HPP_ #include #include #include #include -#include "dynamic_vino_lib/utils/mutex_counter.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/utils/mutex_counter.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -51,4 +51,4 @@ class ImageTopic : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__IMAGE_TOPIC_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__IMAGE_TOPIC_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp index 11dc2dd5..c497cf85 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ip_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp @@ -17,12 +17,12 @@ * @file ip_camera.hpp */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__IP_CAMERA_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__IP_CAMERA_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__IP_CAMERA_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__IP_CAMERA_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -57,4 +57,4 @@ class IpCamera : public BaseInputDevice std::string ip_uri_; }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__IP_CAMERA_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__IP_CAMERA_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp index ff06fce8..8752289c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp @@ -17,12 +17,12 @@ * @file realsense_camera.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -61,4 +61,4 @@ class RealSenseCamera : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera_topic.hpp similarity index 79% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera_topic.hpp index 7e06bab3..8d9de35c 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/realsense_camera_topic.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera_topic.hpp @@ -17,10 +17,10 @@ * @file realsense_camera.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ -#include "dynamic_vino_lib/inputs/image_topic.hpp" +#include "openvino_wrapper_lib/inputs/image_topic.hpp" namespace Input { @@ -34,4 +34,4 @@ typedef ImageTopic RealSenseCameraTopic; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__REALSENSE_CAMERA_TOPIC_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp similarity index 92% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp index 7630a00e..c2d31778 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/ros2_handler.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp @@ -17,8 +17,8 @@ * @file ros_handler.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__ROS2_HANDLER_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__ROS2_HANDLER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__ROS2_HANDLER_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__ROS2_HANDLER_HPP_ #include #include @@ -84,4 +84,4 @@ class Ros2Handler } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__ROS2_HANDLER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__ROS2_HANDLER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp index 04b2a993..d5924551 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/standard_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp @@ -17,13 +17,13 @@ * @file standard_camera.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__STANDARD_CAMERA_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__STANDARD_CAMERA_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" #include #include #include @@ -64,4 +64,4 @@ class StandardCamera : public BaseInputDevice int camera_id_ = -1; }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__STANDARD_CAMERA_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp index d751209a..c4ee9b10 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/video_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp @@ -16,12 +16,12 @@ * @brief A header file with declaration for Video class * @file video_input.h */ -#ifndef DYNAMIC_VINO_LIB__INPUTS__VIDEO_INPUT_HPP_ -#define DYNAMIC_VINO_LIB__INPUTS__VIDEO_INPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__INPUTS__VIDEO_INPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__INPUTS__VIDEO_INPUT_HPP_ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" namespace Input { @@ -57,4 +57,4 @@ class Video : public BaseInputDevice }; } // namespace Input -#endif // DYNAMIC_VINO_LIB__INPUTS__VIDEO_INPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__INPUTS__VIDEO_INPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/age_gender_detection_model.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/age_gender_detection_model.hpp index 6ef8af7b..564f93a3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/age_gender_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/age_gender_detection_model.hpp @@ -17,11 +17,11 @@ * @file age_gender_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -65,4 +65,4 @@ class AgeGenderDetectionModel : public BaseModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__AGE_GENDER_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp similarity index 95% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp index d404b888..e439e9f0 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp @@ -17,8 +17,8 @@ * @file base_attribute.hpp */ -#ifndef DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ #include #include @@ -27,7 +27,7 @@ #include #include "openvino/openvino.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/slog.hpp" namespace Models { @@ -195,4 +195,4 @@ class SSDModelAttr : public ModelAttribute } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ \ No newline at end of file +#endif // OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ \ No newline at end of file diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp similarity index 91% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp index 64d9c89e..ce0a0ac0 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/base_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp @@ -17,8 +17,8 @@ * @file base_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__BASE_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__BASE_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ #include @@ -30,15 +30,15 @@ #include #include -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" namespace Engines { class Engine; } -namespace dynamic_vino_lib +namespace openvino_wrapper_lib { class ObjectDetectionResult; } @@ -132,7 +132,7 @@ namespace Models ObjectDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); virtual bool fetchResults( const std::shared_ptr &engine, - std::vector &result, + std::vector &result, const float &confidence_thresh = 0.3, const bool &enable_roi_constraint = false) = 0; virtual bool matToBlob( @@ -142,4 +142,4 @@ namespace Models } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__BASE_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp index c5abd257..56c73665 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/emotion_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp @@ -17,11 +17,11 @@ * @file emotion_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -43,4 +43,4 @@ class EmotionDetectionModel : public BaseModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp index 868417e4..c4923a36 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp @@ -17,11 +17,11 @@ * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -42,4 +42,4 @@ class FaceDetectionModel : public ObjectDetectionModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__FACE_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp index b526777c..4eda2755 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/face_reidentification_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for FaceReidentificationModel Class * @file person_reidentification_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -44,4 +44,4 @@ class FaceReidentificationModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__FACE_REIDENTIFICATION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp index 2878eb51..d815f125 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/head_pose_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp @@ -17,11 +17,11 @@ * @file head_pose_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { @@ -73,4 +73,4 @@ class HeadPoseDetectionModel : public BaseModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__HEAD_POSE_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp index 164d2ea7..71a7244f 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/landmarks_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for LandmarksDetectionModel Class * @file landmarks_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -43,4 +43,4 @@ class LandmarksDetectionModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__LANDMARKS_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp index 868fafc1..76c2deed 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/license_plate_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for LicensePlateDetectionModel Class * @file vehicle_attribs_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -48,4 +48,4 @@ class LicensePlateDetectionModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__LICENSE_PLATE_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp similarity index 81% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp index 622e866b..818414dd 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_ssd_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp @@ -15,12 +15,12 @@ * @brief A header file with declaration for ObjectDetectionModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -29,14 +29,14 @@ namespace Models */ class ObjectDetectionSSDModel : public ObjectDetectionModel { - using Result = dynamic_vino_lib::ObjectDetectionResult; + using Result = openvino_wrapper_lib::ObjectDetectionResult; public: ObjectDetectionSSDModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); bool fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh = 0.3, const bool & enable_roi_constraint = false) override; @@ -59,4 +59,4 @@ class ObjectDetectionSSDModel : public ObjectDetectionModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp similarity index 83% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp index f9e2b040..8e2f177e 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_detection_yolov5_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp @@ -15,12 +15,12 @@ * @brief A header file with declaration for ObjectDetectionModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -37,14 +37,14 @@ namespace Models class ObjectDetectionYolov5Model : public ObjectDetectionModel { - using Result = dynamic_vino_lib::ObjectDetectionResult; + using Result = openvino_wrapper_lib::ObjectDetectionResult; public: ObjectDetectionYolov5Model(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); bool fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh = 0.3, const bool & enable_roi_constraint = false) override; @@ -70,4 +70,4 @@ class ObjectDetectionYolov5Model : public ObjectDetectionModel }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp similarity index 85% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp index e0c64600..49940225 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp @@ -15,11 +15,11 @@ * @brief A header file with declaration for ObjectSegmentationMaskrcnnModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -58,4 +58,4 @@ class ObjectSegmentationMaskrcnnModel : public BaseModel int object_size_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MASKRCNN_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp similarity index 86% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp index 5a527651..217ec132 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/object_segmentation_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp @@ -15,11 +15,11 @@ * @brief A header file with declaration for ObjectSegmentationModel Class * @file face_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ #include #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -58,4 +58,4 @@ class ObjectSegmentationModel : public BaseModel int object_size_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp similarity index 82% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp index 1e253098..d22e6a2d 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for PersonAttribsDetectionModel Class * @file person_attribs_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -42,4 +42,4 @@ class PersonAttribsDetectionModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__PERSON_ATTRIBS_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp similarity index 84% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp index afbb4dcb..4b2937ff 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_reidentification_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for PersonReidentificationModel Class * @file person_reidentification_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -44,4 +44,4 @@ class PersonReidentificationModel : public BaseModel std::string output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__PERSON_REIDENTIFICATION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp similarity index 84% rename from dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp index ff230f1d..8012bd68 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp @@ -16,10 +16,10 @@ * @brief A header file with declaration for VehicleAttribsDetectionModel Class * @file vehicle_attribs_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ -#define DYNAMIC_VINO_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ #include -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" namespace Models { /** @@ -45,4 +45,4 @@ class VehicleAttribsDetectionModel : public BaseModel std::string type_output_; }; } // namespace Models -#endif // DYNAMIC_VINO_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ +#endif // OPENVINO_WRAPPER_LIB__MODELS__VEHICLE_ATTRIBS_DETECTION_MODEL_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp similarity index 53% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp index c9267db8..97ac56b1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/base_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp @@ -17,40 +17,40 @@ * @file head_pose_detection_model.h */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__BASE_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__BASE_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__BASE_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__BASE_OUTPUT_HPP_ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include #include #include -#include "dynamic_vino_lib/inferences/age_gender_detection.hpp" -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inferences/emotions_detection.hpp" -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/inferences/head_pose_detection.hpp" -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/inferences/object_segmentation.hpp" -#include "dynamic_vino_lib/inferences/person_reidentification.hpp" -#include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/landmarks_detection.hpp" -#include "dynamic_vino_lib/inferences/face_reidentification.hpp" -#include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/license_plate_detection.hpp" -#include "dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp" +#include "openvino_wrapper_lib/inferences/age_gender_detection.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inferences/emotions_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/inferences/person_reidentification.hpp" +#include "openvino_wrapper_lib/inferences/person_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_reidentification.hpp" +#include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp" #include "opencv2/opencv.hpp" class Pipeline; @@ -70,80 +70,80 @@ class BaseOutput /** * @brief Generate output content according to the license plate detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the vehicle attributes detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the face reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the landmarks detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the person reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the person reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the object segmentation result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the object segmentation maskrcnn result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the object detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the face detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the emotion detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the age and gender detection * result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** * @brief Generate output content according to the headpose detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector &) { } /** @@ -164,13 +164,13 @@ class BaseOutput virtual void setServiceResponseForFace( std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} Pipeline * getPipeline() const; cv::Mat getFrame() const; virtual void clearData() {} @@ -181,4 +181,4 @@ class BaseOutput std::string output_name_; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__BASE_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__BASE_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp similarity index 78% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp index 22f9b704..d7c39ea1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/image_window_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp @@ -17,12 +17,12 @@ * @file image_window_output.h */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ #include #include -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" namespace Outputs { @@ -56,84 +56,84 @@ class ImageWindowOutput : public BaseOutput * @param[in] A license plate detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the vehicle attributes detection result. * @param[in] A vehicle attributes detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the face reidentification result. * @param[in] A face reidentification result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the landmarks detection result. * @param[in] A landmarks detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the person attributes detection result. * @param[in] A person attributes detection result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the person reidentification result. * @param[in] A person reidentification result objetc. */ void accept( - const std::vector &) override; + const std::vector &) override; /** * @brief Generate image window output content according to * the object segmentation result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the object segmentation maskrcnn result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the face detection result. * @param[in] A face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the object detection result. * @param[in] results A bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the emotion detection result. * @param[in] A emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the age and gender detection result. * @param[in] A head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the headpose detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; private: unsigned findOutput(const cv::Rect &); @@ -150,8 +150,8 @@ class ImageWindowOutput : public BaseOutput */ cv::Mat getRotationTransform(double yaw, double pitch, double roll); - void mergeMask(const std::vector &); - void mergeMask(const std::vector &); + void mergeMask(const std::vector &); + void mergeMask(const std::vector &); struct OutputData { @@ -180,4 +180,4 @@ class ImageWindowOutput : public BaseOutput }; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp similarity index 61% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp index da27197b..8cdfabad 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/ros_service_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp @@ -17,18 +17,18 @@ * @file ros_topic_output.hpp */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -36,8 +36,8 @@ #include #include -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/outputs/ros_topic_output.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/outputs/ros_topic_output.hpp" namespace Outputs { @@ -60,13 +60,13 @@ class RosServiceOutput : public RosTopicOutput void setServiceResponse(std::shared_ptr response); void setResponseForFace(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); private: const std::string service_name_; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_SERVICE_OUTPUT_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp new file mode 100644 index 00000000..b2fcfcec --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp @@ -0,0 +1,183 @@ +// Copyright (c) 2018-2022 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief A header file with declaration for RosTopicOutput Class + * @file ros_topic_output.hpp + */ + +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" + +namespace Outputs +{ +/** + * @class RosTopicOutput + * @brief This class handles and publish the detection result with ros topic. + */ +class RosTopicOutput : public BaseOutput +{ +public: + explicit RosTopicOutput(std::string output_name_, + const rclcpp::Node::SharedPtr node=nullptr); + /** + * @brief Calculate the camera matrix of a frame. + * @param[in] A frame. + */ + void feedFrame(const cv::Mat &) override; + /** + * @brief Publish all the detected infomations generated by the accept + * functions with ros topic. + */ + void handleOutput() override; + /** + * @brief Generate ros topic infomation according to + * the license plate detection result. + * @param[in] results a bundle of license plate detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the vehicle attributes detection result. + * @param[in] results a bundle of vehicle attributes detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the face reidentification result. + * @param[in] results a bundle of face reidentification results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the landmarks detection result. + * @param[in] results a bundle of landmarks detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the person attributes detection result. + * @param[in] results a bundle of person attributes detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the person reidentification result. + * @param[in] results a bundle of person reidentification results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object segmentation result. + * @param[in] results a bundle of object segmentation results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object segmentation result. + * @param[in] results a bundle of object segmentation maskrcnn results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object detection result. + * @param[in] results a bundle of object detection results. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the face detection result. + * @param[in] An face detection result objetc. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the emotion detection result. + * @param[in] An emotion detection result objetc. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the age gender detection result. + * @param[in] An age gender detection result objetc. + */ + void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the headpose detection result. + * @param[in] An head pose detection result objetc. + */ + void accept(const std::vector &) override; + +protected: + const std::string topic_name_; + std::shared_ptr node_; + rclcpp::Publisher::SharedPtr pub_license_plate_; + std::shared_ptr license_plate_topic_; + rclcpp::Publisher::SharedPtr pub_vehicle_attribs_; + std::shared_ptr vehicle_attribs_topic_; + rclcpp::Publisher::SharedPtr pub_landmarks_; + std::shared_ptr landmarks_topic_; + rclcpp::Publisher::SharedPtr pub_face_reid_; + std::shared_ptr face_reid_topic_; + rclcpp::Publisher::SharedPtr pub_person_attribs_; + std::shared_ptr person_attribs_topic_; + rclcpp::Publisher::SharedPtr pub_person_reid_; + std::shared_ptr person_reid_topic_; + rclcpp::Publisher::SharedPtr pub_segmented_object_; + std::shared_ptr segmented_objects_topic_; + rclcpp::Publisher::SharedPtr pub_detected_object_; + std::shared_ptr detected_objects_topic_; + rclcpp::Publisher::SharedPtr pub_face_; + std::shared_ptr faces_topic_; + rclcpp::Publisher::SharedPtr pub_emotion_; + std::shared_ptr emotions_topic_; + rclcpp::Publisher::SharedPtr pub_age_gender_; + std::shared_ptr age_gender_topic_; + rclcpp::Publisher::SharedPtr pub_headpose_; + std::shared_ptr headpose_topic_; +}; +} // namespace Outputs +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp similarity index 73% rename from dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp index f1cc0f4e..6711fab6 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/outputs/rviz_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp @@ -17,8 +17,8 @@ * @file rviz_output.h */ -#ifndef DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ -#define DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ +#define OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ #include #include @@ -26,8 +26,8 @@ #include #include -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/outputs/image_window_output.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/outputs/image_window_output.hpp" namespace Outputs { @@ -54,67 +54,67 @@ class RvizOutput : public BaseOutput * the face reidentification result. * @param[in] A face reidentification result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the landmarks detection result. * @param[in] A landmarks detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the person attributes detection result. * @param[in] A person attributes detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the person reidentification result. * @param[in] A person reidentification result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the face detection result. * @param[in] A face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the object detection result. * @param[in] results A bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the object segmentation result. * @param[in] results A bundle of object segmentation results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the object segmentation result. * @param[in] results A bundle of object segmentation maskrcnn results. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the emotion detection result. * @param[in] A emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the age and gender detection result. * @param[in] A head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the headpose detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector &) override; private: std::shared_ptr node_; @@ -123,4 +123,4 @@ class RvizOutput : public BaseOutput std::shared_ptr image_window_output_; }; } // namespace Outputs -#endif // DYNAMIC_VINO_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ +#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp similarity index 88% rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp index 913bcc6b..a80c15b3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp @@ -16,8 +16,8 @@ * @brief a header file with declaration of Pipeline class * @file pipeline.h */ -#ifndef DYNAMIC_VINO_LIB__PIPELINE_HPP_ -#define DYNAMIC_VINO_LIB__PIPELINE_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__PIPELINE_HPP_ +#define OPENVINO_WRAPPER_LIB__PIPELINE_HPP_ #include #include @@ -27,10 +27,10 @@ #include #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inputs/standard_camera.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" #include "opencv2/opencv.hpp" /** @@ -59,7 +59,7 @@ class Pipeline */ bool add( const std::string & parent, const std::string & name, - std::shared_ptr inference); + std::shared_ptr inference); /** * @brief Add output device to the pipeline. * @param[in] parent name of the parent inference. @@ -77,7 +77,7 @@ class Pipeline // { // filters_.add(filters); // } - bool add(const std::string & name, std::shared_ptr inference); + bool add(const std::string & name, std::shared_ptr inference); /** * @brief Add inference network-output device edge to the pipeline. * @param[in] parent name of the parent inference. @@ -154,7 +154,7 @@ class Pipeline std::shared_ptr input_device_; std::string input_device_name_; std::multimap next_; - std::map> name_to_detection_map_; + std::map> name_to_detection_map_; std::map> name_to_output_map_; int total_inference_ = 0; std::set output_names_; @@ -170,4 +170,4 @@ class Pipeline std::chrono::time_point t_start_; }; -#endif // DYNAMIC_VINO_LIB__PIPELINE_HPP_ +#endif // OPENVINO_WRAPPER_LIB__PIPELINE_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp similarity index 79% rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp index 3b4e210c..e4a3d485 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp @@ -16,10 +16,10 @@ * @brief a header file with declaration of Pipeline Manager class * @file pipeline_manager.hpp */ -#ifndef DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_ -#define DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__PIPELINE_MANAGER_HPP_ +#define OPENVINO_WRAPPER_LIB__PIPELINE_MANAGER_HPP_ -#include +#include #include #include #include @@ -28,8 +28,8 @@ #include #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/engines/engine_manager.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/engines/engine_manager.hpp" /** * @class PipelineManager @@ -110,37 +110,37 @@ class PipelineManager parseInputDevice(const PipelineData & params); std::map> parseOutput(const PipelineData & pdata); - std::map> + std::map> parseInference(const Params::ParamManager::PipelineRawData & params); - std::shared_ptr + std::shared_ptr createFaceDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createAgeGenderRecognition(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createEmotionRecognition(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createHeadPoseEstimation(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createObjectDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createPersonReidentification(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createPersonAttribsDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createLandmarksDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createFaceReidentification(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createVehicleAttribsDetection(const Params::ParamManager::InferenceRawData & infer); - std::shared_ptr + std::shared_ptr createLicensePlateDetection(const Params::ParamManager::InferenceRawData & infer); std::map pipelines_; ServiceData service_; Engines::EngineManager engine_manager_; }; -#endif // DYNAMIC_VINO_LIB__PIPELINE_MANAGER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__PIPELINE_MANAGER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp similarity index 89% rename from dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp index f0deba59..bcb2991a 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/pipeline_params.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp @@ -16,10 +16,10 @@ * @brief a header file with declaration of Pipeline class * @file pipeline_params.hpp */ -#ifndef DYNAMIC_VINO_LIB__PIPELINE_PARAMS_HPP_ -#define DYNAMIC_VINO_LIB__PIPELINE_PARAMS_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__PIPELINE_PARAMS_HPP_ +#define OPENVINO_WRAPPER_LIB__PIPELINE_PARAMS_HPP_ -#include +#include #include #include #include @@ -28,9 +28,9 @@ #include #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/inputs/standard_camera.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" #include "opencv2/opencv.hpp" const char kInputType_Image[] = "Image"; @@ -85,4 +85,4 @@ class PipelineParams Params::ParamManager::PipelineRawData params_; }; -#endif // DYNAMIC_VINO_LIB__PIPELINE_PARAMS_HPP_ +#endif // OPENVINO_WRAPPER_LIB__PIPELINE_PARAMS_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp similarity index 67% rename from dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp index 7c77cbf8..e5e5eb82 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/frame_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp @@ -11,22 +11,22 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ -#define DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ +#define OPENVINO_WRAPPER_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include -#include -#include -#include +#include +#include +#include #include #include @@ -56,4 +56,4 @@ class FrameProcessingServer : public rclcpp::Node std::string config_path_; }; } // namespace vino_service -#endif // DYNAMIC_VINO_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__SERVICES__FRAME_PROCESSING_SERVER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp similarity index 75% rename from dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp index d9b55d8c..ed5e1dc2 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/services/pipeline_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp @@ -11,14 +11,14 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef DYNAMIC_VINO_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ -#define DYNAMIC_VINO_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ +#define OPENVINO_WRAPPER_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include #include @@ -51,4 +51,4 @@ class PipelineProcessingServer : public rclcpp::Node std::string service_name_; }; } // namespace vino_service -#endif // DYNAMIC_VINO_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__SERVICES__PIPELINE_PROCESSING_SERVER_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp new file mode 100644 index 00000000..bf350394 --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp @@ -0,0 +1,175 @@ +// Copyright (c) 2018-2022 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief a header file with logging facility for common samples + * @file slog.hpp + */ +#ifndef OPENVINO_WRAPPER_LIB__SLOG_HPP_ +#define OPENVINO_WRAPPER_LIB__SLOG_HPP_ + +#pragma once + +#include +#include + +namespace slog +{ +#if 1 + enum COLOR { + RESET = 0, + BLUE = 1, + GREEN = 2, + YELLOW = 3, + RED = 4, + }; + +#else +//the following are UBUNTU/LINUX ONLY terminal color codes. +#define RESET "\033[0m" +#define BLACK "\033[30m" /* Black */ +#define RED "\033[31m" /* Red */ +#define GREEN "\033[32m" /* Green */ +#define YELLOW "\033[33m" /* Yellow */ +#define BLUE "\033[34m" /* Blue */ +#define MAGENTA "\033[35m" /* Magenta */ +#define CYAN "\033[36m" /* Cyan */ +#define WHITE "\033[37m" /* White */ +#define BOLDBLACK "\033[1m\033[30m" /* Bold Black */ +#define BOLDRED "\033[1m\033[31m" /* Bold Red */ +#define BOLDGREEN "\033[1m\033[32m" /* Bold Green */ +#define BOLDYELLOW "\033[1m\033[33m" /* Bold Yellow */ +#define BOLDBLUE "\033[1m\033[34m" /* Bold Blue */ +#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */ +#define BOLDCYAN "\033[1m\033[36m" /* Bold Cyan */ +#define BOLDWHITE "\033[1m\033[37m" /* Bold White */ +#endif + +/** + * @class LogStreamEndLine + * @brief The LogStreamEndLine class implements an end line marker for a log + * stream + */ +class LogStreamEndLine +{ +}; + +static constexpr LogStreamEndLine endl; + +/** + * @class LogStream + * @brief The LogStream class implements a stream for sample logging + */ +class LogStream +{ + std::string _prefix; + std::ostream * _log_stream; + bool _new_line; + int _color_id; + +public: + /** + * @brief A constructor. Creates an LogStream object + * @param prefix The prefix to print + */ + LogStream(const std::string & prefix, std::ostream & log_stream, + const int color_id = -1) + : _prefix(prefix), _new_line(true), _color_id(color_id) + { + _log_stream = &log_stream; + } + + /** + * @brief A stream output operator to be used within the logger + * @param arg Object for serialization in the logger message + */ + template + LogStream & operator<<(const T & arg) + { + if (_new_line) { + setLineColor(); + (*_log_stream) << "[ " << _prefix << " ] "; + _new_line = false; + } + + (*_log_stream) << arg; + return *this; + } + + // Specializing for LogStreamEndLine to support slog::endl + LogStream & operator<<(const LogStreamEndLine & arg) + { + _new_line = true; + resetLineColor(); + (*_log_stream) << std::endl; + return *this; + } + + void setLineColor() + { + switch(_color_id){ + case BLUE: + (*_log_stream) << "\033[34m"; + break; + case GREEN: + (*_log_stream) << "\033[32m"; + break; + case YELLOW: + (*_log_stream) << "\033[33m"; + break; + case RED: + (*_log_stream) << "\033[31m"; + break; + default: + break; + } + } + + void resetLineColor() + { + if(_color_id > 0){ + (*_log_stream) << "\033[0m"; //RESET + } + } +}; + +class NullStream +{ +public: + NullStream(){} + + NullStream(const std::string & prefix, std::ostream & log_stream) + { + (void)prefix; + (void)log_stream; + } + + template + NullStream & operator<<(const T & arg) + { + return *this; + } +}; + +#ifdef LOG_LEVEL_DEBUG + static LogStream debug("DEBUG", std::cout, GREEN); +#else + static NullStream debug; +#endif +static LogStream info("INFO", std::cout, BLUE); +static LogStream warn("WARNING", std::cout, YELLOW); +static LogStream err("ERROR", std::cerr, RED); + +} // namespace slog +#endif // OPENVINO_WRAPPER_LIB__SLOG_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/mutex_counter.hpp similarity index 87% rename from dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/utils/mutex_counter.hpp index bf1bc718..f0da93a3 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/mutex_counter.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/mutex_counter.hpp @@ -17,8 +17,8 @@ // @file mutex_counter.hpp // -#ifndef DYNAMIC_VINO_LIB__UTILS__MUTEX_COUNTER_HPP_ -#define DYNAMIC_VINO_LIB__UTILS__MUTEX_COUNTER_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__UTILS__MUTEX_COUNTER_HPP_ +#define OPENVINO_WRAPPER_LIB__UTILS__MUTEX_COUNTER_HPP_ #include @@ -54,4 +54,4 @@ class MutexCounter std::condition_variable cv_; }; -#endif // DYNAMIC_VINO_LIB__UTILS__MUTEX_COUNTER_HPP_ +#endif // OPENVINO_WRAPPER_LIB__UTILS__MUTEX_COUNTER_HPP_ diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp similarity index 94% rename from dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp rename to openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp index 88a31e9e..fa3f32e1 100644 --- a/dynamic_vino_lib/include/dynamic_vino_lib/utils/version_info.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp @@ -17,8 +17,8 @@ // @file version_info.hpp // -#ifndef DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_ -#define DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_ +#ifndef OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ +#define OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ #if(defined(USE_OLD_E_PLUGIN_API)) #include @@ -122,4 +122,4 @@ inline void printPluginVersion(InferenceEngine::InferenceEnginePluginPtr ptr, st } #endif // (defined(USE_OLD_E_PLUGIN_API)) -#endif // DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_ +#endif // OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ diff --git a/dynamic_vino_lib/package.xml b/openvino_wrapper_lib/package.xml similarity index 88% rename from dynamic_vino_lib/package.xml rename to openvino_wrapper_lib/package.xml index b975b4e8..e1e4fbf3 100644 --- a/dynamic_vino_lib/package.xml +++ b/openvino_wrapper_lib/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - dynamic_vino_lib + openvino_wrapper_lib 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu @@ -37,9 +37,9 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 openvino_common @@ -54,9 +54,9 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 ament_lint_auto diff --git a/dynamic_vino_lib/src/engines/engine.cpp b/openvino_wrapper_lib/src/engines/engine.cpp similarity index 91% rename from dynamic_vino_lib/src/engines/engine.cpp rename to openvino_wrapper_lib/src/engines/engine.cpp index 6f22b406..ab8704d4 100644 --- a/dynamic_vino_lib/src/engines/engine.cpp +++ b/openvino_wrapper_lib/src/engines/engine.cpp @@ -16,8 +16,8 @@ * @brief a header file with definition of Engine class * @file engine.cpp */ -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/slog.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) Engines::Engine::Engine( diff --git a/dynamic_vino_lib/src/engines/engine_manager.cpp b/openvino_wrapper_lib/src/engines/engine_manager.cpp similarity index 93% rename from dynamic_vino_lib/src/engines/engine_manager.cpp rename to openvino_wrapper_lib/src/engines/engine_manager.cpp index 11c25cce..f3906838 100644 --- a/dynamic_vino_lib/src/engines/engine_manager.cpp +++ b/openvino_wrapper_lib/src/engines/engine_manager.cpp @@ -16,12 +16,12 @@ * @brief a header file with definition of Engine class * @file engine.cpp */ -#include "dynamic_vino_lib/engines/engine_manager.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/utils/version_info.hpp" -#include +#include "openvino_wrapper_lib/engines/engine_manager.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/utils/version_info.hpp" +#include #include #if(defined(USE_OLD_E_PLUGIN_API)) #include diff --git a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp b/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp similarity index 66% rename from dynamic_vino_lib/src/inferences/age_gender_detection.cpp rename to openvino_wrapper_lib/src/inferences/age_gender_detection.cpp index 41d3be08..59138e3a 100644 --- a/dynamic_vino_lib/src/inferences/age_gender_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp @@ -21,38 +21,38 @@ #include #include #include -#include "dynamic_vino_lib/inferences/age_gender_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/inferences/age_gender_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" // AgeGenderResult -dynamic_vino_lib::AgeGenderResult::AgeGenderResult(const cv::Rect & location) +openvino_wrapper_lib::AgeGenderResult::AgeGenderResult(const cv::Rect & location) : Result(location) { } // AgeGender Detection -dynamic_vino_lib::AgeGenderDetection::AgeGenderDetection() -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::AgeGenderDetection::AgeGenderDetection() +: openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::AgeGenderDetection::~AgeGenderDetection() = default; +openvino_wrapper_lib::AgeGenderDetection::~AgeGenderDetection() = default; -void dynamic_vino_lib::AgeGenderDetection::loadNetwork( +void openvino_wrapper_lib::AgeGenderDetection::loadNetwork( std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::AgeGenderDetection::enqueue( +bool openvino_wrapper_lib::AgeGenderDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = dynamic_vino_lib::BaseInference::enqueue( + bool succeed = openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); if (!succeed) { return false; @@ -62,14 +62,14 @@ bool dynamic_vino_lib::AgeGenderDetection::enqueue( return true; } -bool dynamic_vino_lib::AgeGenderDetection::submitRequest() +bool openvino_wrapper_lib::AgeGenderDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::AgeGenderDetection::fetchResults() +bool openvino_wrapper_lib::AgeGenderDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -84,23 +84,23 @@ bool dynamic_vino_lib::AgeGenderDetection::fetchResults() return true; } -int dynamic_vino_lib::AgeGenderDetection::getResultsLength() const +int openvino_wrapper_lib::AgeGenderDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::AgeGenderDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::AgeGenderDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::AgeGenderDetection::getName() const +const std::string openvino_wrapper_lib::AgeGenderDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::AgeGenderDetection::observeOutput( +void openvino_wrapper_lib::AgeGenderDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -108,7 +108,7 @@ void dynamic_vino_lib::AgeGenderDetection::observeOutput( } } -const std::vector dynamic_vino_lib::AgeGenderDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::AgeGenderDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/base_filter.cpp b/openvino_wrapper_lib/src/inferences/base_filter.cpp similarity index 83% rename from dynamic_vino_lib/src/inferences/base_filter.cpp rename to openvino_wrapper_lib/src/inferences/base_filter.cpp index 6a3bb1f3..5b4d381a 100644 --- a/dynamic_vino_lib/src/inferences/base_filter.cpp +++ b/openvino_wrapper_lib/src/inferences/base_filter.cpp @@ -17,20 +17,20 @@ * @file base_filter.cpp */ -#include "dynamic_vino_lib/inferences/base_filter.hpp" +#include "openvino_wrapper_lib/inferences/base_filter.hpp" #include #include #include -dynamic_vino_lib::BaseFilter::BaseFilter() {} +openvino_wrapper_lib::BaseFilter::BaseFilter() {} -bool dynamic_vino_lib::BaseFilter::isValidFilterConditions( +bool openvino_wrapper_lib::BaseFilter::isValidFilterConditions( const std::string & filter_conditions) { return strip(filter_conditions) != ""; } -void dynamic_vino_lib::BaseFilter::acceptFilterConditions( +void openvino_wrapper_lib::BaseFilter::acceptFilterConditions( const std::string & filter_conditions) { striped_conditions_ = strip(filter_conditions); @@ -38,7 +38,7 @@ void dynamic_vino_lib::BaseFilter::acceptFilterConditions( infixToSuffix(infix_conditions); } -bool dynamic_vino_lib::BaseFilter::isRelationOperator(const std::string & str) +bool openvino_wrapper_lib::BaseFilter::isRelationOperator(const std::string & str) { if (std::find(relation_operators_.begin(), relation_operators_.end(), str) != relation_operators_.end()) @@ -48,7 +48,7 @@ bool dynamic_vino_lib::BaseFilter::isRelationOperator(const std::string & str) return false; } -bool dynamic_vino_lib::BaseFilter::isLogicOperator(const std::string & str) +bool openvino_wrapper_lib::BaseFilter::isLogicOperator(const std::string & str) { if (std::find(logic_operators_.begin(), logic_operators_.end(), str) != logic_operators_.end()) @@ -58,7 +58,7 @@ bool dynamic_vino_lib::BaseFilter::isLogicOperator(const std::string & str) return false; } -bool dynamic_vino_lib::BaseFilter::isPriorTo( +bool openvino_wrapper_lib::BaseFilter::isPriorTo( const std::string & operator1, const std::string & operator2) { if (isRelationOperator(operator1) && isLogicOperator(operator2)) { @@ -67,13 +67,13 @@ bool dynamic_vino_lib::BaseFilter::isPriorTo( return false; } -std::string dynamic_vino_lib::BaseFilter::boolToStr(bool value) +std::string openvino_wrapper_lib::BaseFilter::boolToStr(bool value) { if (value) {return "true";} return "false"; } -bool dynamic_vino_lib::BaseFilter::strToBool(const std::string & value) +bool openvino_wrapper_lib::BaseFilter::strToBool(const std::string & value) { if (!value.compare("true")) {return true;} else if (!value.compare("false")) { return false; @@ -84,12 +84,12 @@ bool dynamic_vino_lib::BaseFilter::strToBool(const std::string & value) } const std::vector & -dynamic_vino_lib::BaseFilter::getSuffixConditions() const +openvino_wrapper_lib::BaseFilter::getSuffixConditions() const { return suffix_conditons_; } -bool dynamic_vino_lib::BaseFilter::logicOperation( +bool openvino_wrapper_lib::BaseFilter::logicOperation( const std::string & logic1, const std::string & op, const std::string & logic2) { if (!op.compare("&&")) { @@ -102,7 +102,7 @@ bool dynamic_vino_lib::BaseFilter::logicOperation( } } -bool dynamic_vino_lib::BaseFilter::stringCompare( +bool openvino_wrapper_lib::BaseFilter::stringCompare( const std::string & candidate, const std::string & op, const std::string & target) { if (!op.compare("==")) { @@ -115,7 +115,7 @@ bool dynamic_vino_lib::BaseFilter::stringCompare( } } -bool dynamic_vino_lib::BaseFilter::floatCompare( +bool openvino_wrapper_lib::BaseFilter::floatCompare( float candidate, const std::string & op, float target) { if (!op.compare("<=")) { @@ -132,7 +132,7 @@ bool dynamic_vino_lib::BaseFilter::floatCompare( } } -float dynamic_vino_lib::BaseFilter::stringToFloat(const std::string & candidate) +float openvino_wrapper_lib::BaseFilter::stringToFloat(const std::string & candidate) { float result = 0; try { @@ -143,7 +143,7 @@ float dynamic_vino_lib::BaseFilter::stringToFloat(const std::string & candidate) return result; } -std::vector dynamic_vino_lib::BaseFilter::split( +std::vector openvino_wrapper_lib::BaseFilter::split( const std::string & filter_conditions) { std::vector seperators; @@ -174,7 +174,7 @@ std::vector dynamic_vino_lib::BaseFilter::split( return infix_conditions; } -void dynamic_vino_lib::BaseFilter::infixToSuffix( +void openvino_wrapper_lib::BaseFilter::infixToSuffix( std::vector & infix_conditions) { std::stack operator_stack; @@ -206,7 +206,7 @@ void dynamic_vino_lib::BaseFilter::infixToSuffix( } } -std::string dynamic_vino_lib::BaseFilter::strip(const std::string & str) +std::string openvino_wrapper_lib::BaseFilter::strip(const std::string & str) { std::string stripped_string = ""; for (auto character : str) { diff --git a/dynamic_vino_lib/src/inferences/base_inference.cpp b/openvino_wrapper_lib/src/inferences/base_inference.cpp similarity index 69% rename from dynamic_vino_lib/src/inferences/base_inference.cpp rename to openvino_wrapper_lib/src/inferences/base_inference.cpp index f0b6cc49..52138e5c 100644 --- a/dynamic_vino_lib/src/inferences/base_inference.cpp +++ b/openvino_wrapper_lib/src/inferences/base_inference.cpp @@ -19,26 +19,26 @@ #include -#include "dynamic_vino_lib/inferences/base_inference.hpp" -#include "dynamic_vino_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" // Result -dynamic_vino_lib::Result::Result(const cv::Rect & location) +openvino_wrapper_lib::Result::Result(const cv::Rect & location) { location_ = location; } // BaseInference -dynamic_vino_lib::BaseInference::BaseInference() = default; +openvino_wrapper_lib::BaseInference::BaseInference() = default; -dynamic_vino_lib::BaseInference::~BaseInference() = default; +openvino_wrapper_lib::BaseInference::~BaseInference() = default; -void dynamic_vino_lib::BaseInference::loadEngine(const std::shared_ptr engine) +void openvino_wrapper_lib::BaseInference::loadEngine(const std::shared_ptr engine) { engine_ = engine; } -bool dynamic_vino_lib::BaseInference::submitRequest() +bool openvino_wrapper_lib::BaseInference::submitRequest() { if (!engine_->getRequest()) { return false; @@ -53,7 +53,7 @@ bool dynamic_vino_lib::BaseInference::submitRequest() return true; } -bool dynamic_vino_lib::BaseInference::SynchronousRequest() +bool openvino_wrapper_lib::BaseInference::SynchronousRequest() { if (!engine_->getRequest()) { return false; @@ -67,7 +67,7 @@ bool dynamic_vino_lib::BaseInference::SynchronousRequest() return true; } -bool dynamic_vino_lib::BaseInference::fetchResults() +bool openvino_wrapper_lib::BaseInference::fetchResults() { if (results_fetched_) { return false; @@ -76,7 +76,7 @@ bool dynamic_vino_lib::BaseInference::fetchResults() return true; } -void dynamic_vino_lib::BaseInference::addCandidatedModel(std::shared_ptr model) +void openvino_wrapper_lib::BaseInference::addCandidatedModel(std::shared_ptr model) { slog::info << "TESTING in addCandidatedModel()" << slog::endl; if (model != nullptr) { diff --git a/dynamic_vino_lib/src/inferences/base_reidentification.cpp b/openvino_wrapper_lib/src/inferences/base_reidentification.cpp similarity index 87% rename from dynamic_vino_lib/src/inferences/base_reidentification.cpp rename to openvino_wrapper_lib/src/inferences/base_reidentification.cpp index 6ef8429f..559565cc 100644 --- a/dynamic_vino_lib/src/inferences/base_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/base_reidentification.cpp @@ -23,17 +23,17 @@ #include #include #include -#include "dynamic_vino_lib/inferences/base_reidentification.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/base_reidentification.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Tracker -dynamic_vino_lib::Tracker::Tracker( +openvino_wrapper_lib::Tracker::Tracker( int max_record_size, double same_track_thresh, double new_track_thresh) : max_record_size_(max_record_size), same_track_thresh_(same_track_thresh), new_track_thresh_(new_track_thresh) {} -int dynamic_vino_lib::Tracker::processNewTrack(const std::vector & feature) +int openvino_wrapper_lib::Tracker::processNewTrack(const std::vector & feature) { int most_similar_id; double similarity = findMostSimilarTrack(feature, most_similar_id); @@ -45,7 +45,7 @@ int dynamic_vino_lib::Tracker::processNewTrack(const std::vector & featur return most_similar_id; } -double dynamic_vino_lib::Tracker::findMostSimilarTrack( +double openvino_wrapper_lib::Tracker::findMostSimilarTrack( const std::vector & feature, int & most_similar_id) { double max_similarity = 0; @@ -60,7 +60,7 @@ double dynamic_vino_lib::Tracker::findMostSimilarTrack( return max_similarity; } -double dynamic_vino_lib::Tracker::calcSimilarity( +double openvino_wrapper_lib::Tracker::calcSimilarity( const std::vector & feature_a, const std::vector & feature_b) { if (feature_a.size() != feature_b.size()) { @@ -84,7 +84,7 @@ double dynamic_vino_lib::Tracker::calcSimilarity( return mul_sum / (sqrt(denom_a) * sqrt(denom_b)); } -void dynamic_vino_lib::Tracker::updateMatchTrack( +void openvino_wrapper_lib::Tracker::updateMatchTrack( int track_id, const std::vector & feature) { if (recorded_tracks_.find(track_id) != recorded_tracks_.end()) { @@ -95,7 +95,7 @@ void dynamic_vino_lib::Tracker::updateMatchTrack( } } -void dynamic_vino_lib::Tracker::removeEarlestTrack() +void openvino_wrapper_lib::Tracker::removeEarlestTrack() { std::lock_guard lk(tracks_mtx_); int64_t earlest_time = LONG_MAX; @@ -110,7 +110,7 @@ void dynamic_vino_lib::Tracker::removeEarlestTrack() } -int dynamic_vino_lib::Tracker::addNewTrack(const std::vector & feature) +int openvino_wrapper_lib::Tracker::addNewTrack(const std::vector & feature) { if (recorded_tracks_.size() >= max_record_size_) { std::thread remove_thread(std::bind(&Tracker::removeEarlestTrack, this)); @@ -125,14 +125,14 @@ int dynamic_vino_lib::Tracker::addNewTrack(const std::vector & feature) return max_track_id_; } -int64_t dynamic_vino_lib::Tracker::getCurrentTime() +int64_t openvino_wrapper_lib::Tracker::getCurrentTime() { auto tp = std::chrono::time_point_cast( std::chrono::system_clock::now()); return static_cast(tp.time_since_epoch().count()); } -bool dynamic_vino_lib::Tracker::saveTracksToFile(std::string filepath) +bool openvino_wrapper_lib::Tracker::saveTracksToFile(std::string filepath) { std::ofstream outfile(filepath); if (!outfile.is_open()) { @@ -152,7 +152,7 @@ bool dynamic_vino_lib::Tracker::saveTracksToFile(std::string filepath) return true; } -bool dynamic_vino_lib::Tracker::loadTracksFromFile(std::string filepath) +bool openvino_wrapper_lib::Tracker::loadTracksFromFile(std::string filepath) { std::ifstream infile(filepath); if (!infile.is_open()) { diff --git a/dynamic_vino_lib/src/inferences/emotions_detection.cpp b/openvino_wrapper_lib/src/inferences/emotions_detection.cpp similarity index 74% rename from dynamic_vino_lib/src/inferences/emotions_detection.cpp rename to openvino_wrapper_lib/src/inferences/emotions_detection.cpp index 17d7785b..e239c228 100644 --- a/dynamic_vino_lib/src/inferences/emotions_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/emotions_detection.cpp @@ -22,39 +22,39 @@ #include #include #include -#include "dynamic_vino_lib/inferences/emotions_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/emotions_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // EmotionsResult -dynamic_vino_lib::EmotionsResult::EmotionsResult(const cv::Rect & location) +openvino_wrapper_lib::EmotionsResult::EmotionsResult(const cv::Rect & location) : Result(location) { } // Emotions Detection -dynamic_vino_lib::EmotionsDetection::EmotionsDetection() -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::EmotionsDetection::EmotionsDetection() +: openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::EmotionsDetection::~EmotionsDetection() = default; +openvino_wrapper_lib::EmotionsDetection::~EmotionsDetection() = default; -void dynamic_vino_lib::EmotionsDetection::loadNetwork( +void openvino_wrapper_lib::EmotionsDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::EmotionsDetection::enqueue( +bool openvino_wrapper_lib::EmotionsDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = dynamic_vino_lib::BaseInference::enqueue( + bool succeed = openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); if (!succeed) { slog::err << "Failed enqueue Emotion frame." << slog::endl; @@ -66,14 +66,14 @@ bool dynamic_vino_lib::EmotionsDetection::enqueue( return true; } -bool dynamic_vino_lib::EmotionsDetection::submitRequest() +bool openvino_wrapper_lib::EmotionsDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::EmotionsDetection::fetchResults() +bool openvino_wrapper_lib::EmotionsDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -108,23 +108,23 @@ bool dynamic_vino_lib::EmotionsDetection::fetchResults() return true; } -int dynamic_vino_lib::EmotionsDetection::getResultsLength() const +int openvino_wrapper_lib::EmotionsDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::EmotionsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::EmotionsDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::EmotionsDetection::getName() const +const std::string openvino_wrapper_lib::EmotionsDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::EmotionsDetection::observeOutput( +void openvino_wrapper_lib::EmotionsDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -132,7 +132,7 @@ void dynamic_vino_lib::EmotionsDetection::observeOutput( } } -const std::vector dynamic_vino_lib::EmotionsDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::EmotionsDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/face_detection.cpp b/openvino_wrapper_lib/src/inferences/face_detection.cpp similarity index 76% rename from dynamic_vino_lib/src/inferences/face_detection.cpp rename to openvino_wrapper_lib/src/inferences/face_detection.cpp index e9820b68..0037bea3 100644 --- a/dynamic_vino_lib/src/inferences/face_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/face_detection.cpp @@ -22,18 +22,18 @@ #include #include -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // FaceDetectionResult -dynamic_vino_lib::FaceDetectionResult::FaceDetectionResult(const cv::Rect & location) +openvino_wrapper_lib::FaceDetectionResult::FaceDetectionResult(const cv::Rect & location) : ObjectDetectionResult(location) { } // FaceDetection -dynamic_vino_lib::FaceDetection::FaceDetection( +openvino_wrapper_lib::FaceDetection::FaceDetection( bool enable_roi_constraint, double show_output_thresh) : ObjectDetection(enable_roi_constraint, show_output_thresh) diff --git a/dynamic_vino_lib/src/inferences/face_reidentification.cpp b/openvino_wrapper_lib/src/inferences/face_reidentification.cpp similarity index 66% rename from dynamic_vino_lib/src/inferences/face_reidentification.cpp rename to openvino_wrapper_lib/src/inferences/face_reidentification.cpp index 1dddbfdf..392d4d62 100644 --- a/dynamic_vino_lib/src/inferences/face_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/face_reidentification.cpp @@ -20,37 +20,37 @@ #include #include #include -#include "dynamic_vino_lib/inferences/face_reidentification.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/face_reidentification.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // FaceReidentificationResult -dynamic_vino_lib::FaceReidentificationResult::FaceReidentificationResult( +openvino_wrapper_lib::FaceReidentificationResult::FaceReidentificationResult( const cv::Rect & location) : Result(location) {} // FaceReidentification -dynamic_vino_lib::FaceReidentification::FaceReidentification(double match_thresh) -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::FaceReidentification::FaceReidentification(double match_thresh) +: openvino_wrapper_lib::BaseInference() { - face_tracker_ = std::make_shared(1000, match_thresh, 0.3); + face_tracker_ = std::make_shared(1000, match_thresh, 0.3); } -dynamic_vino_lib::FaceReidentification::~FaceReidentification() = default; -void dynamic_vino_lib::FaceReidentification::loadNetwork( +openvino_wrapper_lib::FaceReidentification::~FaceReidentification() = default; +void openvino_wrapper_lib::FaceReidentification::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::FaceReidentification::enqueue( +bool openvino_wrapper_lib::FaceReidentification::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -60,14 +60,14 @@ bool dynamic_vino_lib::FaceReidentification::enqueue( return true; } -bool dynamic_vino_lib::FaceReidentification::submitRequest() +bool openvino_wrapper_lib::FaceReidentification::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::FaceReidentification::fetchResults() +bool openvino_wrapper_lib::FaceReidentification::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); @@ -85,23 +85,23 @@ bool dynamic_vino_lib::FaceReidentification::fetchResults() return true; } -int dynamic_vino_lib::FaceReidentification::getResultsLength() const +int openvino_wrapper_lib::FaceReidentification::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::FaceReidentification::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::FaceReidentification::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::FaceReidentification::getName() const +const std::string openvino_wrapper_lib::FaceReidentification::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::FaceReidentification::observeOutput( +void openvino_wrapper_lib::FaceReidentification::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -109,7 +109,7 @@ void dynamic_vino_lib::FaceReidentification::observeOutput( } } -const std::vector dynamic_vino_lib::FaceReidentification::getFilteredROIs( +const std::vector openvino_wrapper_lib::FaceReidentification::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp b/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp similarity index 67% rename from dynamic_vino_lib/src/inferences/head_pose_detection.cpp rename to openvino_wrapper_lib/src/inferences/head_pose_detection.cpp index a5b4fa36..591c6fdd 100644 --- a/dynamic_vino_lib/src/inferences/head_pose_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp @@ -21,38 +21,38 @@ #include #include #include -#include "dynamic_vino_lib/inferences/head_pose_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" // HeadPoseResult -dynamic_vino_lib::HeadPoseResult::HeadPoseResult(const cv::Rect & location) +openvino_wrapper_lib::HeadPoseResult::HeadPoseResult(const cv::Rect & location) : Result(location) { } // Head Pose Detection -dynamic_vino_lib::HeadPoseDetection::HeadPoseDetection() -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::HeadPoseDetection::HeadPoseDetection() +: openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::HeadPoseDetection::~HeadPoseDetection() = default; +openvino_wrapper_lib::HeadPoseDetection::~HeadPoseDetection() = default; -void dynamic_vino_lib::HeadPoseDetection::loadNetwork( +void openvino_wrapper_lib::HeadPoseDetection::loadNetwork( std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::HeadPoseDetection::enqueue( +bool openvino_wrapper_lib::HeadPoseDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = dynamic_vino_lib::BaseInference::enqueue( + bool succeed = openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); if (!succeed) { return false; @@ -62,14 +62,14 @@ bool dynamic_vino_lib::HeadPoseDetection::enqueue( return true; } -bool dynamic_vino_lib::HeadPoseDetection::submitRequest() +bool openvino_wrapper_lib::HeadPoseDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::HeadPoseDetection::fetchResults() +bool openvino_wrapper_lib::HeadPoseDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -86,23 +86,23 @@ bool dynamic_vino_lib::HeadPoseDetection::fetchResults() return true; } -int dynamic_vino_lib::HeadPoseDetection::getResultsLength() const +int openvino_wrapper_lib::HeadPoseDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::HeadPoseDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::HeadPoseDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::HeadPoseDetection::getName() const +const std::string openvino_wrapper_lib::HeadPoseDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::HeadPoseDetection::observeOutput( +void openvino_wrapper_lib::HeadPoseDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -110,7 +110,7 @@ void dynamic_vino_lib::HeadPoseDetection::observeOutput( } } -const std::vector dynamic_vino_lib::HeadPoseDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::HeadPoseDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/landmarks_detection.cpp b/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp similarity index 70% rename from dynamic_vino_lib/src/inferences/landmarks_detection.cpp rename to openvino_wrapper_lib/src/inferences/landmarks_detection.cpp index 505c85d8..f3e468c8 100644 --- a/dynamic_vino_lib/src/inferences/landmarks_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp @@ -20,34 +20,34 @@ #include #include #include -#include "dynamic_vino_lib/inferences/landmarks_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // LandmarksDetectionResult -dynamic_vino_lib::LandmarksDetectionResult::LandmarksDetectionResult( +openvino_wrapper_lib::LandmarksDetectionResult::LandmarksDetectionResult( const cv::Rect & location) : Result(location) {} // LandmarksDetection -dynamic_vino_lib::LandmarksDetection::LandmarksDetection() -: dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::LandmarksDetection::LandmarksDetection() +: openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::LandmarksDetection::~LandmarksDetection() = default; -void dynamic_vino_lib::LandmarksDetection::loadNetwork( +openvino_wrapper_lib::LandmarksDetection::~LandmarksDetection() = default; +void openvino_wrapper_lib::LandmarksDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::LandmarksDetection::enqueue( +bool openvino_wrapper_lib::LandmarksDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -57,14 +57,14 @@ bool dynamic_vino_lib::LandmarksDetection::enqueue( return true; } -bool dynamic_vino_lib::LandmarksDetection::submitRequest() +bool openvino_wrapper_lib::LandmarksDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::LandmarksDetection::fetchResults() +bool openvino_wrapper_lib::LandmarksDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); @@ -87,23 +87,23 @@ bool dynamic_vino_lib::LandmarksDetection::fetchResults() return true; } -int dynamic_vino_lib::LandmarksDetection::getResultsLength() const +int openvino_wrapper_lib::LandmarksDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::LandmarksDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::LandmarksDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::LandmarksDetection::getName() const +const std::string openvino_wrapper_lib::LandmarksDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::LandmarksDetection::observeOutput( +void openvino_wrapper_lib::LandmarksDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -111,7 +111,7 @@ void dynamic_vino_lib::LandmarksDetection::observeOutput( } } -const std::vector dynamic_vino_lib::LandmarksDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::LandmarksDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp b/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp similarity index 69% rename from dynamic_vino_lib/src/inferences/license_plate_detection.cpp rename to openvino_wrapper_lib/src/inferences/license_plate_detection.cpp index ed862a88..aa0f8c1d 100644 --- a/dynamic_vino_lib/src/inferences/license_plate_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp @@ -20,28 +20,28 @@ #include #include #include -#include "dynamic_vino_lib/inferences/license_plate_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // LicensePlateDetectionResult -dynamic_vino_lib::LicensePlateDetectionResult::LicensePlateDetectionResult( +openvino_wrapper_lib::LicensePlateDetectionResult::LicensePlateDetectionResult( const cv::Rect & location) : Result(location) {} // LicensePlateDetection -dynamic_vino_lib::LicensePlateDetection::LicensePlateDetection() -: dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::LicensePlateDetection::LicensePlateDetection() +: openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::LicensePlateDetection::~LicensePlateDetection() = default; -void dynamic_vino_lib::LicensePlateDetection::loadNetwork( +openvino_wrapper_lib::LicensePlateDetection::~LicensePlateDetection() = default; +void openvino_wrapper_lib::LicensePlateDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -void dynamic_vino_lib::LicensePlateDetection::fillSeqBlob() +void openvino_wrapper_lib::LicensePlateDetection::fillSeqBlob() { ov::Tensor seq_tensor = getEngine()->getRequest().get_tensor( valid_model_->getSeqInputName()); @@ -52,13 +52,13 @@ void dynamic_vino_lib::LicensePlateDetection::fillSeqBlob() std::fill(tensor_data, tensor_data + max_sequence_size, 1.0f); } -bool dynamic_vino_lib::LicensePlateDetection::enqueue( +bool openvino_wrapper_lib::LicensePlateDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -69,14 +69,14 @@ bool dynamic_vino_lib::LicensePlateDetection::enqueue( return true; } -bool dynamic_vino_lib::LicensePlateDetection::submitRequest() +bool openvino_wrapper_lib::LicensePlateDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::LicensePlateDetection::fetchResults() +bool openvino_wrapper_lib::LicensePlateDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); @@ -98,23 +98,23 @@ bool dynamic_vino_lib::LicensePlateDetection::fetchResults() return true; } -int dynamic_vino_lib::LicensePlateDetection::getResultsLength() const +int openvino_wrapper_lib::LicensePlateDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::LicensePlateDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::LicensePlateDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::LicensePlateDetection::getName() const +const std::string openvino_wrapper_lib::LicensePlateDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::LicensePlateDetection::observeOutput( +void openvino_wrapper_lib::LicensePlateDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -122,7 +122,7 @@ void dynamic_vino_lib::LicensePlateDetection::observeOutput( } } -const std::vector dynamic_vino_lib::LicensePlateDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::LicensePlateDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/object_detection.cpp b/openvino_wrapper_lib/src/inferences/object_detection.cpp similarity index 68% rename from dynamic_vino_lib/src/inferences/object_detection.cpp rename to openvino_wrapper_lib/src/inferences/object_detection.cpp index 9c0299e9..8470a103 100644 --- a/dynamic_vino_lib/src/inferences/object_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/object_detection.cpp @@ -22,37 +22,37 @@ #include #include #include -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // ObjectDetectionResult -dynamic_vino_lib::ObjectDetectionResult::ObjectDetectionResult(const cv::Rect & location) +openvino_wrapper_lib::ObjectDetectionResult::ObjectDetectionResult(const cv::Rect & location) : Result(location) { } // ObjectDetection -dynamic_vino_lib::ObjectDetection::ObjectDetection( +openvino_wrapper_lib::ObjectDetection::ObjectDetection( bool enable_roi_constraint, double show_output_thresh) : show_output_thresh_(show_output_thresh), - enable_roi_constraint_(enable_roi_constraint), dynamic_vino_lib::BaseInference() + enable_roi_constraint_(enable_roi_constraint), openvino_wrapper_lib::BaseInference() { result_filter_ = std::make_shared(); result_filter_->init(); } -dynamic_vino_lib::ObjectDetection::~ObjectDetection() = default; +openvino_wrapper_lib::ObjectDetection::~ObjectDetection() = default; -void dynamic_vino_lib::ObjectDetection::loadNetwork( +void openvino_wrapper_lib::ObjectDetection::loadNetwork( std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::ObjectDetection::enqueue( +bool openvino_wrapper_lib::ObjectDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { @@ -74,9 +74,9 @@ bool dynamic_vino_lib::ObjectDetection::enqueue( return true; } -bool dynamic_vino_lib::ObjectDetection::fetchResults() +bool openvino_wrapper_lib::ObjectDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; } @@ -87,23 +87,23 @@ bool dynamic_vino_lib::ObjectDetection::fetchResults() getEngine(), results_, show_output_thresh_, enable_roi_constraint_); } -int dynamic_vino_lib::ObjectDetection::getResultsLength() const +int openvino_wrapper_lib::ObjectDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::ObjectDetection::Result * -dynamic_vino_lib::ObjectDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::ObjectDetection::Result * +openvino_wrapper_lib::ObjectDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::ObjectDetection::getName() const +const std::string openvino_wrapper_lib::ObjectDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::ObjectDetection::observeOutput( +void openvino_wrapper_lib::ObjectDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -111,7 +111,7 @@ void dynamic_vino_lib::ObjectDetection::observeOutput( } } -const std::vector dynamic_vino_lib::ObjectDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::ObjectDetection::getFilteredROIs( const std::string filter_conditions) const { if (!result_filter_->isValidFilterConditions(filter_conditions)) { @@ -128,22 +128,22 @@ const std::vector dynamic_vino_lib::ObjectDetection::getFilteredROIs( // ObjectDetectionResultFilter -dynamic_vino_lib::ObjectDetectionResultFilter::ObjectDetectionResultFilter() {} +openvino_wrapper_lib::ObjectDetectionResultFilter::ObjectDetectionResultFilter() {} -void dynamic_vino_lib::ObjectDetectionResultFilter::init() +void openvino_wrapper_lib::ObjectDetectionResultFilter::init() { key_to_function_.insert(std::make_pair("label", isValidLabel)); key_to_function_.insert(std::make_pair("confidence", isValidConfidence)); } -void dynamic_vino_lib::ObjectDetectionResultFilter::acceptResults( +void openvino_wrapper_lib::ObjectDetectionResultFilter::acceptResults( const std::vector & results) { results_ = results; } std::vector -dynamic_vino_lib::ObjectDetectionResultFilter::getFilteredLocations() +openvino_wrapper_lib::ObjectDetectionResultFilter::getFilteredLocations() { std::vector locations; for (auto result : results_) { @@ -154,25 +154,25 @@ dynamic_vino_lib::ObjectDetectionResultFilter::getFilteredLocations() return locations; } -bool dynamic_vino_lib::ObjectDetectionResultFilter::isValidLabel( +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidLabel( const Result & result, const std::string & op, const std::string & target) { return stringCompare(result.getLabel(), op, target); } -bool dynamic_vino_lib::ObjectDetectionResultFilter::isValidConfidence( +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidConfidence( const Result & result, const std::string & op, const std::string & target) { return floatCompare(result.getConfidence(), op, stringToFloat(target)); } -bool dynamic_vino_lib::ObjectDetectionResultFilter::isValidResult( +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidResult( const Result & result) { ISVALIDRESULT(key_to_function_, result); } -double dynamic_vino_lib::ObjectDetection::calcIoU( +double openvino_wrapper_lib::ObjectDetection::calcIoU( const cv::Rect & box_1, const cv::Rect & box_2) { diff --git a/dynamic_vino_lib/src/inferences/object_segmentation.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation.cpp similarity index 79% rename from dynamic_vino_lib/src/inferences/object_segmentation.cpp rename to openvino_wrapper_lib/src/inferences/object_segmentation.cpp index 55a020e2..699731e3 100644 --- a/dynamic_vino_lib/src/inferences/object_segmentation.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation.cpp @@ -24,25 +24,25 @@ #include #include -#include "dynamic_vino_lib/inferences/object_segmentation.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // ObjectSegmentationResult -dynamic_vino_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect &location) +openvino_wrapper_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect &location) : Result(location) { } // ObjectSegmentation -dynamic_vino_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh) - : show_output_thresh_(show_output_thresh), dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh) + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::ObjectSegmentation::~ObjectSegmentation() = default; +openvino_wrapper_lib::ObjectSegmentation::~ObjectSegmentation() = default; -void dynamic_vino_lib::ObjectSegmentation::loadNetwork( +void openvino_wrapper_lib::ObjectSegmentation::loadNetwork( const std::shared_ptr network) { slog::info << "Loading Network: " << network->getModelCategory() << slog::endl; @@ -54,7 +54,7 @@ void dynamic_vino_lib::ObjectSegmentation::loadNetwork( * Deprecated! * This function only support OpenVINO version <=2018R5 */ -bool dynamic_vino_lib::ObjectSegmentation::enqueue_for_one_input( +bool openvino_wrapper_lib::ObjectSegmentation::enqueue_for_one_input( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -63,7 +63,7 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue_for_one_input( width_ = frame.cols; height_ = frame.rows; } - if (!dynamic_vino_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -74,7 +74,7 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue_for_one_input( return true; } -bool dynamic_vino_lib::ObjectSegmentation::enqueue( +bool openvino_wrapper_lib::ObjectSegmentation::enqueue( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -106,14 +106,14 @@ bool dynamic_vino_lib::ObjectSegmentation::enqueue( return true; } -bool dynamic_vino_lib::ObjectSegmentation::submitRequest() +bool openvino_wrapper_lib::ObjectSegmentation::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::ObjectSegmentation::fetchResults() +bool openvino_wrapper_lib::ObjectSegmentation::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; @@ -199,23 +199,23 @@ bool dynamic_vino_lib::ObjectSegmentation::fetchResults() return true; } -int dynamic_vino_lib::ObjectSegmentation::getResultsLength() const +int openvino_wrapper_lib::ObjectSegmentation::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::ObjectSegmentation::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::ObjectSegmentation::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::ObjectSegmentation::getName() const +const std::string openvino_wrapper_lib::ObjectSegmentation::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::ObjectSegmentation::observeOutput( +void openvino_wrapper_lib::ObjectSegmentation::observeOutput( const std::shared_ptr &output) { if (output != nullptr) @@ -224,7 +224,7 @@ void dynamic_vino_lib::ObjectSegmentation::observeOutput( } } -const std::vector dynamic_vino_lib::ObjectSegmentation::getFilteredROIs( +const std::vector openvino_wrapper_lib::ObjectSegmentation::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) diff --git a/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp similarity index 80% rename from dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp rename to openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp index e1189db6..7c35fc55 100644 --- a/dynamic_vino_lib/src/inferences/object_segmentation_maskrcnn.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp @@ -24,25 +24,25 @@ #include #include -#include "dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // ObjectSegmentationResult -dynamic_vino_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect &location) +openvino_wrapper_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect &location) : Result(location) { } // ObjectSegmentation -dynamic_vino_lib::ObjectSegmentationMaskrcnn::ObjectSegmentationMaskrcnn(double show_output_thresh) - : show_output_thresh_(show_output_thresh), dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::ObjectSegmentationMaskrcnn(double show_output_thresh) + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } -dynamic_vino_lib::ObjectSegmentationMaskrcnn::~ObjectSegmentationMaskrcnn() = default; +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::~ObjectSegmentationMaskrcnn() = default; -void dynamic_vino_lib::ObjectSegmentationMaskrcnn::loadNetwork( +void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::loadNetwork( const std::shared_ptr network) { slog::info << "Loading Network: " << network->getModelCategory() << slog::endl; @@ -54,7 +54,7 @@ void dynamic_vino_lib::ObjectSegmentationMaskrcnn::loadNetwork( * Deprecated! * This function only support OpenVINO version <=2018R5 */ -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -63,7 +63,7 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( width_ = frame.cols; height_ = frame.rows; } - if (!dynamic_vino_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -74,7 +74,7 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( return true; } -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue( +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue( const cv::Mat &frame, const cv::Rect &input_frame_loc) { @@ -106,15 +106,15 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::enqueue( return true; } -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::submitRequest() +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::fetchResults() +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) { return false; @@ -196,23 +196,23 @@ bool dynamic_vino_lib::ObjectSegmentationMaskrcnn::fetchResults() return true; } -int dynamic_vino_lib::ObjectSegmentationMaskrcnn::getResultsLength() const +int openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::ObjectSegmentationMaskrcnn::getName() const +const std::string openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::ObjectSegmentationMaskrcnn::observeOutput( +void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::observeOutput( const std::shared_ptr &output) { if (output != nullptr) @@ -221,7 +221,7 @@ void dynamic_vino_lib::ObjectSegmentationMaskrcnn::observeOutput( } } -const std::vector dynamic_vino_lib::ObjectSegmentationMaskrcnn::getFilteredROIs( +const std::vector openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) diff --git a/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp b/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp similarity index 71% rename from dynamic_vino_lib/src/inferences/person_attribs_detection.cpp rename to openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp index a9c5451d..79b5c446 100644 --- a/dynamic_vino_lib/src/inferences/person_attribs_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp @@ -21,34 +21,34 @@ #include #include #include -#include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/person_attribs_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // PersonAttribsDetectionResult -dynamic_vino_lib::PersonAttribsDetectionResult::PersonAttribsDetectionResult( +openvino_wrapper_lib::PersonAttribsDetectionResult::PersonAttribsDetectionResult( const cv::Rect & location) : Result(location) {} // PersonAttribsDetection -dynamic_vino_lib::PersonAttribsDetection::PersonAttribsDetection(double attribs_confidence) -: attribs_confidence_(attribs_confidence), dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::PersonAttribsDetection::PersonAttribsDetection(double attribs_confidence) +: attribs_confidence_(attribs_confidence), openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::PersonAttribsDetection::~PersonAttribsDetection() = default; -void dynamic_vino_lib::PersonAttribsDetection::loadNetwork( +openvino_wrapper_lib::PersonAttribsDetection::~PersonAttribsDetection() = default; +void openvino_wrapper_lib::PersonAttribsDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::PersonAttribsDetection::enqueue( +bool openvino_wrapper_lib::PersonAttribsDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -58,14 +58,14 @@ bool dynamic_vino_lib::PersonAttribsDetection::enqueue( return true; } -bool dynamic_vino_lib::PersonAttribsDetection::submitRequest() +bool openvino_wrapper_lib::PersonAttribsDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::PersonAttribsDetection::fetchResults() +bool openvino_wrapper_lib::PersonAttribsDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); @@ -102,23 +102,23 @@ bool dynamic_vino_lib::PersonAttribsDetection::fetchResults() return true; } -int dynamic_vino_lib::PersonAttribsDetection::getResultsLength() const +int openvino_wrapper_lib::PersonAttribsDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::PersonAttribsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::PersonAttribsDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::PersonAttribsDetection::getName() const +const std::string openvino_wrapper_lib::PersonAttribsDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::PersonAttribsDetection::observeOutput( +void openvino_wrapper_lib::PersonAttribsDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -126,7 +126,7 @@ void dynamic_vino_lib::PersonAttribsDetection::observeOutput( } } -const std::vector dynamic_vino_lib::PersonAttribsDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::PersonAttribsDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/person_reidentification.cpp b/openvino_wrapper_lib/src/inferences/person_reidentification.cpp similarity index 64% rename from dynamic_vino_lib/src/inferences/person_reidentification.cpp rename to openvino_wrapper_lib/src/inferences/person_reidentification.cpp index c26c3b2d..9d4d891a 100644 --- a/dynamic_vino_lib/src/inferences/person_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/person_reidentification.cpp @@ -20,37 +20,37 @@ #include #include #include -#include "dynamic_vino_lib/inferences/person_reidentification.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/person_reidentification.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // PersonReidentificationResult -dynamic_vino_lib::PersonReidentificationResult::PersonReidentificationResult( +openvino_wrapper_lib::PersonReidentificationResult::PersonReidentificationResult( const cv::Rect & location) : Result(location) {} // PersonReidentification -dynamic_vino_lib::PersonReidentification::PersonReidentification(double match_thresh) -: dynamic_vino_lib::BaseInference() +openvino_wrapper_lib::PersonReidentification::PersonReidentification(double match_thresh) +: openvino_wrapper_lib::BaseInference() { - person_tracker_ = std::make_shared(1000, match_thresh, 0.3); + person_tracker_ = std::make_shared(1000, match_thresh, 0.3); } -dynamic_vino_lib::PersonReidentification::~PersonReidentification() = default; -void dynamic_vino_lib::PersonReidentification::loadNetwork( +openvino_wrapper_lib::PersonReidentification::~PersonReidentification() = default; +void openvino_wrapper_lib::PersonReidentification::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::PersonReidentification::enqueue( +bool openvino_wrapper_lib::PersonReidentification::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -60,14 +60,14 @@ bool dynamic_vino_lib::PersonReidentification::enqueue( return true; } -bool dynamic_vino_lib::PersonReidentification::submitRequest() +bool openvino_wrapper_lib::PersonReidentification::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::PersonReidentification::fetchResults() +bool openvino_wrapper_lib::PersonReidentification::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); @@ -85,23 +85,23 @@ bool dynamic_vino_lib::PersonReidentification::fetchResults() return true; } -int dynamic_vino_lib::PersonReidentification::getResultsLength() const +int openvino_wrapper_lib::PersonReidentification::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::PersonReidentification::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::PersonReidentification::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::PersonReidentification::getName() const +const std::string openvino_wrapper_lib::PersonReidentification::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::PersonReidentification::observeOutput( +void openvino_wrapper_lib::PersonReidentification::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -109,7 +109,7 @@ void dynamic_vino_lib::PersonReidentification::observeOutput( } } -const std::vector dynamic_vino_lib::PersonReidentification::getFilteredROIs( +const std::vector openvino_wrapper_lib::PersonReidentification::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp b/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp similarity index 68% rename from dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp rename to openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp index 92f17916..232d73ea 100644 --- a/dynamic_vino_lib/src/inferences/vehicle_attribs_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp @@ -20,34 +20,34 @@ #include #include #include -#include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" // VehicleAttribsDetectionResult -dynamic_vino_lib::VehicleAttribsDetectionResult::VehicleAttribsDetectionResult( +openvino_wrapper_lib::VehicleAttribsDetectionResult::VehicleAttribsDetectionResult( const cv::Rect & location) : Result(location) {} // VehicleAttribsDetection -dynamic_vino_lib::VehicleAttribsDetection::VehicleAttribsDetection() -: dynamic_vino_lib::BaseInference() {} +openvino_wrapper_lib::VehicleAttribsDetection::VehicleAttribsDetection() +: openvino_wrapper_lib::BaseInference() {} -dynamic_vino_lib::VehicleAttribsDetection::~VehicleAttribsDetection() = default; -void dynamic_vino_lib::VehicleAttribsDetection::loadNetwork( +openvino_wrapper_lib::VehicleAttribsDetection::~VehicleAttribsDetection() = default; +void openvino_wrapper_lib::VehicleAttribsDetection::loadNetwork( const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool dynamic_vino_lib::VehicleAttribsDetection::enqueue( +bool openvino_wrapper_lib::VehicleAttribsDetection::enqueue( const cv::Mat & frame, const cv::Rect & input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!dynamic_vino_lib::BaseInference::enqueue( + if (!openvino_wrapper_lib::BaseInference::enqueue( frame, input_frame_loc, 1, 0, valid_model_->getInputName())) { return false; @@ -57,14 +57,14 @@ bool dynamic_vino_lib::VehicleAttribsDetection::enqueue( return true; } -bool dynamic_vino_lib::VehicleAttribsDetection::submitRequest() +bool openvino_wrapper_lib::VehicleAttribsDetection::submitRequest() { - return dynamic_vino_lib::BaseInference::submitRequest(); + return openvino_wrapper_lib::BaseInference::submitRequest(); } -bool dynamic_vino_lib::VehicleAttribsDetection::fetchResults() +bool openvino_wrapper_lib::VehicleAttribsDetection::fetchResults() { - bool can_fetch = dynamic_vino_lib::BaseInference::fetchResults(); + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); if (!can_fetch) {return false;} bool found_result = false; @@ -87,23 +87,23 @@ bool dynamic_vino_lib::VehicleAttribsDetection::fetchResults() return true; } -int dynamic_vino_lib::VehicleAttribsDetection::getResultsLength() const +int openvino_wrapper_lib::VehicleAttribsDetection::getResultsLength() const { return static_cast(results_.size()); } -const dynamic_vino_lib::Result * -dynamic_vino_lib::VehicleAttribsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::VehicleAttribsDetection::getLocationResult(int idx) const { return &(results_[idx]); } -const std::string dynamic_vino_lib::VehicleAttribsDetection::getName() const +const std::string openvino_wrapper_lib::VehicleAttribsDetection::getName() const { return valid_model_->getModelCategory(); } -void dynamic_vino_lib::VehicleAttribsDetection::observeOutput( +void openvino_wrapper_lib::VehicleAttribsDetection::observeOutput( const std::shared_ptr & output) { if (output != nullptr) { @@ -111,7 +111,7 @@ void dynamic_vino_lib::VehicleAttribsDetection::observeOutput( } } -const std::vector dynamic_vino_lib::VehicleAttribsDetection::getFilteredROIs( +const std::vector openvino_wrapper_lib::VehicleAttribsDetection::getFilteredROIs( const std::string filter_conditions) const { if (!filter_conditions.empty()) { diff --git a/dynamic_vino_lib/src/inputs/image_input.cpp b/openvino_wrapper_lib/src/inputs/image_input.cpp similarity index 93% rename from dynamic_vino_lib/src/inputs/image_input.cpp rename to openvino_wrapper_lib/src/inputs/image_input.cpp index db1195ed..4c6bdf6f 100644 --- a/dynamic_vino_lib/src/inputs/image_input.cpp +++ b/openvino_wrapper_lib/src/inputs/image_input.cpp @@ -18,8 +18,8 @@ */ #include -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/slog.hpp" Input::Image::Image(const std::string & file) { diff --git a/dynamic_vino_lib/src/inputs/image_topic.cpp b/openvino_wrapper_lib/src/inputs/image_topic.cpp similarity index 95% rename from dynamic_vino_lib/src/inputs/image_topic.cpp rename to openvino_wrapper_lib/src/inputs/image_topic.cpp index 55be9786..a716e2fe 100644 --- a/dynamic_vino_lib/src/inputs/image_topic.cpp +++ b/openvino_wrapper_lib/src/inputs/image_topic.cpp @@ -19,8 +19,8 @@ #include #include -#include "dynamic_vino_lib/inputs/image_topic.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/image_topic.hpp" +#include "openvino_wrapper_lib/slog.hpp" #define INPUT_TOPIC "/openvino_toolkit/image_raw" diff --git a/dynamic_vino_lib/src/inputs/ip_camera.cpp b/openvino_wrapper_lib/src/inputs/ip_camera.cpp similarity index 96% rename from dynamic_vino_lib/src/inputs/ip_camera.cpp rename to openvino_wrapper_lib/src/inputs/ip_camera.cpp index 1e7d3eae..e579ba54 100644 --- a/dynamic_vino_lib/src/inputs/ip_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/ip_camera.cpp @@ -16,7 +16,7 @@ * @brief a header file with declaration of IpCamera class * @file ip_camera.cpp */ -#include "dynamic_vino_lib/inputs/ip_camera.hpp" +#include "openvino_wrapper_lib/inputs/ip_camera.hpp" bool Input::IpCamera::initialize() diff --git a/dynamic_vino_lib/src/inputs/realsense_camera.cpp b/openvino_wrapper_lib/src/inputs/realsense_camera.cpp similarity index 96% rename from dynamic_vino_lib/src/inputs/realsense_camera.cpp rename to openvino_wrapper_lib/src/inputs/realsense_camera.cpp index c2dcff9c..f9aa759d 100644 --- a/dynamic_vino_lib/src/inputs/realsense_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/realsense_camera.cpp @@ -16,8 +16,8 @@ * @brief a header file with declaration of RealSenseCamera class * @file realsense_camera.cpp */ -#include "dynamic_vino_lib/inputs/realsense_camera.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/realsense_camera.hpp" +#include "openvino_wrapper_lib/slog.hpp" // RealSenseCamera bool Input::RealSenseCamera::initialize() diff --git a/dynamic_vino_lib/src/inputs/standard_camera.cpp b/openvino_wrapper_lib/src/inputs/standard_camera.cpp similarity index 97% rename from dynamic_vino_lib/src/inputs/standard_camera.cpp rename to openvino_wrapper_lib/src/inputs/standard_camera.cpp index 2bc20f02..8b25f717 100644 --- a/dynamic_vino_lib/src/inputs/standard_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/standard_camera.cpp @@ -16,7 +16,7 @@ * @brief a header file with declaration of StandardCamera class * @file standard_camera.cpp */ -#include "dynamic_vino_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" bool Input::StandardCamera::initialize() { diff --git a/dynamic_vino_lib/src/inputs/video_input.cpp b/openvino_wrapper_lib/src/inputs/video_input.cpp similarity index 96% rename from dynamic_vino_lib/src/inputs/video_input.cpp rename to openvino_wrapper_lib/src/inputs/video_input.cpp index 97a54745..4c4e2a80 100644 --- a/dynamic_vino_lib/src/inputs/video_input.cpp +++ b/openvino_wrapper_lib/src/inputs/video_input.cpp @@ -19,7 +19,7 @@ #include -#include "dynamic_vino_lib/inputs/video_input.hpp" +#include "openvino_wrapper_lib/inputs/video_input.hpp" // Video Input::Video::Video(const std::string & video) diff --git a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp similarity index 97% rename from dynamic_vino_lib/src/models/age_gender_detection_model.cpp rename to openvino_wrapper_lib/src/models/age_gender_detection_model.cpp index f5b241a8..ac3eea86 100644 --- a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp @@ -19,8 +19,8 @@ #include #include #include -#include "dynamic_vino_lib/models/age_gender_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/age_gender_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Age Gender Classification Network Models::AgeGenderDetectionModel::AgeGenderDetectionModel( diff --git a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp similarity index 97% rename from dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp rename to openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp index 693f1481..1340d490 100644 --- a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp +++ b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp @@ -19,8 +19,8 @@ #include -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Face Detection Network Models::SSDModelAttr::SSDModelAttr( diff --git a/dynamic_vino_lib/src/models/base_model.cpp b/openvino_wrapper_lib/src/models/base_model.cpp similarity index 93% rename from dynamic_vino_lib/src/models/base_model.cpp rename to openvino_wrapper_lib/src/models/base_model.cpp index 01588b94..70647b5a 100644 --- a/dynamic_vino_lib/src/models/base_model.cpp +++ b/openvino_wrapper_lib/src/models/base_model.cpp @@ -23,9 +23,9 @@ #include #include #include -#include "dynamic_vino_lib/models/base_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/models/base_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Base Network Models::BaseModel::BaseModel( diff --git a/dynamic_vino_lib/src/models/emotion_detection_model.cpp b/openvino_wrapper_lib/src/models/emotion_detection_model.cpp similarity index 96% rename from dynamic_vino_lib/src/models/emotion_detection_model.cpp rename to openvino_wrapper_lib/src/models/emotion_detection_model.cpp index 7ee3ab94..9d7579bb 100644 --- a/dynamic_vino_lib/src/models/emotion_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/emotion_detection_model.cpp @@ -18,8 +18,8 @@ */ #include #include -#include "dynamic_vino_lib/models/emotion_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/emotion_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Emotions Detection Network diff --git a/dynamic_vino_lib/src/models/face_detection_model.cpp b/openvino_wrapper_lib/src/models/face_detection_model.cpp similarity index 91% rename from dynamic_vino_lib/src/models/face_detection_model.cpp rename to openvino_wrapper_lib/src/models/face_detection_model.cpp index 149c7ddf..ced9982e 100644 --- a/dynamic_vino_lib/src/models/face_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/face_detection_model.cpp @@ -19,8 +19,8 @@ #include -#include "dynamic_vino_lib/models/face_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/face_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Face Detection Network Models::FaceDetectionModel::FaceDetectionModel( diff --git a/dynamic_vino_lib/src/models/face_reidentification_model.cpp b/openvino_wrapper_lib/src/models/face_reidentification_model.cpp similarity index 94% rename from dynamic_vino_lib/src/models/face_reidentification_model.cpp rename to openvino_wrapper_lib/src/models/face_reidentification_model.cpp index c8a8ab97..d8deb8f5 100644 --- a/dynamic_vino_lib/src/models/face_reidentification_model.cpp +++ b/openvino_wrapper_lib/src/models/face_reidentification_model.cpp @@ -17,8 +17,8 @@ * @file face_reidentification_model.cpp */ #include -#include "dynamic_vino_lib/models/face_reidentification_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/face_reidentification_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Face Reidentification Network Models::FaceReidentificationModel::FaceReidentificationModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp b/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp similarity index 96% rename from dynamic_vino_lib/src/models/head_pose_detection_model.cpp rename to openvino_wrapper_lib/src/models/head_pose_detection_model.cpp index ebfd4c1d..2f4ec293 100644 --- a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp @@ -20,8 +20,8 @@ #include #include -#include "dynamic_vino_lib/models/head_pose_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Head Pose Network Models::HeadPoseDetectionModel::HeadPoseDetectionModel( diff --git a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp b/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/landmarks_detection_model.cpp rename to openvino_wrapper_lib/src/models/landmarks_detection_model.cpp index a956f3c2..3c261c5b 100644 --- a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp @@ -17,8 +17,8 @@ * @file landmarks_detection_model.cpp */ #include -#include "dynamic_vino_lib/models/landmarks_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Landmarks Detection Network Models::LandmarksDetectionModel::LandmarksDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp b/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/license_plate_detection_model.cpp rename to openvino_wrapper_lib/src/models/license_plate_detection_model.cpp index f197d839..bfdf4ce5 100644 --- a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp @@ -17,8 +17,8 @@ * @file license_plate_detection_model.cpp */ #include -#include "dynamic_vino_lib/models/license_plate_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Vehicle Attributes Detection Network Models::LicensePlateDetectionModel::LicensePlateDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/object_detection_ssd_model.cpp rename to openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp index f6a24f4c..2c938ca8 100644 --- a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp @@ -19,11 +19,11 @@ #include #include #include -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/models/object_detection_ssd_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/models/attributes/base_attribute.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/models/object_detection_ssd_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Object Detection Network Models::ObjectDetectionSSDModel::ObjectDetectionSSDModel( @@ -93,7 +93,7 @@ bool Models::ObjectDetectionSSDModel::matToBlob( bool Models::ObjectDetectionSSDModel::fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh, const bool & enable_roi_constraint) { @@ -130,7 +130,7 @@ bool Models::ObjectDetectionSSDModel::fetchResults( if (enable_roi_constraint) {r &= cv::Rect(0, 0, frame_size.width, frame_size.height);} - dynamic_vino_lib::ObjectDetectionResult result(r); + openvino_wrapper_lib::ObjectDetectionResult result(r); std::string label = label_num < labels.size() ? labels[label_num] : std::string("label #") + std::to_string(label_num); result.setLabel(label); diff --git a/dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp similarity index 96% rename from dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp rename to openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp index c812bfb1..8dd7176d 100644 --- a/dynamic_vino_lib/src/models/object_detection_yolov5_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp @@ -20,10 +20,10 @@ #include #include #include -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" -#include "dynamic_vino_lib/inferences/object_detection.hpp" -#include "dynamic_vino_lib/models/object_detection_yolov5_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/object_detection.hpp" +#include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" // Validated Object Detection Network @@ -129,7 +129,7 @@ bool Models::ObjectDetectionYolov5Model::matToBlob( bool Models::ObjectDetectionYolov5Model::fetchResults( const std::shared_ptr & engine, - std::vector & results, + std::vector & results, const float & confidence_thresh, const bool & enable_roi_constraint) { diff --git a/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp similarity index 98% rename from dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp rename to openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp index 0b7bc772..d0d127ce 100644 --- a/dynamic_vino_lib/src/models/object_segmentation_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp @@ -19,9 +19,9 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_maskrcnn_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network Models::ObjectSegmentationMaskrcnnModel::ObjectSegmentationMaskrcnnModel( diff --git a/dynamic_vino_lib/src/models/object_segmentation_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp similarity index 97% rename from dynamic_vino_lib/src/models/object_segmentation_model.cpp rename to openvino_wrapper_lib/src/models/object_segmentation_model.cpp index 3b22751c..31cd4c78 100644 --- a/dynamic_vino_lib/src/models/object_segmentation_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp @@ -19,9 +19,9 @@ #include #include #include -#include "dynamic_vino_lib/models/object_segmentation_model.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network Models::ObjectSegmentationModel::ObjectSegmentationModel( const std::string & label_loc, diff --git a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/person_attribs_detection_model.cpp rename to openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp index ef1d7e8a..405740d6 100644 --- a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp @@ -18,8 +18,8 @@ */ #include #include -#include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Person Attributes Detection Network Models::PersonAttribsDetectionModel::PersonAttribsDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/person_reidentification_model.cpp b/openvino_wrapper_lib/src/models/person_reidentification_model.cpp similarity index 94% rename from dynamic_vino_lib/src/models/person_reidentification_model.cpp rename to openvino_wrapper_lib/src/models/person_reidentification_model.cpp index af71d2c0..911a3609 100644 --- a/dynamic_vino_lib/src/models/person_reidentification_model.cpp +++ b/openvino_wrapper_lib/src/models/person_reidentification_model.cpp @@ -17,8 +17,8 @@ * @file person_reidentification_model.cpp */ #include -#include "dynamic_vino_lib/models/person_reidentification_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/person_reidentification_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Person Reidentification Network Models::PersonReidentificationModel::PersonReidentificationModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp similarity index 95% rename from dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp rename to openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp index 361658e8..e5a65947 100644 --- a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp @@ -17,8 +17,8 @@ * @file vehicle_attribs_detection_model.cpp */ #include -#include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" // Validated Vehicle Attributes Detection Network Models::VehicleAttribsDetectionModel::VehicleAttribsDetectionModel( const std::string & label_loc, const std::string & model_loc, int max_batch_size) diff --git a/dynamic_vino_lib/src/outputs/base_output.cpp b/openvino_wrapper_lib/src/outputs/base_output.cpp similarity index 89% rename from dynamic_vino_lib/src/outputs/base_output.cpp rename to openvino_wrapper_lib/src/outputs/base_output.cpp index fee27873..e401ce44 100644 --- a/dynamic_vino_lib/src/outputs/base_output.cpp +++ b/openvino_wrapper_lib/src/outputs/base_output.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dynamic_vino_lib/outputs/base_output.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" void Outputs::BaseOutput::setPipeline(Pipeline * const pipeline) { diff --git a/dynamic_vino_lib/src/outputs/image_window_output.cpp b/openvino_wrapper_lib/src/outputs/image_window_output.cpp similarity index 91% rename from dynamic_vino_lib/src/outputs/image_window_output.cpp rename to openvino_wrapper_lib/src/outputs/image_window_output.cpp index 29f70c63..1cb37940 100644 --- a/dynamic_vino_lib/src/outputs/image_window_output.cpp +++ b/openvino_wrapper_lib/src/outputs/image_window_output.cpp @@ -23,8 +23,8 @@ #include #include -#include "dynamic_vino_lib/outputs/image_window_output.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/image_window_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" Outputs::ImageWindowOutput::ImageWindowOutput(const std::string & output_name, int focal_length) : BaseOutput(output_name), focal_length_(focal_length) @@ -64,7 +64,7 @@ unsigned Outputs::ImageWindowOutput::findOutput( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -75,7 +75,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -87,7 +87,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -98,7 +98,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -111,7 +111,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -133,7 +133,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -144,7 +144,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) + const std::vector & results) { std::map class_color; for (unsigned i = 0; i < results.size(); i++) { @@ -179,7 +179,7 @@ void Outputs::ImageWindowOutput::mergeMask( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -202,7 +202,7 @@ void Outputs::ImageWindowOutput::accept( void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) + const std::vector & results) { std::map class_color; for (unsigned i = 0; i < results.size(); i++) { @@ -224,7 +224,7 @@ void Outputs::ImageWindowOutput::mergeMask( } } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -246,7 +246,7 @@ void Outputs::ImageWindowOutput::accept( void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -262,7 +262,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -280,7 +280,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -293,7 +293,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -342,7 +342,7 @@ cv::Mat Outputs::ImageWindowOutput::getRotationTransform(double yaw, double pitc } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector & results) { for (unsigned i = 0; i < results.size(); i++) { auto result = results[i]; diff --git a/dynamic_vino_lib/src/outputs/ros_service_output.cpp b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp similarity index 89% rename from dynamic_vino_lib/src/outputs/ros_service_output.cpp rename to openvino_wrapper_lib/src/outputs/ros_service_output.cpp index 08105a82..5220a29a 100644 --- a/dynamic_vino_lib/src/outputs/ros_service_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp @@ -20,7 +20,7 @@ #include #include #include -#include "dynamic_vino_lib/outputs/ros_service_output.hpp" +#include "openvino_wrapper_lib/outputs/ros_service_output.hpp" #include "cv_bridge/cv_bridge.h" void Outputs::RosServiceOutput::setServiceResponse( @@ -42,7 +42,7 @@ void Outputs::RosServiceOutput::setResponseForFace( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (age_gender_topic_ != nullptr) { response->age_gender.objects = age_gender_topic_->objects; @@ -50,7 +50,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (emotions_topic_ != nullptr) { response->emotion.emotions = emotions_topic_->emotions; @@ -58,7 +58,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (headpose_topic_ != nullptr) { response->headpose.headposes = headpose_topic_->headposes; @@ -66,7 +66,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { slog::info << "in People::Response ..."; if (faces_topic_ != nullptr) { diff --git a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp similarity index 73% rename from dynamic_vino_lib/src/outputs/ros_topic_output.cpp rename to openvino_wrapper_lib/src/outputs/ros_topic_output.cpp index 717792da..8a87d5f6 100644 --- a/dynamic_vino_lib/src/outputs/ros_topic_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp @@ -20,9 +20,9 @@ #include #include #include -#include "dynamic_vino_lib/outputs/ros_topic_output.hpp" -#include "dynamic_vino_lib/pipeline_params.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/ros_topic_output.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" #include "cv_bridge/cv_bridge.h" Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, @@ -34,19 +34,19 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, } else { node_ = rclcpp::Node::make_shared(output_name + "_topic_publisher"); } - pub_license_plate_ = node_->create_publisher( + pub_license_plate_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_license_plates", 16); - pub_vehicle_attribs_ = node_->create_publisher( + pub_vehicle_attribs_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16); - pub_landmarks_ = node_->create_publisher( + pub_landmarks_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_landmarks", 16); - pub_face_reid_ = node_->create_publisher( + pub_face_reid_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/reidentified_faces", 16); - pub_person_attribs_ = node_->create_publisher( + pub_person_attribs_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/person_attributes", 16); - pub_person_reid_ = node_->create_publisher( + pub_person_reid_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16); - pub_segmented_object_ = node_->create_publisher( + pub_segmented_object_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/segmented_obejcts", 16); pub_detected_object_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_objects", 16); @@ -54,12 +54,12 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/faces", 16); pub_emotion_ = - node_->create_publisher( + node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/emotions", 16); - pub_age_gender_ = node_->create_publisher( + pub_age_gender_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/age_genders", 16); pub_headpose_ = - node_->create_publisher( + node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/headposes", 16); emotions_topic_ = nullptr; detected_objects_topic_ = nullptr; @@ -81,10 +81,10 @@ void Outputs::RosTopicOutput::feedFrame(const cv::Mat & frame) } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - vehicle_attribs_topic_ = std::make_shared(); - people_msgs::msg::VehicleAttribs attribs; + vehicle_attribs_topic_ = std::make_shared(); + openvino_people_msgs::msg::VehicleAttribs attribs; for (auto & r : results) { auto loc = r.getLocation(); attribs.roi.x_offset = loc.x; @@ -98,10 +98,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - license_plate_topic_ = std::make_shared(); - people_msgs::msg::LicensePlate plate; + license_plate_topic_ = std::make_shared(); + openvino_people_msgs::msg::LicensePlate plate; for (auto & r : results) { auto loc = r.getLocation(); plate.roi.x_offset = loc.x; @@ -114,10 +114,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - face_reid_topic_ = std::make_shared(); - people_msgs::msg::Reidentification face; + face_reid_topic_ = std::make_shared(); + openvino_people_msgs::msg::Reidentification face; for (auto & r : results) { auto loc = r.getLocation(); face.roi.x_offset = loc.x; @@ -130,10 +130,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - landmarks_topic_ = std::make_shared(); - people_msgs::msg::Landmark landmark; + landmarks_topic_ = std::make_shared(); + openvino_people_msgs::msg::Landmark landmark; for (auto & r : results) { auto loc = r.getLocation(); landmark.roi.x_offset = loc.x; @@ -152,10 +152,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - person_attribs_topic_ = std::make_shared(); - people_msgs::msg::PersonAttribute person_attrib; + person_attribs_topic_ = std::make_shared(); + openvino_people_msgs::msg::PersonAttribute person_attrib; for (auto & r : results) { auto loc = r.getLocation(); person_attrib.roi.x_offset = loc.x; @@ -168,10 +168,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - person_reid_topic_ = std::make_shared(); - people_msgs::msg::Reidentification person; + person_reid_topic_ = std::make_shared(); + openvino_people_msgs::msg::Reidentification person; for (auto & r : results) { auto loc = r.getLocation(); person.roi.x_offset = loc.x; @@ -184,10 +184,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - segmented_objects_topic_ = std::make_shared(); - people_msgs::msg::ObjectInMask object; + segmented_objects_topic_ = std::make_shared(); + openvino_people_msgs::msg::ObjectInMask object; for (auto & r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; @@ -207,10 +207,10 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { - segmented_objects_topic_ = std::make_shared(); - people_msgs::msg::ObjectInMask object; + segmented_objects_topic_ = std::make_shared(); + openvino_people_msgs::msg::ObjectInMask object; for (auto & r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; @@ -230,7 +230,7 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { detected_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInBox object; @@ -247,7 +247,7 @@ void Outputs::RosTopicOutput::accept( } void Outputs::RosTopicOutput::accept( - const std::vector & results) + const std::vector & results) { faces_topic_ = std::make_shared(); @@ -265,11 +265,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector & results) { - emotions_topic_ = std::make_shared(); + emotions_topic_ = std::make_shared(); - people_msgs::msg::Emotion emotion; + openvino_people_msgs::msg::Emotion emotion; for (auto r : results) { auto loc = r.getLocation(); emotion.roi.x_offset = loc.x; @@ -281,11 +281,11 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector & results) { - age_gender_topic_ = std::make_shared(); + age_gender_topic_ = std::make_shared(); - people_msgs::msg::AgeGender ag; + openvino_people_msgs::msg::AgeGender ag; for (auto r : results) { auto loc = r.getLocation(); ag.roi.x_offset = loc.x; @@ -305,11 +305,11 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector & results) { - headpose_topic_ = std::make_shared(); + headpose_topic_ = std::make_shared(); - people_msgs::msg::HeadPose hp; + openvino_people_msgs::msg::HeadPose hp; for (auto r : results) { auto loc = r.getLocation(); hp.roi.x_offset = loc.x; diff --git a/dynamic_vino_lib/src/outputs/rviz_output.cpp b/openvino_wrapper_lib/src/outputs/rviz_output.cpp similarity index 72% rename from dynamic_vino_lib/src/outputs/rviz_output.cpp rename to openvino_wrapper_lib/src/outputs/rviz_output.cpp index 647c219b..f35e6414 100644 --- a/dynamic_vino_lib/src/outputs/rviz_output.cpp +++ b/openvino_wrapper_lib/src/outputs/rviz_output.cpp @@ -22,8 +22,8 @@ #include #include #include "cv_bridge/cv_bridge.h" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/outputs/rviz_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/outputs/rviz_output.hpp" Outputs::RvizOutput::RvizOutput(std::string output_name, const rclcpp::Node::SharedPtr node) : BaseOutput(output_name) @@ -45,63 +45,63 @@ void Outputs::RvizOutput::feedFrame(const cv::Mat & frame) } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } void Outputs::RvizOutput::accept( - const std::vector & results) + const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); } diff --git a/dynamic_vino_lib/src/pipeline.cpp b/openvino_wrapper_lib/src/pipeline.cpp similarity index 95% rename from dynamic_vino_lib/src/pipeline.cpp rename to openvino_wrapper_lib/src/pipeline.cpp index ee583cd3..cd454103 100644 --- a/dynamic_vino_lib/src/pipeline.cpp +++ b/openvino_wrapper_lib/src/pipeline.cpp @@ -17,7 +17,7 @@ * @file pipeline.cpp */ -#include +#include #include #include #include @@ -25,9 +25,9 @@ #include #include -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/pipeline.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" Pipeline::Pipeline(const std::string & name) { @@ -121,7 +121,7 @@ void Pipeline::addConnect(const std::string & parent, const std::string & name) bool Pipeline::add( const std::string & parent, const std::string & name, - std::shared_ptr inference) + std::shared_ptr inference) { if (parent.empty() || name.empty() || !isLegalConnect(parent, name)) { slog::err << "ARGuments ERROR when adding inference instance!" << slog::endl; @@ -138,14 +138,14 @@ bool Pipeline::add( bool Pipeline::add( const std::string & name, - std::shared_ptr inference) + std::shared_ptr inference) { if (name.empty()) { slog::err << "Item name can't be empty!" << slog::endl; return false; } - std::map>::iterator it = + std::map>::iterator it = name_to_detection_map_.find(name); if (it != name_to_detection_map_.end()) { slog::warn << "inferance instance for [" << name << diff --git a/dynamic_vino_lib/src/pipeline_manager.cpp b/openvino_wrapper_lib/src/pipeline_manager.cpp similarity index 78% rename from dynamic_vino_lib/src/pipeline_manager.cpp rename to openvino_wrapper_lib/src/pipeline_manager.cpp index 9040209f..184ac922 100644 --- a/dynamic_vino_lib/src/pipeline_manager.cpp +++ b/openvino_wrapper_lib/src/pipeline_manager.cpp @@ -17,55 +17,55 @@ * @file pipeline_manager.cpp */ -#include +#include #include #include #include #include #if 0 -#include "dynamic_vino_lib/inferences/landmarks_detection.hpp" -#include "dynamic_vino_lib/inferences/face_reidentification.hpp" -#include "dynamic_vino_lib/models/face_reidentification_model.hpp" -#include "dynamic_vino_lib/models/landmarks_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_reidentification.hpp" +#include "openvino_wrapper_lib/models/face_reidentification_model.hpp" +#include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" #endif -#include "dynamic_vino_lib/models/vehicle_attribs_detection_model.hpp" -#include "dynamic_vino_lib/models/license_plate_detection_model.hpp" -#include "dynamic_vino_lib/models/person_reidentification_model.hpp" -#include "dynamic_vino_lib/models/person_attribs_detection_model.hpp" -#include "dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/license_plate_detection.hpp" -#include "dynamic_vino_lib/inferences/person_reidentification.hpp" -#include "dynamic_vino_lib/inferences/person_attribs_detection.hpp" -#include "dynamic_vino_lib/inferences/face_detection.hpp" -#include "dynamic_vino_lib/models/face_detection_model.hpp" -#include "dynamic_vino_lib/inferences/age_gender_detection.hpp" -#include "dynamic_vino_lib/models/age_gender_detection_model.hpp" -#include "dynamic_vino_lib/inferences/emotions_detection.hpp" -#include "dynamic_vino_lib/models/emotion_detection_model.hpp" -#include "dynamic_vino_lib/inferences/head_pose_detection.hpp" -#include "dynamic_vino_lib/models/head_pose_detection_model.hpp" -#include "dynamic_vino_lib/models/object_detection_yolov5_model.hpp" -#include "dynamic_vino_lib/models/object_detection_ssd_model.hpp" -#include "dynamic_vino_lib/inferences/object_segmentation.hpp" -#include "dynamic_vino_lib/models/object_segmentation_model.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/inputs/realsense_camera.hpp" -#include "dynamic_vino_lib/inputs/realsense_camera_topic.hpp" -#include "dynamic_vino_lib/inputs/standard_camera.hpp" -#include "dynamic_vino_lib/inputs/ip_camera.hpp" -#include "dynamic_vino_lib/inputs/video_input.hpp" -#include "dynamic_vino_lib/outputs/image_window_output.hpp" -#include "dynamic_vino_lib/outputs/ros_topic_output.hpp" -#include "dynamic_vino_lib/outputs/rviz_output.hpp" -#include "dynamic_vino_lib/outputs/ros_service_output.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/pipeline_params.hpp" -#include "dynamic_vino_lib/services/pipeline_processing_server.hpp" -#include "dynamic_vino_lib/engines/engine_manager.hpp" +#include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" +#include "openvino_wrapper_lib/models/person_reidentification_model.hpp" +#include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" +#include "openvino_wrapper_lib/inferences/person_reidentification.hpp" +#include "openvino_wrapper_lib/inferences/person_attribs_detection.hpp" +#include "openvino_wrapper_lib/inferences/face_detection.hpp" +#include "openvino_wrapper_lib/models/face_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/age_gender_detection.hpp" +#include "openvino_wrapper_lib/models/age_gender_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/emotions_detection.hpp" +#include "openvino_wrapper_lib/models/emotion_detection_model.hpp" +#include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" +#include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" +#include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" +#include "openvino_wrapper_lib/models/object_detection_ssd_model.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/inputs/realsense_camera.hpp" +#include "openvino_wrapper_lib/inputs/realsense_camera_topic.hpp" +#include "openvino_wrapper_lib/inputs/standard_camera.hpp" +#include "openvino_wrapper_lib/inputs/ip_camera.hpp" +#include "openvino_wrapper_lib/inputs/video_input.hpp" +#include "openvino_wrapper_lib/outputs/image_window_output.hpp" +#include "openvino_wrapper_lib/outputs/ros_topic_output.hpp" +#include "openvino_wrapper_lib/outputs/rviz_output.hpp" +#include "openvino_wrapper_lib/outputs/ros_service_output.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" +#include "openvino_wrapper_lib/engines/engine_manager.hpp" std::shared_ptr PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData & params, rclcpp::Node::SharedPtr node) @@ -186,16 +186,16 @@ PipelineManager::parseOutput(const PipelineData & pdata) return outputs; } -std::map> +std::map> PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & params) { - std::map> inferences; + std::map> inferences; for (auto & infer : params.infers) { if (infer.name.empty() || infer.model.empty()) { continue; } slog::info << "Parsing Inference: " << infer.name << slog::endl; - std::shared_ptr object = nullptr; + std::shared_ptr object = nullptr; if (infer.name == kInferTpye_FaceDetection) { object = createFaceDetection(infer); @@ -237,46 +237,46 @@ PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & pa } -std::shared_ptr +std::shared_ptr PipelineManager::createFaceDetection( const Params::ParamManager::InferenceRawData & infer) { return createObjectDetection(infer); } -std::shared_ptr +std::shared_ptr PipelineManager::createAgeGenderRecognition(const Params::ParamManager::InferenceRawData & param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); auto engine = engine_manager_.createEngine(param.engine, model); - auto infer = std::make_shared(); + auto infer = std::make_shared(); infer->loadNetwork(model); infer->loadEngine(engine); return infer; } -std::shared_ptr +std::shared_ptr PipelineManager::createEmotionRecognition(const Params::ParamManager::InferenceRawData & param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); auto engine = engine_manager_.createEngine(param.engine, model); - auto infer = std::make_shared(); + auto infer = std::make_shared(); infer->loadNetwork(model); infer->loadEngine(engine); return infer; } -std::shared_ptr +std::shared_ptr PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceRawData & param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); auto engine = engine_manager_.createEngine(param.engine, model); - auto infer = std::make_shared(); + auto infer = std::make_shared(); infer->loadNetwork(model); infer->loadEngine(engine); @@ -284,12 +284,12 @@ PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceR } -std::shared_ptr +std::shared_ptr PipelineManager::createObjectDetection( const Params::ParamManager::InferenceRawData & infer) { std::shared_ptr object_detection_model; - std::shared_ptr object_inference_ptr; + std::shared_ptr object_inference_ptr; slog::debug << "for test in createObjectDetection()" << slog::endl; if (infer.model_type == kInferTpye_ObjectDetectionTypeSSD) { object_detection_model = @@ -301,7 +301,7 @@ PipelineManager::createObjectDetection( } slog::debug << "for test in createObjectDetection(), Created SSDModel" << slog::endl; - object_inference_ptr = std::make_shared( + object_inference_ptr = std::make_shared( infer.enable_roi_constraint, infer.confidence_threshold); // To-do theshold configuration slog::debug << "for test in createObjectDetection(), before modelInit()" << slog::endl; object_detection_model->modelInit(); @@ -314,7 +314,7 @@ PipelineManager::createObjectDetection( return object_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer) { auto model = @@ -323,7 +323,7 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR slog::info << "Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Segmentation Engine initialized." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( + auto segmentation_inference_ptr = std::make_shared( infer.confidence_threshold); slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); @@ -332,7 +332,7 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR return segmentation_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer) { auto model = @@ -341,7 +341,7 @@ PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::In slog::info << "Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Segmentation Engine initialized." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( + auto segmentation_inference_ptr = std::make_shared( infer.confidence_threshold); slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); @@ -350,12 +350,12 @@ PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::In return segmentation_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createPersonReidentification( const Params::ParamManager::InferenceRawData & infer) { std::shared_ptr person_reidentification_model; - std::shared_ptr reidentification_inference_ptr; + std::shared_ptr reidentification_inference_ptr; slog::debug << "for test in createPersonReidentification()"<(infer.label, infer.model, infer.batch); @@ -363,7 +363,7 @@ PipelineManager::createPersonReidentification( slog::info << "Reidentification model initialized" << slog::endl; auto person_reidentification_engine = engine_manager_.createEngine(infer.engine, person_reidentification_model); reidentification_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); slog::debug<< "for test in createPersonReidentification(), before loadNetwork"<loadNetwork(person_reidentification_model); reidentification_inference_ptr->loadEngine(person_reidentification_engine); @@ -372,7 +372,7 @@ PipelineManager::createPersonReidentification( return reidentification_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createVehicleAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -381,14 +381,14 @@ PipelineManager::createVehicleAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto vehicle_attribs_ptr = - std::make_shared(); + std::make_shared(); vehicle_attribs_ptr->loadNetwork(model); vehicle_attribs_ptr->loadEngine(engine); return vehicle_attribs_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createLicensePlateDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -397,14 +397,14 @@ PipelineManager::createLicensePlateDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto license_plate_ptr = - std::make_shared(); + std::make_shared(); license_plate_ptr->loadNetwork(model); license_plate_ptr->loadEngine(engine); return license_plate_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createPersonAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -414,7 +414,7 @@ PipelineManager::createPersonAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto attribs_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); attribs_inference_ptr->loadNetwork(model); attribs_inference_ptr->loadEngine(engine); @@ -422,7 +422,7 @@ PipelineManager::createPersonAttribsDetection( } #if 0 -std::shared_ptr +std::shared_ptr PipelineManager::createPersonReidentification( const Params::ParamManager::InferenceRawData & infer) { @@ -431,14 +431,14 @@ PipelineManager::createPersonReidentification( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto reidentification_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); reidentification_inference_ptr->loadNetwork(model); reidentification_inference_ptr->loadEngine(engine); return reidentification_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createPersonAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -448,14 +448,14 @@ PipelineManager::createPersonAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto attribs_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); attribs_inference_ptr->loadNetwork(model); attribs_inference_ptr->loadEngine(engine); return attribs_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createLandmarksDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -464,14 +464,14 @@ PipelineManager::createLandmarksDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto landmarks_inference_ptr = - std::make_shared(); + std::make_shared(); landmarks_inference_ptr->loadNetwork(model); landmarks_inference_ptr->loadEngine(engine); return landmarks_inference_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createFaceReidentification( const Params::ParamManager::InferenceRawData & infer) { @@ -480,14 +480,14 @@ PipelineManager::createFaceReidentification( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto face_reid_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); face_reid_ptr->loadNetwork(model); face_reid_ptr->loadEngine(engine); return face_reid_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createVehicleAttribsDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -496,14 +496,14 @@ PipelineManager::createVehicleAttribsDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto vehicle_attribs_ptr = - std::make_shared(); + std::make_shared(); vehicle_attribs_ptr->loadNetwork(model); vehicle_attribs_ptr->loadEngine(engine); return vehicle_attribs_ptr; } -std::shared_ptr +std::shared_ptr PipelineManager::createLicensePlateDetection( const Params::ParamManager::InferenceRawData & infer) { @@ -512,7 +512,7 @@ PipelineManager::createLicensePlateDetection( model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto license_plate_ptr = - std::make_shared(); + std::make_shared(); license_plate_ptr->loadNetwork(model); license_plate_ptr->loadEngine(engine); @@ -573,7 +573,7 @@ void PipelineManager::runAll() void PipelineManager::runService() { auto node = std::make_shared>("pipeline_service"); + >("pipeline_service"); while (service_.state != PipelineState_ThreadStopped && service_.thread != nullptr) { rclcpp::spin_some(node); std::this_thread::sleep_for(std::chrono::milliseconds(1)); diff --git a/dynamic_vino_lib/src/pipeline_params.cpp b/openvino_wrapper_lib/src/pipeline_params.cpp similarity index 95% rename from dynamic_vino_lib/src/pipeline_params.cpp rename to openvino_wrapper_lib/src/pipeline_params.cpp index 43bc953c..9b9b3c41 100644 --- a/dynamic_vino_lib/src/pipeline_params.cpp +++ b/openvino_wrapper_lib/src/pipeline_params.cpp @@ -17,11 +17,11 @@ * @file pipeline.cpp */ -#include +#include #include #include #include -#include "dynamic_vino_lib/pipeline_params.hpp" +#include "openvino_wrapper_lib/pipeline_params.hpp" PipelineParams::PipelineParams(const std::string & name) { diff --git a/dynamic_vino_lib/src/services/frame_processing_server.cpp b/openvino_wrapper_lib/src/services/frame_processing_server.cpp similarity index 85% rename from dynamic_vino_lib/src/services/frame_processing_server.cpp rename to openvino_wrapper_lib/src/services/frame_processing_server.cpp index 3a97a036..052751dc 100644 --- a/dynamic_vino_lib/src/services/frame_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/frame_processing_server.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dynamic_vino_lib/services/frame_processing_server.hpp" -#include +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" +#include #include #include -#include +#include #include #include #include @@ -25,11 +25,11 @@ #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/slog.hpp" namespace vino_service { @@ -93,5 +93,5 @@ void FrameProcessingServer::cbService( } template class FrameProcessingServer; -template class FrameProcessingServer; +template class FrameProcessingServer; } // namespace vino_service diff --git a/dynamic_vino_lib/src/services/pipeline_processing_server.cpp b/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp similarity index 88% rename from dynamic_vino_lib/src/services/pipeline_processing_server.cpp rename to openvino_wrapper_lib/src/services/pipeline_processing_server.cpp index 7323c6f6..b24fb2eb 100644 --- a/dynamic_vino_lib/src/services/pipeline_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "dynamic_vino_lib/services/pipeline_processing_server.hpp" +#include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" #include -#include +#include #include #include #include @@ -23,9 +23,9 @@ #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/slog.hpp" namespace vino_service { @@ -52,13 +52,13 @@ void PipelineProcessingServer::setResponse( std::shared_ptr response) { for (auto it = pipelines_->begin(); it != pipelines_->end(); ++it) { - pipeline_srv_msgs::msg::Pipeline pipeline_msg; + openvino_msgs::msg::Pipeline pipeline_msg; pipeline_msg.name = it->first; pipeline_msg.running_status = std::to_string(it->second.state); auto connection_map = it->second.pipeline->getPipelineDetail(); for (auto & current_pipe : connection_map) { - pipeline_srv_msgs::msg::Connection connection; + openvino_msgs::msg::Connection connection; connection.input = current_pipe.first.c_str(); connection.output = current_pipe.second.c_str(); pipeline_msg.connections.push_back(connection); @@ -100,5 +100,5 @@ void PipelineProcessingServer::cbService( } setResponse(response); } -template class PipelineProcessingServer; +template class PipelineProcessingServer; } // namespace vino_service diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index bd9b9ddc..6452c709 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -11,7 +11,7 @@ set(OpenVINO_LIBRARIES openvino::runtime) cmake_minimum_required(VERSION 3.5) -project(dynamic_vino_sample) +project(openvino_node) # Default to C++17 if(NOT CMAKE_CXX_STANDARD) @@ -38,11 +38,11 @@ find_package(rcutils) find_package(OpenCV REQUIRED) find_package(cv_bridge REQUIRED) find_package(OpenVINO REQUIRED) -find_package(dynamic_vino_lib REQUIRED) +find_package(openvino_wrapper_lib REQUIRED) find_package(object_msgs REQUIRED) -find_package(people_msgs REQUIRED) -find_package(pipeline_srv_msgs REQUIRED) -find_package(vino_param_lib REQUIRED) +find_package(openvino_people_msgs REQUIRED) +find_package(openvino_msgs REQUIRED) +find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) find_package(realsense2 REQUIRED) find_package(rclcpp_components) @@ -97,8 +97,8 @@ source_group("include" FILES ${MAIN_HEADERS}) include_directories(${OpenCV_INCLUDE_DIRS}) include_directories(${PROJECT_SOURCE_DIR}/include) -include_directories(${dynamic_vino_lib_INCLUDE_DIRS}) -include_directories(${vino_param_lib_INCLUDE_DIRS}) +include_directories(${openvino_wrapper_lib_INCLUDE_DIRS}) +include_directories(${openvino_param_lib_INCLUDE_DIRS}) include_directories(${OpenVINO_DIRS}) include_directories(${realsense2_INCLUDE_DIRS}) @@ -115,8 +115,8 @@ target_link_libraries(vino_param_sample ) ament_target_dependencies(vino_param_sample - "vino_param_lib" - "dynamic_vino_lib" + "openvino_param_lib" + "openvino_wrapper_lib" "yaml_cpp_vendor" ) @@ -133,11 +133,11 @@ ament_target_dependencies(pipeline_with_params "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" "yaml_cpp_vendor" "realsense2" @@ -157,11 +157,11 @@ ament_target_dependencies(composable_pipeline "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" "yaml_cpp_vendor" "realsense2" @@ -181,11 +181,11 @@ ament_target_dependencies(image_object_server "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) @@ -202,11 +202,11 @@ ament_target_dependencies(image_people_server "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) @@ -223,11 +223,11 @@ ament_target_dependencies(image_object_client "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) @@ -244,11 +244,11 @@ ament_target_dependencies(image_people_client "object_msgs" "ament_index_cpp" "class_loader" - "dynamic_vino_lib" + "openvino_wrapper_lib" "OpenVINO" - "people_msgs" - "pipeline_srv_msgs" - "vino_param_lib" + "openvino_people_msgs" + "openvino_msgs" + "openvino_param_lib" "OpenCV" ) diff --git a/sample/launch/image_object_server.launch.py b/sample/launch/image_object_server.launch.py index 2d3bbbba..cdf978cd 100644 --- a/sample/launch/image_object_server.launch.py +++ b/sample/launch/image_object_server.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'image_object_server.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_object_server', + package='openvino_node', node_executable='image_object_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/sample/launch/image_people_server.launch.py b/sample/launch/image_people_server.launch.py index c0a4ee57..0e2873d1 100644 --- a/sample/launch/image_people_server.launch.py +++ b/sample/launch/image_people_server.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'image_people_server.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_people_server', + package='openvino_node', node_executable='image_people_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/sample/launch/multi_pipeline_service.launch.py b/sample/launch/multi_pipeline_service.launch.py index 2bcdd2f6..aacc6973 100644 --- a/sample/launch/multi_pipeline_service.launch.py +++ b/sample/launch/multi_pipeline_service.launch.py @@ -22,14 +22,14 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'multi_pipleine_service.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default2.rviz') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object1/detected_objects', diff --git a/sample/launch/pipeline_composite_object_topic.launch.py b/sample/launch/pipeline_composite_object_topic.launch.py index 5184448f..767a28ed 100644 --- a/sample/launch/pipeline_composite_object_topic.launch.py +++ b/sample/launch/pipeline_composite_object_topic.launch.py @@ -5,7 +5,7 @@ import os def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'pipeline_composite_object_topic.yaml') container = ComposableNodeContainer( node_name='vision_pipeline', @@ -20,7 +20,7 @@ def generate_launch_description(): parameters=[get_package_share_directory('realsense_examples')+'/config/d435i.yaml'], extra_arguments=[{'use_intra_process_comms':'true'}]), ComposableNode( - package='dynamic_vino_sample', + package='openvino_node', node_plugin='ComposablePipeline', node_name='composable_pipeline', parameters=[{"config":default_yaml}], diff --git a/sample/launch/pipeline_face_reidentification.launch.py b/sample/launch/pipeline_face_reidentification.launch.py index 758cc881..5a2ceb51 100644 --- a/sample/launch/pipeline_face_reidentification.launch.py +++ b/sample/launch/pipeline_face_reidentification.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_face_reidentification.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_face_reidentification.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_face_reidentification.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', #arguments=['-config', default_yaml], arguments=['-config', LaunchConfiguration('yaml_path')], diff --git a/sample/launch/pipeline_image.launch.py b/sample/launch/pipeline_image.launch.py index 4aa1c41a..0ac9f013 100644 --- a/sample/launch/pipeline_image.launch.py +++ b/sample/launch/pipeline_image.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_image.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_image.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_image.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object.launch.py b/sample/launch/pipeline_object.launch.py index c61ac818..457faae1 100644 --- a/sample/launch/pipeline_object.launch.py +++ b/sample/launch/pipeline_object.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_topic.launch.py b/sample/launch/pipeline_object_topic.launch.py index aca2810b..07de7471 100644 --- a/sample/launch/pipeline_object_topic.launch.py +++ b/sample/launch/pipeline_object_topic.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object_topic.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object_topic.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_topic.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_yolo.launch.py b/sample/launch/pipeline_object_yolo.launch.py index 0cd67db9..d5df63ac 100644 --- a/sample/launch/pipeline_object_yolo.launch.py +++ b/sample/launch/pipeline_object_yolo.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object_yolo.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object_yolo.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_object_yolo_topic.launch.py b/sample/launch/pipeline_object_yolo_topic.launch.py index 28ec64ed..451f4b95 100644 --- a/sample/launch/pipeline_object_yolo_topic.launch.py +++ b/sample/launch/pipeline_object_yolo_topic.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_object_yolo_topic.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_object_yolo_topic.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo_topic.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_people.launch.py b/sample/launch/pipeline_people.launch.py index b1c9e213..88386dcd 100644 --- a/sample/launch/pipeline_people.launch.py +++ b/sample/launch/pipeline_people.launch.py @@ -25,17 +25,17 @@ def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_people.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_people.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_people.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_people_ip.launch.py b/sample/launch/pipeline_people_ip.launch.py index 8f97e5d7..eb69a212 100644 --- a/sample/launch/pipeline_people_ip.launch.py +++ b/sample/launch/pipeline_people_ip.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_people_ip.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_people_ip.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_people_ip.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_person_attributes.launch.py b/sample/launch/pipeline_person_attributes.launch.py index 467e7b07..10645ca2 100644 --- a/sample/launch/pipeline_person_attributes.launch.py +++ b/sample/launch/pipeline_person_attributes.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_person_attributes.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_person_attributes.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_person_attributes.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_reidentification.launch.py b/sample/launch/pipeline_reidentification.launch.py index 591a6180..defca5b3 100644 --- a/sample/launch/pipeline_reidentification.launch.py +++ b/sample/launch/pipeline_reidentification.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_reidentification.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_reidentification.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_reidentification.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation.launch.py b/sample/launch/pipeline_segmentation.launch.py index 8dee1812..d5303ae4 100644 --- a/sample/launch/pipeline_segmentation.launch.py +++ b/sample/launch/pipeline_segmentation.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_segmentation.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation_image.launch.py b/sample/launch/pipeline_segmentation_image.launch.py index 81e5bea0..584ddfc3 100644 --- a/sample/launch/pipeline_segmentation_image.launch.py +++ b/sample/launch/pipeline_segmentation_image.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_segmentation_image.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation_image.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_image.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_segmentation_maskrcnn.launch.py b/sample/launch/pipeline_segmentation_maskrcnn.launch.py index 5ccd9c52..b07d5476 100644 --- a/sample/launch/pipeline_segmentation_maskrcnn.launch.py +++ b/sample/launch/pipeline_segmentation_maskrcnn.launch.py @@ -24,20 +24,20 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_segmentation.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_segmentation_maskrcnn.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_maskrcnn.yaml')), # Realsense # NOTE: Split realsense_node launching from OpenVINO package, which # will be launched by RDK launching file or manually. # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_vehicle_detection.launch.py b/sample/launch/pipeline_vehicle_detection.launch.py index 1cfd6899..a147d95c 100644 --- a/sample/launch/pipeline_vehicle_detection.launch.py +++ b/sample/launch/pipeline_vehicle_detection.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_vehicle_detection.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_vehicle_detection.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_vehicle_detection.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/pipeline_video.launch.py b/sample/launch/pipeline_video.launch.py index 5ace9324..63f76cec 100644 --- a/sample/launch/pipeline_video.launch.py +++ b/sample/launch/pipeline_video.launch.py @@ -24,16 +24,16 @@ import launch def generate_launch_description(): - #default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', #'pipeline_video.yaml') - default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param','pipeline_video.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_video.yaml')), # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', + package='openvino_node', executable='pipeline_with_params', arguments=['-config', LaunchConfiguration('yaml_path')], remappings=[ diff --git a/sample/launch/ros2_openvino_oa.launch.py b/sample/launch/ros2_openvino_oa.launch.py index 687c8fc7..b759e165 100644 --- a/sample/launch/ros2_openvino_oa.launch.py +++ b/sample/launch/ros2_openvino_oa.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', 'pipeline_object_topic.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), diff --git a/sample/package.xml b/sample/package.xml index b9a5ed0d..b82fcf92 100644 --- a/sample/package.xml +++ b/sample/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - dynamic_vino_sample + openvino_node 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu @@ -33,8 +33,8 @@ limitations under the License. gflags yaml_cpp_vendor ament_index_cpp - dynamic_vino_lib - vino_param_lib + openvino_wrapper_lib + openvino_param_lib cv_bridge object_msgs realsense2 @@ -49,8 +49,8 @@ limitations under the License. ament_index_cpp class_loader cv_bridge - dynamic_vino_lib - vino_param_lib + openvino_wrapper_lib + openvino_param_lib object_msgs realsense2 diff --git a/sample/src/image_object_client.cpp b/sample/src/image_object_client.cpp index 26894d9b..9704febf 100644 --- a/sample/src/image_object_client.cpp +++ b/sample/src/image_object_client.cpp @@ -13,13 +13,13 @@ // limitations under the License. #include -#include +#include #include #include #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" int main(int argc, char ** argv) { @@ -27,7 +27,7 @@ int main(int argc, char ** argv) auto node = rclcpp::Node::make_shared("service_example_for_object"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run dynamic_vino_sample image_object_client" + RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_node image_object_client" ""); return -1; } diff --git a/sample/src/image_object_server.cpp b/sample/src/image_object_server.cpp index 6efc55f0..50cb7e81 100644 --- a/sample/src/image_object_server.cpp +++ b/sample/src/image_object_server.cpp @@ -13,17 +13,17 @@ // limitations under the License. #include -#include +#include #include #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/services/frame_processing_server.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino/openvino.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include diff --git a/sample/src/image_people_client.cpp b/sample/src/image_people_client.cpp index ba89b013..0b1ce773 100644 --- a/sample/src/image_people_client.cpp +++ b/sample/src/image_people_client.cpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include #include -#include +#include #include #include #include #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" int main(int argc, char ** argv) { @@ -30,15 +30,15 @@ int main(int argc, char ** argv) auto node = rclcpp::Node::make_shared("service_example_for_face"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run dynamic_vino_sample image_object_client" + RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_node image_object_client" ""); return -1; } std::string image_path = argv[1]; - auto client = node->create_client("/openvino_toolkit/service"); - auto request = std::make_shared(); + auto client = node->create_client("/openvino_toolkit/service"); + auto request = std::make_shared(); request->image_path = image_path; while (!client->wait_for_service(std::chrono::seconds(1))) { diff --git a/sample/src/image_people_server.cpp b/sample/src/image_people_server.cpp index 99e6d4da..03f84b30 100644 --- a/sample/src/image_people_server.cpp +++ b/sample/src/image_people_server.cpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include -#include +#include #include #include #include -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/services/frame_processing_server.hpp" -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/slog.hpp" -#include "dynamic_vino_lib/inputs/base_input.hpp" -#include "dynamic_vino_lib/inputs/image_input.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/inputs/base_input.hpp" +#include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino/openvino.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include @@ -39,7 +39,7 @@ int main(int argc, char ** argv) try { auto node = std::make_shared>("service_people_detection", config_path); + >("service_people_detection", config_path); rclcpp::spin(node); } catch (std::exception & e) { std::cout << e.what() << std::endl; diff --git a/sample/src/parameters.cpp b/sample/src/parameters.cpp index 07430996..45bef956 100644 --- a/sample/src/parameters.cpp +++ b/sample/src/parameters.cpp @@ -19,8 +19,8 @@ * \file sample/parameters.cpp */ -#include -#include +#include +#include #include #include #include diff --git a/sample/src/pipeline_composite.cpp b/sample/src/pipeline_composite.cpp index cc0f00b0..aea1630a 100644 --- a/sample/src/pipeline_composite.cpp +++ b/sample/src/pipeline_composite.cpp @@ -20,7 +20,7 @@ #include #include -#include +#include #include #include #include @@ -37,9 +37,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif diff --git a/sample/src/pipeline_with_params.cpp b/sample/src/pipeline_with_params.cpp index 4bc6ba78..6d11ff9a 100644 --- a/sample/src/pipeline_with_params.cpp +++ b/sample/src/pipeline_with_params.cpp @@ -20,7 +20,7 @@ #include #include -#include +#include #include #include #include @@ -37,10 +37,10 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/services/pipeline_processing_server.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" +#include "openvino_wrapper_lib/slog.hpp" #if(defined(USE_OLD_E_PLUGIN_API)) #include #endif @@ -65,7 +65,7 @@ int main(int argc, char * argv[]) rclcpp::executors::SingleThreadedExecutor exec; rclcpp::Node::SharedPtr main_node = rclcpp::Node::make_shared("openvino_pipeline"); rclcpp::Node::SharedPtr service_node = std::make_shared>("pipeline_service"); + >("pipeline_service"); // register signal SIGINT and signal handler //signal(SIGINT, signalHandler); diff --git a/script/viewer/service.py b/script/viewer/service.py index d0f99702..82d7d2e4 100644 --- a/script/viewer/service.py +++ b/script/viewer/service.py @@ -1,5 +1,5 @@ #!/usr/bin/env python -from pipeline_srv_msgs.srv import * +from openvino_msgs.srv import * import rclpy import sys from pipeTree import TreeNode diff --git a/script/viewer/viewer.py b/script/viewer/viewer.py index 93b71918..a82ace37 100644 --- a/script/viewer/viewer.py +++ b/script/viewer/viewer.py @@ -3,7 +3,7 @@ from PyQt5.QtGui import QPainter,QPen,QBrush,QColor from PyQt5.QtCore import QRect from service import reqPipelineService,getTree -from pipeline_srv_msgs.srv import * +from openvino_msgs.srv import * from pipeTree import TreeNode diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 5e871b1d..3dd4228e 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -14,7 +14,7 @@ cmake_minimum_required(VERSION 3.5) -project(dynamic_vino_test) +project(openvino_test) list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake) @@ -51,12 +51,12 @@ find_package(rmw REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(object_msgs REQUIRED) -find_package(people_msgs REQUIRED) -find_package(pipeline_srv_msgs REQUIRED) +find_package(openvino_people_msgs REQUIRED) +find_package(openvino_msgs REQUIRED) find_package(class_loader REQUIRED) -find_package(vino_param_lib REQUIRED) +find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) -find_package(dynamic_vino_lib REQUIRED) +find_package(openvino_wrapper_lib REQUIRED) set(CMAKE_BUILD_TYPE "Release") if("${CMAKE_BUILD_TYPE}" STREQUAL "") @@ -144,17 +144,17 @@ if(BUILD_TESTING) if(TARGET ${target}) ament_target_dependencies(${target} "rclcpp" - "vino_param_lib" + "openvino_param_lib" "object_msgs" - "people_msgs" - "pipeline_srv_msgs" + "openvino_people_msgs" + "openvino_msgs" "OpenVINO" "OpenCV" "realsense2" "ament_index_cpp" "yaml_cpp_vendor" "class_loader" - "dynamic_vino_lib") + "openvino_wrapper_lib") endif() endmacro() diff --git a/tests/launch/image_object_service_test.launch.py b/tests/launch/image_object_service_test.launch.py index aa4e85e7..9b8ecb32 100644 --- a/tests/launch/image_object_service_test.launch.py +++ b/tests/launch/image_object_service_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'image_object_service_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_object_server', + package='openvino_node', node_executable='image_object_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/tests/launch/image_people_service_test.launch.py b/tests/launch/image_people_service_test.launch.py index 6db0d65f..a9519dd4 100644 --- a/tests/launch/image_people_service_test.launch.py +++ b/tests/launch/image_people_service_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'image_people_service_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='image_people_server', + package='openvino_node', node_executable='image_people_server', arguments=['-config', default_yaml], output='screen'), ]) diff --git a/tests/launch/pipeline_face_reidentification_test.launch.py b/tests/launch/pipeline_face_reidentification_test.launch.py index cd4b0844..9515a86e 100644 --- a/tests/launch/pipeline_face_reidentification_test.launch.py +++ b/tests/launch/pipeline_face_reidentification_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_face_reidentification_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', '/ros2_openvino_toolkit/face_detection'), diff --git a/tests/launch/pipeline_face_test.launch.py b/tests/launch/pipeline_face_test.launch.py index 9c08bd36..2311342e 100644 --- a/tests/launch/pipeline_face_test.launch.py +++ b/tests/launch/pipeline_face_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_face_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/tests/launch/pipeline_image_test.launch.py b/tests/launch/pipeline_image_test.launch.py index 947667d1..e4a2b738 100644 --- a/tests/launch/pipeline_image_test.launch.py +++ b/tests/launch/pipeline_image_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_image_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/people/detected_objects', diff --git a/tests/launch/pipeline_object_test.launch.py b/tests/launch/pipeline_object_test.launch.py index b324415d..752080c7 100644 --- a/tests/launch/pipeline_object_test.launch.py +++ b/tests/launch/pipeline_object_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_object_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/tests/launch/pipeline_reidentification_test.launch.py b/tests/launch/pipeline_reidentification_test.launch.py index b29f0316..080d619c 100644 --- a/tests/launch/pipeline_reidentification_test.launch.py +++ b/tests/launch/pipeline_reidentification_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_reidentification_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_objects', diff --git a/tests/launch/pipeline_segmentation_test.launch.py b/tests/launch/pipeline_segmentation_test.launch.py index 613e5747..5cceb3eb 100644 --- a/tests/launch/pipeline_segmentation_test.launch.py +++ b/tests/launch/pipeline_segmentation_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_segmentation_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/segmentation/segmented_obejcts', diff --git a/tests/launch/pipeline_vehicle_detection_test.launch.py b/tests/launch/pipeline_vehicle_detection_test.launch.py index b039ec8d..deb7cda3 100644 --- a/tests/launch/pipeline_vehicle_detection_test.launch.py +++ b/tests/launch/pipeline_vehicle_detection_test.launch.py @@ -22,12 +22,12 @@ def generate_launch_description(): - default_yaml = os.path.join(get_package_share_directory('dynamic_vino_test'), 'param', + default_yaml = os.path.join(get_package_share_directory('openvino_test'), 'param', 'pipeline_vehicle_detection_test.yaml') return LaunchDescription([ # Openvino detection launch_ros.actions.Node( - package='dynamic_vino_sample', node_executable='pipeline_with_params', + package='openvino_node', node_executable='pipeline_with_params', arguments=['-config', default_yaml], remappings=[ ('/openvino_toolkit/object/detected_license_plates', diff --git a/tests/package.xml b/tests/package.xml index a9ad9c4e..0d2bce43 100644 --- a/tests/package.xml +++ b/tests/package.xml @@ -14,7 +14,7 @@ limitations under the License. --> - dynamic_vino_test + openvino_test 0.9.0 a ROS2 wrapper package for Intel OpenVINO Weizhi Liu @@ -35,12 +35,12 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 openvino_common - dynamic_vino_lib + openvino_wrapper_lib rosidl_default_runtime builtin_interfaces @@ -53,11 +53,11 @@ limitations under the License. class_loader cv_bridge object_msgs - people_msgs - pipeline_srv_msgs - vino_param_lib + openvino_people_msgs + openvino_msgs + openvino_param_lib realsense2 - dynamic_vino_lib + openvino_wrapper_lib ament_lint_auto ament_lint_common diff --git a/tests/src/lib/unittest_createPipelineCheck.cpp b/tests/src/lib/unittest_createPipelineCheck.cpp index 3cca1133..b531391b 100644 --- a/tests/src/lib/unittest_createPipelineCheck.cpp +++ b/tests/src/lib/unittest_createPipelineCheck.cpp @@ -15,7 +15,7 @@ #include #include #include -#include +#include #include #include @@ -32,16 +32,16 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" std::string getConfigPath(std::string config_file) { std::string content; std::string prefix_path; - ament_index_cpp::get_resource("packages", "dynamic_vino_test", content, &prefix_path); - return prefix_path + "/share/dynamic_vino_test/param/" + config_file; + ament_index_cpp::get_resource("packages", "openvino_test", content, &prefix_path); + return prefix_path + "/share/openvino_test/param/" + config_file; } TEST(UnitTestCheckPipeline, testCreatePipeline) diff --git a/tests/src/service/unittest_objectService.cpp b/tests/src/service/unittest_objectService.cpp index c808f154..ecf11b33 100644 --- a/tests/src/service/unittest_objectService.cpp +++ b/tests/src/service/unittest_objectService.cpp @@ -13,7 +13,7 @@ // limitations under the License. #include -#include +#include #include #include #include @@ -22,7 +22,7 @@ #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" std::string generate_file_path(std::string path) { @@ -79,7 +79,7 @@ int main(int argc, char ** argv) rclcpp::init(argc, argv); testing::InitGoogleTest(&argc, argv); auto offset = std::chrono::seconds(20); - system("ros2 launch dynamic_vino_test image_object_service_test.launch.py &"); + system("ros2 launch openvino_test image_object_service_test.launch.py &"); rclcpp::sleep_for(offset); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT image_object_server &"); diff --git a/tests/src/service/unittest_peopleService.cpp b/tests/src/service/unittest_peopleService.cpp index 85883e84..745a203d 100644 --- a/tests/src/service/unittest_peopleService.cpp +++ b/tests/src/service/unittest_peopleService.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include #include -#include +#include #include #include #include @@ -24,7 +24,7 @@ #include #include -#include "dynamic_vino_lib/services/frame_processing_server.hpp" +#include "openvino_wrapper_lib/services/frame_processing_server.hpp" std::string generate_file_path(std::string path) { @@ -38,11 +38,11 @@ TEST(UnitTestPeople, testPeople) { auto node = rclcpp::Node::make_shared("openvino_people_service_test"); - auto client = node->create_client("/openvino_toolkit/service"); + auto client = node->create_client("/openvino_toolkit/service"); ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20))); - auto request = std::make_shared(); + auto request = std::make_shared(); std::string buffer = generate_file_path("data/images/team.jpg"); std::cout << buffer << std::endl; @@ -71,7 +71,7 @@ int main(int argc, char ** argv) rclcpp::init(argc, argv); testing::InitGoogleTest(&argc, argv); auto offset = std::chrono::seconds(20); - system("ros2 launch dynamic_vino_test image_people_service_test.launch.py &"); + system("ros2 launch openvino_test image_people_service_test.launch.py &"); rclcpp::sleep_for(offset); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT image_people_server &"); diff --git a/tests/src/topic/unittest_faceDetectionCheck.cpp b/tests/src/topic/unittest_faceDetectionCheck.cpp index 8dbc135c..e7e22f6c 100644 --- a/tests/src/topic/unittest_faceDetectionCheck.cpp +++ b/tests/src/topic/unittest_faceDetectionCheck.cpp @@ -14,13 +14,13 @@ #include #include -#include -#include +#include +#include #include -#include -#include +#include +#include #include -#include +#include #include #include @@ -37,9 +37,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -102,7 +102,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { emotion_test_pass = true; sub_called.set_value(true); }; @@ -111,7 +111,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) executor.add_node(node); { - auto sub2 = node->create_subscription( + auto sub2 = node->create_subscription( "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -130,7 +130,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_ageGender_callback = - [&sub_called](const people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { ageGender_test_pass = true; sub_called.set_value(true); }; @@ -139,7 +139,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) executor.add_node(node); { - auto sub3 = node->create_subscription( + auto sub3 = node->create_subscription( "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -158,7 +158,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_headPose_callback = - [&sub_called](const people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { headPose_test_pass = true; sub_called.set_value(true); }; @@ -167,7 +167,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) executor.add_node(node); { - auto sub4 = node->create_subscription( + auto sub4 = node->create_subscription( "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); @@ -183,7 +183,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_face_test.launch.py &"); + system("ros2 launch openvino_test pipeline_face_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_face_reidentification.cpp b/tests/src/topic/unittest_face_reidentification.cpp index e0b50eff..beb6e867 100644 --- a/tests/src/topic/unittest_face_reidentification.cpp +++ b/tests/src/topic/unittest_face_reidentification.cpp @@ -14,12 +14,12 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include -#include +#include #include #include @@ -36,9 +36,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -100,7 +100,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_landmark_detection_callback = - [&sub_called](const people_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { if(msg->landmarks.size() > 0) landmark_detection = true; sub_called.set_value(true); @@ -110,7 +110,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -128,7 +128,7 @@ TEST(UnitTestFaceReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_face_reidentification_callback = - [&sub_called](const people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { if(msg->reidentified_vector.size() > 0) test_pass = true; sub_called.set_value(true); @@ -138,7 +138,7 @@ TEST(UnitTestFaceReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); @@ -154,7 +154,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_face_reidentification_test.launch.py &"); + system("ros2 launch openvino_test pipeline_face_reidentification_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_imageCheck.cpp b/tests/src/topic/unittest_imageCheck.cpp index ceef983f..6990df51 100644 --- a/tests/src/topic/unittest_imageCheck.cpp +++ b/tests/src/topic/unittest_imageCheck.cpp @@ -14,13 +14,13 @@ #include #include -#include -#include +#include +#include #include -#include -#include +#include +#include #include -#include +#include #include #include @@ -37,9 +37,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -102,7 +102,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { emotion_test_pass = true; sub_called.set_value(true); }; @@ -111,7 +111,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) executor.add_node(node); { - auto sub2 = node->create_subscription( + auto sub2 = node->create_subscription( "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -130,7 +130,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_ageGender_callback = - [&sub_called](const people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { ageGender_test_pass = true; sub_called.set_value(true); }; @@ -139,7 +139,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) executor.add_node(node); { - auto sub3 = node->create_subscription( + auto sub3 = node->create_subscription( "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -158,7 +158,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_headPose_callback = - [&sub_called](const people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { headPose_test_pass = true; sub_called.set_value(true); }; @@ -167,7 +167,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) executor.add_node(node); { - auto sub4 = node->create_subscription( + auto sub4 = node->create_subscription( "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); @@ -183,7 +183,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_image_test.launch.py &"); + system("ros2 launch openvino_test pipeline_image_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_objectDetectionCheck.cpp b/tests/src/topic/unittest_objectDetectionCheck.cpp index 91bfb486..e5917c13 100644 --- a/tests/src/topic/unittest_objectDetectionCheck.cpp +++ b/tests/src/topic/unittest_objectDetectionCheck.cpp @@ -15,7 +15,7 @@ #include #include #include -#include +#include #include #include @@ -32,9 +32,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -91,7 +91,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(60); - system("ros2 launch dynamic_vino_test pipeline_object_test.launch.py &"); + system("ros2 launch openvino_test pipeline_object_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_reidentification.cpp b/tests/src/topic/unittest_reidentification.cpp index b67c9fe5..cb19f460 100644 --- a/tests/src/topic/unittest_reidentification.cpp +++ b/tests/src/topic/unittest_reidentification.cpp @@ -14,10 +14,10 @@ #include #include -#include -#include +#include +#include #include -#include +#include #include #include @@ -34,9 +34,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -69,7 +69,7 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_reidentification_callback = - [&sub_called](const people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -78,7 +78,7 @@ TEST(UnitTestPersonReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); @@ -94,7 +94,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_reidentification_test.launch.py &"); + system("ros2 launch openvino_test pipeline_reidentification_test.launch.py &"); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT pipeline_with_params &"); rclcpp::shutdown(); diff --git a/tests/src/topic/unittest_segmentationCheck.cpp b/tests/src/topic/unittest_segmentationCheck.cpp index 93c14dc0..97e10a85 100644 --- a/tests/src/topic/unittest_segmentationCheck.cpp +++ b/tests/src/topic/unittest_segmentationCheck.cpp @@ -14,9 +14,9 @@ #include #include -#include +#include #include -#include +#include #include #include @@ -33,9 +33,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -67,7 +67,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_faceDetection_callback = - [&sub_called](const people_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -76,7 +76,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/segmented_obejcts", qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -92,7 +92,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(60); - system("ros2 launch dynamic_vino_test pipeline_segmentation_test.launch.py &"); + system("ros2 launch openvino_test pipeline_segmentation_test.launch.py &"); int ret = RUN_ALL_TESTS(); rclcpp::sleep_for(offset); system("killall -s SIGINT pipeline_with_params &"); diff --git a/tests/src/topic/unittest_vehicleDetectionCheck.cpp b/tests/src/topic/unittest_vehicleDetectionCheck.cpp index 1390d7bf..30649361 100644 --- a/tests/src/topic/unittest_vehicleDetectionCheck.cpp +++ b/tests/src/topic/unittest_vehicleDetectionCheck.cpp @@ -14,12 +14,12 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include -#include +#include #include #include @@ -36,9 +36,9 @@ #include #include -#include "dynamic_vino_lib/pipeline.hpp" -#include "dynamic_vino_lib/pipeline_manager.hpp" -#include "dynamic_vino_lib/slog.hpp" +#include "openvino_wrapper_lib/pipeline.hpp" +#include "openvino_wrapper_lib/pipeline_manager.hpp" +#include "openvino_wrapper_lib/slog.hpp" #include "openvino/openvino.hpp" #include "librealsense2/rs.hpp" #include "opencv2/opencv.hpp" @@ -71,7 +71,7 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_vehicle_callback = - [&sub_called](const people_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { + [&sub_called](const openvino_people_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -80,7 +80,7 @@ TEST(UnitTestPersonReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/detected_license_plates", qos, openvino_vehicle_callback); executor.spin_once(std::chrono::seconds(0)); @@ -96,7 +96,7 @@ int main(int argc, char * argv[]) testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); auto offset = std::chrono::seconds(30); - system("ros2 launch dynamic_vino_test pipeline_vehicle_detection_test.launch.py &"); + system("ros2 launch openvino_test pipeline_vehicle_detection_test.launch.py &"); int ret = RUN_ALL_TESTS(); system("killall -s SIGINT pipeline_with_params &"); rclcpp::shutdown(); diff --git a/vino_param_lib/include/vino_param_lib/slog.hpp b/vino_param_lib/include/vino_param_lib/slog.hpp deleted file mode 120000 index f8aaab99..00000000 --- a/vino_param_lib/include/vino_param_lib/slog.hpp +++ /dev/null @@ -1 +0,0 @@ -../../../dynamic_vino_lib/include/dynamic_vino_lib/slog.hpp \ No newline at end of file From fdaeafec89db81c0ade1a38aa0a30ef13c26c248 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Wed, 15 Feb 2023 10:11:36 +0800 Subject: [PATCH 17/40] Update the openvino2022.1 to 2022.3 for the docker (#264) Signed-off-by: huangjiafengx --- docker/Dockerfile | 17 +++++++---------- docker/docker_instructions_ov2.0.md | 9 ++++----- 2 files changed, 11 insertions(+), 15 deletions(-) diff --git a/docker/Dockerfile b/docker/Dockerfile index 3bf9fbaf..5bc82bbe 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -21,15 +21,12 @@ ARG DEBIAN_FRONTEND=noninteractive ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 RUN apt-get update && apt-get install --assume-yes apt-utils -# install openvino 2022.1 -# https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_apt.html -RUN apt update && apt install --assume-yes curl gnupg2 lsb-release -RUN curl -s https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB |apt-key add - -RUN echo "deb https://apt.repos.intel.com/openvino/2022 $(lsb_release -cs) main" |tee /etc/apt/sources.list.d/intel-openvino-2022.list -RUN apt update && apt-cache search openvino-2022.1.0 -RUN apt install --assume-yes openvino-2022.1.0 -RUN ls -lh /opt/intel/openvino_2022 -RUN source /opt/intel/openvino_2022/setupvars.sh +# install openvino 2022.3 +# https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html +RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release +RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \ +apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list +RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0 # install librealsense2 RUN apt-get install -y --no-install-recommends \ @@ -67,5 +64,5 @@ RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \ && git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git RUN apt-get install ros-${VERSION}-diagnostic-updater WORKDIR /root/catkin_ws -RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +RUN source /opt/ros/${VERSION}/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md index 444d8519..c9cdd202 100644 --- a/docker/docker_instructions_ov2.0.md +++ b/docker/docker_instructions_ov2.0.md @@ -12,26 +12,26 @@ Refer to: [Docker_install_guide](https://docs.docker.com/engine/install/ubuntu/) ``` cd ~/ros2_openvino_toolkit/docker/Dockerfile vi ~/ros2_openvino_toolkit/docker/Dockerfile -docker build --build-arg ROS_PRE_INSTALLED_PKG= --build-arg VERSION= --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 . +docker build --build-arg ROS_PRE_INSTALLED_PKG= --build-arg VERSION= --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202203 . ``` For example: * Build image for ros_galactic ``` cd ~/ros2_openvino_toolkit/docker/Dockerfile vi ~/ros2_openvino_toolkit/docker/Dockerfile -docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 . +docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202203 . ``` * Build image for ros_foxy ``` cd ~/ros2_openvino_toolkit/docker/Dockerfile vi ~/ros2_openvino_toolkit/docker/Dockerfile -docker build --build-arg ROS_PRE_INSTALLED_PKG=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 . +docker build --build-arg ROS_PRE_INSTALLED_PKG=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202203 . ``` ## 3. Download and load docker image * Download docker image ``` - # ros2_openvino_202201 for demo + # ros2_openvino_202203 for demo cd ~/Downloads/ wget ``` @@ -58,7 +58,6 @@ docker images * Preparation ``` -source /opt/intel/openvino_2022/setupvars.sh source /opt/ros//setup.bash cd ~/catkin_ws source ./install/local_setup.bash From 065b5f1daa1bb11ddad11fdd3ca9d7471846157b Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Wed, 8 Mar 2023 14:12:34 +0800 Subject: [PATCH 18/40] Enable GitHub action ci (#267) * Enable the ros2 openvino toolkit CI test for Github action Signed-off-by: huangjiafengx * Add the ci launch file Signed-off-by: huangjiafengx * Update ros2_branch.yml * Add the log file Signed-off-by: huangjiafengx * Enable GitHub action CI Signed-off-by: huangjiafengx --------- Signed-off-by: huangjiafengx --- .../ros2_openvino_toolkit_test/Dockerfile | 67 ++++++++++++ .../ros2_openvino_toolkit_test/docker_run.sh | 37 +++++++ .../ros2_openvino_toolkit_test/jpg/car.jpg | Bin 0 -> 150243 bytes .../ros2_openvino_toolkit_test/jpg/cars.jpg | Bin 0 -> 1667401 bytes .../jpg/face_reid.jpg | Bin 0 -> 112470 bytes .../jpg/object_detection.jpg | Bin 0 -> 110396 bytes .../jpg/people_detection.jpg | Bin 0 -> 127947 bytes .../jpg/people_reid.jpg | Bin 0 -> 102349 bytes .../jpg/segmentation.jpg | Bin 0 -> 144955 bytes .../jpg/vehicle_detection.jpg | Bin 0 -> 279148 bytes .../test_cases/config.sh | 13 +++ .../test_cases/log/pipeline_image_test_ci.log | 0 .../log/pipeline_people_test_ci.log | 0 .../pipeline_person_attributes_test_ci.log | 0 .../log/pipeline_reidentification_test_ci.log | 0 .../pipeline_vehicle_detection_test_ci.log | 0 .../ros2_openvino_tool_model_download.sh | 27 +++++ .../test_cases/run.sh | 32 ++++++ .../test_cases/unittest/run_all.py | 39 +++++++ .../test_cases/unittest/test_cases.py | 102 ++++++++++++++++++ .github/workflows/ros2_branch.yml | 36 +++++++ sample/launch/pipeline_image_ci_test.py | 56 ++++++++++ sample/launch/pipeline_object_yolo_ci_test.py | 51 +++++++++ sample/launch/pipeline_people_ci_test.py | 58 ++++++++++ .../pipeline_person_attributes_ci_test.py | 51 +++++++++ .../pipeline_reidentification_ci_test.py | 52 +++++++++ .../pipeline_vehicle_detection_ci_test.py | 52 +++++++++ sample/param/pipeline_image_ci.yaml | 41 +++++++ sample/param/pipeline_object_yolo_ci.yaml | 21 ++++ sample/param/pipeline_people_ci.yaml | 41 +++++++ .../param/pipeline_person_attributes_ci.yaml | 28 +++++ .../param/pipeline_reidentification_ci.yaml | 28 +++++ .../param/pipeline_vehicle_detection_ci.yaml | 35 ++++++ 33 files changed, 867 insertions(+) create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/Dockerfile create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/docker_run.sh create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/car.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/cars.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/face_reid.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/object_detection.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/people_detection.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/people_reid.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/segmentation.jpg create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/jpg/vehicle_detection.jpg create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log create mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py create mode 100644 .github/workflows/ros2_branch.yml create mode 100644 sample/launch/pipeline_image_ci_test.py create mode 100644 sample/launch/pipeline_object_yolo_ci_test.py create mode 100644 sample/launch/pipeline_people_ci_test.py create mode 100644 sample/launch/pipeline_person_attributes_ci_test.py create mode 100644 sample/launch/pipeline_reidentification_ci_test.py create mode 100644 sample/launch/pipeline_vehicle_detection_ci_test.py create mode 100644 sample/param/pipeline_image_ci.yaml create mode 100644 sample/param/pipeline_object_yolo_ci.yaml create mode 100644 sample/param/pipeline_people_ci.yaml create mode 100644 sample/param/pipeline_person_attributes_ci.yaml create mode 100644 sample/param/pipeline_reidentification_ci.yaml create mode 100644 sample/param/pipeline_vehicle_detection_ci.yaml diff --git a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile new file mode 100644 index 00000000..70b44162 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile @@ -0,0 +1,67 @@ +# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80 + +ARG ROS_VERSION +FROM osrf/ros:${ROS_VERSION} +ARG VERSION + + +LABEL maintainer="Jiawei Wu " + +SHELL ["/bin/bash", "-c"] + +# ignore the warning +ARG DEBIAN_FRONTEND=noninteractive +ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 +RUN apt-get update && apt-get install --assume-yes apt-utils + +# install openvino 2022.3 + +# https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html +RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release +RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \ +apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list +RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0 + + +# install librealsense2 +RUN apt-get install -y --no-install-recommends \ +software-properties-common +# https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md +# Make sure you set http-proxy in below commands if your environment needs. + +RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +#RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ +&& apt-get install -y --no-install-recommends \ +librealsense2-dkms \ +librealsense2-utils \ +librealsense2-dev \ +librealsense2-dbg \ +libgflags-dev \ +libboost-all-dev \ +&& rm -rf /var/lib/apt/lists/* + +# other dependencies +RUN apt-get update && apt-get install -y python3-pip && python3 -m pip install -U \ +numpy \ +networkx \ +pyyaml \ +requests \ +&& apt-get install -y --no-install-recommends libboost-all-dev +WORKDIR /usr/lib/x86_64-linux-gnu +RUN ln -sf libboost_python-py36.so libboost_python37.so +RUN pip install --upgrade pip +#RUN pip install openvino-dev[tensorflow2]==2022.3 + +# build ros2 openvino toolkit +WORKDIR /root +RUN mkdir -p catkin_ws/src +WORKDIR /root/catkin_ws/src +RUN git clone https://github.com/intel/ros2_object_msgs.git +##://github.com/intel/ros2_openvino_toolkit.git +RUN git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git +RUN git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git +RUN apt-get install ros-${VERSION}-diagnostic-updater +WORKDIR /root/catkin_ws +COPY jpg /root/jpg +#RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh new file mode 100755 index 00000000..3769bf79 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh @@ -0,0 +1,37 @@ +#!/bin/bash + +export DISPLAY=:0 + +export work_dir=$PWD + + +function run_container() { + + docker images | grep ros2_openvino_docker + + if [ $? -eq 0 ] + then + echo "the image of ros2_openvino_docker:01 existence" + docker rmi -f ros2_openvino_docker:01 + fi + + docker ps -a | grep ros2_openvino_container + if [ $? -eq 0 ] + then + docker rm -f ros2_openvino_container + fi + # Using jenkins server ros2_openvino_toolkit code instead of git clone code. + cd $work_dir && sed -i 's/RUN git clone -b ros2 https/#/g' Dockerfile + cd $work_dir && docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic -t ros2_openvino_docker:01 . + docker run -i --privileged=true -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic" + +} + +run_container +if [ $? -ne 0 ] +then + echo "Test fail" + exit -1 +fi + + diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/car.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/car.jpg new file mode 100644 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b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh @@ -0,0 +1,13 @@ +#/bin/bash + +if [[ $1 == '' ]] +then + export ros2_branch=galactic +else + export ros2_branch=$1 +fi + +export dynamic_vino_sample=/root/catkin_ws/install/openvino_node/share/openvino_node + + +source /opt/ros/$ros2_branch/setup.bash diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log new file mode 100644 index 00000000..e69de29b diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log new file mode 100644 index 00000000..e69de29b diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log new file mode 100644 index 00000000..e69de29b diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log new file mode 100644 index 00000000..e69de29b diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log new file mode 100644 index 00000000..e69de29b diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh new file mode 100755 index 00000000..d8824d38 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh @@ -0,0 +1,27 @@ +#!/bin/bash + +mkdir -p /opt/openvino_toolkit/models +#apt install -y python-pip +apt install -y python3.8-venv +cd ~ && python3 -m venv openvino_env && source openvino_env/bin/activate +python -m pip install --upgrade pip +pip install openvino-dev[tensorflow2,mxnet,caffe] + + +#Download the optimized Intermediate Representation (IR) of model (execute once) +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && sed -i 's/mask_rcnn_inception_resnet_v2_atrous_coco//' convert_model.lst +#cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && sed -i 's/deeplabv3//' convert_model.lst + +cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert + +#Copy label files (execute once) +cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/ +cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/ +cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/ +cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP32/ +cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/ +cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32 + +mkdir -p /opt/openvino_toolkit/models/convert/ +#cp -r /root/public/ /opt/openvino_toolkit/models/convert/ diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh new file mode 100755 index 00000000..eb362cc5 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh @@ -0,0 +1,32 @@ +#!/bin/bash + +export ros2_branch=$1 +if [[ $1 == '' ]] +then + export ros2_branch=galactic +else + export ros2_branch=$1 +fi +source /root/test_cases/config.sh $ros2_branch + +cd /root/catkin_ws && colcon build --symlink-install +cd /root/catkin_ws && source ./install/local_setup.bash + +apt-get update +# apt-get install -y ros-$ros2_branch-diagnostic-updater +apt-get install python3-defusedxml +apt-get install -y python3-pip +pip3 install XTestRunner + +cd /root/test_cases && ./ros2_openvino_tool_model_download.sh +mkdir -p /root/test_cases/log +echo "===cat pipeline_people_ci.yaml" +cat /root/catkin_ws/install/openvino_node/share/openvino_node/param/pipeline_people_ci.yaml + + +cd /root/test_cases/unittest && python3 run_all.py +if [ $? -ne 0 ] +then + exit -1 +fi + diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py new file mode 100755 index 00000000..8abfd384 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py @@ -0,0 +1,39 @@ +#!/usr/opt/python3 +import unittest +from test_cases import Test_Cases +from XTestRunner import HTMLTestRunner + +def main(): + + suite = unittest.TestSuite() + suite.addTest(Test_Cases('test_1_pipeline_people_ci')) + suite.addTest(Test_Cases('test_2_pipeline_reidentification_ci')) + suite.addTest(Test_Cases('test_3_pipeline_image_ci')) + suite.addTest(Test_Cases('test_6_pipeline_vehicle_detection_ci')) + suite.addTest(Test_Cases('test_7_pipeline_person_attributes_ci')) + + with (open('./result.html', 'wb')) as fp: + runner = HTMLTestRunner( + stream=fp, + title='ROS2 Openvino Test Report', + description='Test ROS2-galactic openvino all cases', + language='en', + ) + result = runner.run( + testlist=suite, + rerun=0, + save_last_run=False + ) + + print(f"success count: {result.success_count}") + print(f"failure count: {result.failure_count}") + print(f"runtime:", result.case_end_time - result.case_start_time) + if result.failure_count == 0 and result.error_count == 0: + print(f"Test ALL PASS") + else: + print(f"Test FAIL") + exit(-1) + +if __name__=="__main__": + main() + diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py new file mode 100755 index 00000000..2343a4bb --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py @@ -0,0 +1,102 @@ +#from asyncio import sleep +from time import sleep +import unittest +import subprocess +import pdb +import os + +class Test_Cases(unittest.TestCase): + def test_pipeline(self, launch_file, log_file, topic_list=['/rosout']): + print(f"{log_file} topic_list", topic_list) + log_file = f"/root/test_cases/log/" + log_file + kill_ros2_process() + subprocess.Popen([f"ros2 launch openvino_node {launch_file} > {log_file} &"],shell=True).communicate() + for topic in topic_list: + name=topic.split('/', -1)[-1] + sleep(2) + subprocess.Popen([f"ros2 topic echo {topic} > {name}.log &"], shell=True).communicate() + process_result = subprocess.Popen(["ps -ef | grep ros2 | grep -v 'grep' | awk '{print $2}'"],stdout=subprocess.PIPE, shell=True).communicate() + kill_ros2_process() + print(f"kill the test process done") + with open(f"{log_file}") as handle: + log = handle.read() + check_log = log.split("user interrupted with ctrl-c (SIGINT)")[0] + if f"pipeline_object_yolo" not in log_file: + self.assertIn('Analyzing Detection results', check_log) + self.assertNotIn('ERROR', check_log) + for topic in topic_list: + name = topic.split('/', -1)[-1] + with open(f"{name}.log") as topic_handle: + topic_info = topic_handle.read() + print("assertIn", self.assertIn("header", topic_info)) + print(f"check all done") + + + def test_1_pipeline_people_ci(self): + topic_ls = ["/ros2_openvino_toolkit/age_genders_Recognition", \ + "/ros2_openvino_toolkit/headposes_estimation", \ + "/ros2_openvino_toolkit/face_detection", \ + "/ros2_openvino_toolkit/emotions_recognition"] + launch_file = f"pipeline_people_ci_test.py" + log_file = f"pipeline_people_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_2_pipeline_reidentification_ci(self): + topic_ls = ["/ros2_openvino_toolkit/reidentified_persons",] + launch_file = f"pipeline_reidentification_ci_test.py" + log_file = f"pipeline_reidentification_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_3_pipeline_image_ci(self): + topic_ls = ["/ros2_openvino_toolkit/emotions_recognition", \ + "/ros2_openvino_toolkit/headposes_estimation", \ + "/ros2_openvino_toolkit/people/age_genders_Recognition"] + launch_file = f"pipeline_image_ci_test.py" + log_file = f"pipeline_image_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_4_pipeline_segmentation_ci(self): + topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] + launch_file = f"pipeline_segmentation_ci_test.py" + log_file = f"pipeline_segmentation_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_5_pipeline_segmentation_image_ci(self): + topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] + launch_file = f"pipeline_segmentation_image_ci_test.py" + log_file = f"pipeline_segmentation_image_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_6_pipeline_vehicle_detection_ci(self): + topic_ls = ["/ros2_openvino_toolkit/detected_license_plates", + "/ros2_openvino_toolkit/detected_vehicles_attribs"] + launch_file = f"pipeline_vehicle_detection_ci_test.py" + log_file = f"pipeline_vehicle_detection_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_7_pipeline_person_attributes_ci(self): + topic_ls = ["/ros2_openvino_toolkit/detected_objects", \ + "/ros2_openvino_toolkit/person_attributes"] + launch_file = f"pipeline_person_attributes_ci_test.py" + log_file = f"pipeline_person_attributes_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_8_pipeline_object_yolo_ci(self): + topic_ls = ["/ros2_openvino_toolkit/detected_objects"] + launch_file = f"pipeline_object_yolo_ci_test.py" + log_file = f"pipeline_object_yolo_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + + + + +def kill_ros2_process(): + sleep(30) + process_result = subprocess.Popen(["ps -ef | grep ros2 | grep -v 'grep' | awk '{print $2}'"],stdout=subprocess.PIPE, shell=True).communicate() + print(process_result[0].decode('utf-8').replace('\n', ' ')) + kill_process = 'kill -9 ' + process_result[0].decode('utf-8').replace('\n', ' ') + subprocess.Popen([kill_process], shell=True).communicate() + + + diff --git a/.github/workflows/ros2_branch.yml b/.github/workflows/ros2_branch.yml new file mode 100644 index 00000000..0b9add50 --- /dev/null +++ b/.github/workflows/ros2_branch.yml @@ -0,0 +1,36 @@ +# This is a basic workflow to help you get started with Actions + +name: ros2_branch_CI + +# Controls when the workflow will run +on: + # Triggers the workflow on push or pull request events but only for the "master" branch + push: + branches: [ "ros2" ] + pull_request: + branches: [ "ros2" ] + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + # The type of runner that the job will run on + runs-on: ubuntu-20.04 + + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v3 + + + # Runs a set of commands using the runners shell + - name: ros2_openvino_toolkit_test + run: | + pwd + mkdir -p ../workspace_ci + cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace_ci + cp -r ${GITHUB_WORKSPACE} ../workspace_ci/ros2_openvino_toolkit_test + cd ../workspace_ci/ros2_openvino_toolkit_test && ./docker_run.sh diff --git a/sample/launch/pipeline_image_ci_test.py b/sample/launch/pipeline_image_ci_test.py new file mode 100644 index 00000000..644ccb76 --- /dev/null +++ b/sample/launch/pipeline_image_ci_test.py @@ -0,0 +1,56 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_image.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_image_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/people/faces', + '/ros2_openvino_toolkit/face_detection'), + ('/openvino_toolkit/people/emotions', + '/ros2_openvino_toolkit/emotions_recognition'), + ('/openvino_toolkit/people/headposes', + '/ros2_openvino_toolkit/headposes_estimation'), + ('/openvino_toolkit/people/age_genders', + '/ros2_openvino_toolkit/people/age_genders_Recognition'), + ('/openvino_toolkit/people/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_object_yolo_ci_test.py b/sample/launch/pipeline_object_yolo_ci_test.py new file mode 100644 index 00000000..083ed88d --- /dev/null +++ b/sample/launch/pipeline_object_yolo_ci_test.py @@ -0,0 +1,51 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_object_yolo.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/object/detected_objects', + '/ros2_openvino_toolkit/detected_objects'), + ('/openvino_toolkit/object/images', + '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_people_ci_test.py b/sample/launch/pipeline_people_ci_test.py new file mode 100644 index 00000000..e37d4e45 --- /dev/null +++ b/sample/launch/pipeline_people_ci_test.py @@ -0,0 +1,58 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_people.yaml') + + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_people_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/people/detected_objects', + '/ros2_openvino_toolkit/face_detection'), + ('/openvino_toolkit/people/emotions', + '/ros2_openvino_toolkit/emotions_recognition'), + ('/openvino_toolkit/people/headposes', + '/ros2_openvino_toolkit/headposes_estimation'), + ('/openvino_toolkit/people/age_genders', + '/ros2_openvino_toolkit/age_genders_Recognition'), + ('/openvino_toolkit/people/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_person_attributes_ci_test.py b/sample/launch/pipeline_person_attributes_ci_test.py new file mode 100644 index 00000000..75db6d5c --- /dev/null +++ b/sample/launch/pipeline_person_attributes_ci_test.py @@ -0,0 +1,51 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_person_attributes.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_person_attributes_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/object/detected_objects', + '/ros2_openvino_toolkit/detected_objects'), + ('/openvino_toolkit/object/person_attributes','/ros2_openvino_toolkit/person_attributes'), + ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_reidentification_ci_test.py b/sample/launch/pipeline_reidentification_ci_test.py new file mode 100644 index 00000000..9461bcf1 --- /dev/null +++ b/sample/launch/pipeline_reidentification_ci_test.py @@ -0,0 +1,52 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_reidentification.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_reidentification_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/object/detected_objects', + '/ros2_openvino_toolkit/detected_objects'), + ('/openvino_toolkit/object/reidentified_persons', + '/ros2_openvino_toolkit/reidentified_persons'), + ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_vehicle_detection_ci_test.py b/sample/launch/pipeline_vehicle_detection_ci_test.py new file mode 100644 index 00000000..f4d72f15 --- /dev/null +++ b/sample/launch/pipeline_vehicle_detection_ci_test.py @@ -0,0 +1,52 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_vehicle_detection.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_vehicle_detection_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/object/detected_license_plates', + '/ros2_openvino_toolkit/detected_license_plates'), + ('/openvino_toolkit/object/detected_vehicles_attribs', + '/ros2_openvino_toolkit/detected_vehicles_attribs'), + ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/param/pipeline_image_ci.yaml b/sample/param/pipeline_image_ci.yaml new file mode 100644 index 00000000..37da03ba --- /dev/null +++ b/sample/param/pipeline_image_ci.yaml @@ -0,0 +1,41 @@ +Pipelines: +- name: people + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + infers: + - name: FaceDetection + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + - name: AgeGenderRecognition + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 16 + - name: EmotionRecognition + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels + batch: 16 + - name: HeadPoseEstimation + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 16 + outputs: [RosTopic] + connects: + - left: Image + right: [FaceDetection] + - left: FaceDetection + right: [AgeGenderRecognition, EmotionRecognition, HeadPoseEstimation, RosTopic] + - left: AgeGenderRecognition + right: [RosTopic] + - left: EmotionRecognition + right: [RosTopic] + - left: HeadPoseEstimation + right: [RosTopic] + +Common: diff --git a/sample/param/pipeline_object_yolo_ci.yaml b/sample/param/pipeline_object_yolo_ci.yaml new file mode 100644 index 00000000..7804ecb0 --- /dev/null +++ b/sample/param/pipeline_object_yolo_ci.yaml @@ -0,0 +1,21 @@ +Pipelines: +- name: object + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + infers: + - name: ObjectDetection + model: /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/yolov5n.xml + model_type: yolov5 + engine: CPU #MYRIAD + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + outputs: [RosTopic] + connects: + - left: Image + right: [ObjectDetection] + - left: ObjectDetection + right: [RosTopic] + +OpenvinoCommon: diff --git a/sample/param/pipeline_people_ci.yaml b/sample/param/pipeline_people_ci.yaml new file mode 100644 index 00000000..ce0a1e90 --- /dev/null +++ b/sample/param/pipeline_people_ci.yaml @@ -0,0 +1,41 @@ +Pipelines: +- name: people + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + infers: + - name: FaceDetection + model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + - name: AgeGenderRecognition + model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 16 + - name: EmotionRecognition + model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels + batch: 16 + - name: HeadPoseEstimation + model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 16 + outputs: [RosTopic] + connects: + - left: Image + right: [FaceDetection] + - left: FaceDetection + right: [AgeGenderRecognition, EmotionRecognition, HeadPoseEstimation, RosTopic] + - left: AgeGenderRecognition + right: [RosTopic] + - left: EmotionRecognition + right: [RosTopic] + - left: HeadPoseEstimation + right: [RosTopic] + +Common: diff --git a/sample/param/pipeline_person_attributes_ci.yaml b/sample/param/pipeline_person_attributes_ci.yaml new file mode 100644 index 00000000..786c2461 --- /dev/null +++ b/sample/param/pipeline_person_attributes_ci.yaml @@ -0,0 +1,28 @@ +Pipelines: +- name: object + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + infers: + - name: ObjectDetection + model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + - name: PersonAttribsDetection + model: /opt/openvino_toolkit/models/intel/person-attributes-recognition-crossroad-0230/FP32/person-attributes-recognition-crossroad-0230.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.5 + outputs: [RosTopic] + connects: + - left: Image + right: [ObjectDetection] + - left: ObjectDetection + right: [PersonAttribsDetection, RosTopic] + - left: PersonAttribsDetection + right: [RosTopic] + +OpenvinoCommon: diff --git a/sample/param/pipeline_reidentification_ci.yaml b/sample/param/pipeline_reidentification_ci.yaml new file mode 100644 index 00000000..72b8f22a --- /dev/null +++ b/sample/param/pipeline_reidentification_ci.yaml @@ -0,0 +1,28 @@ +Pipelines: +- name: object + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + infers: + - name: ObjectDetection + model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + - name: PersonReidentification + model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0277/FP32/person-reidentification-retail-0277.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.7 + outputs: [RosTopic] + connects: + - left: Image + right: [ObjectDetection] + - left: ObjectDetection + right: [PersonReidentification] + - left: PersonReidentification + right: [RosTopic] + +OpenvinoCommon: diff --git a/sample/param/pipeline_vehicle_detection_ci.yaml b/sample/param/pipeline_vehicle_detection_ci.yaml new file mode 100644 index 00000000..760ff276 --- /dev/null +++ b/sample/param/pipeline_vehicle_detection_ci.yaml @@ -0,0 +1,35 @@ +Pipelines: +- name: object + inputs: [Image] + input_path: /root/jpg/car.jpg + infers: + - name: ObjectDetection + model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml + engine: CPU + label: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels + batch: 1 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + - name: VehicleAttribsDetection + model: /opt/openvino_toolkit/models/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 1 + - name: LicensePlateDetection + model: /opt/openvino_toolkit/models/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml + engine: CPU + label: to/be/set/xxx.labels + batch: 1 + outputs: [RosTopic] + connects: + - left: Image + right: [ObjectDetection] + - left: ObjectDetection + right: [{VehicleAttribsDetection: label == vehicle && confidence >= 0.8}, {LicensePlateDetection: label == license && confidence >= 0.8}] + - left: ObjectDetection + right: [RosTopic] + - left: VehicleAttribsDetection + right: [RosTopic] + - left: LicensePlateDetection + right: [RosTopic] + +OpenvinoCommon: From 8e68092b3584bcf1bc6a34422496dcb72e69eef8 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Fri, 10 Mar 2023 13:06:40 +0800 Subject: [PATCH 19/40] Setting the version for XTestRunner update. (#268) --- .ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh index eb362cc5..e3093d3e 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh @@ -16,7 +16,7 @@ apt-get update # apt-get install -y ros-$ros2_branch-diagnostic-updater apt-get install python3-defusedxml apt-get install -y python3-pip -pip3 install XTestRunner +pip3 install XTestRunner==1.5.0 cd /root/test_cases && ./ros2_openvino_tool_model_download.sh mkdir -p /root/test_cases/log From a072b843be9cb928aa38fbd8b16051f6b9d342f9 Mon Sep 17 00:00:00 2001 From: Lewis Liu Date: Fri, 10 Mar 2023 14:31:50 +0800 Subject: [PATCH 20/40] Fix segmentation (#269) * update code to align with new version of maskrcnn segmentation model (layout=NHWC) Signed-off-by: Liu, Wei Zhi * update code to align with new version of deeplabv3 segmentation model. Signed-off-by: Liu, Wei Zhi * Update run.sh (#270) * fix build error. Signed-off-by: Liu, Wei Zhi * update yaml file to use new version of maskrcnn segmentation model. Signed-off-by: Liu, Wei Zhi --------- Signed-off-by: Liu, Wei Zhi Co-authored-by: huangjiafengx --- .../models/attributes/base_attribute.hpp | 12 ++- .../object_segmentation_maskrcnn_model.cpp | 17 +++- .../src/models/object_segmentation_model.cpp | 89 +++++++++++++------ .../src/outputs/image_window_output.cpp | 51 ++++------- .../param/pipeline_segmentation_maskrcnn.yaml | 2 +- 5 files changed, 101 insertions(+), 70 deletions(-) diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp index e439e9f0..7f36c061 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp @@ -160,11 +160,21 @@ class ModelAttribute attr_.input_height = height; } + inline int getInputHeight() const + { + return attr_.input_height; + } + inline void setInputWidth(const int width) { attr_.input_width = width; } + inline int getInputWidth() const + { + return attr_.input_width; + } + inline void setMaxProposalCount(const int max) { attr_.max_proposal_count = max; @@ -195,4 +205,4 @@ class SSDModelAttr : public ModelAttribute } // namespace Models -#endif // OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ \ No newline at end of file +#endif // OPENVINO_WRAPPER_LIB__MODELS__ATTRIBUTES_BASE_ATTRIBUTE_HPP_ diff --git a/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp index d0d127ce..d08b5a57 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp @@ -86,10 +86,10 @@ bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( ov::Shape input_shape = input_tensor.get_shape(); OPENVINO_ASSERT(input_shape.size() == 4); - // For frozen graph model: - const size_t width = input_shape[3]; - const size_t height = input_shape[2]; - const size_t channels = input_shape[1]; + // For frozen graph model: layout= "NHWC" + const size_t width = input_shape[2]; + const size_t height = input_shape[1]; + const size_t channels = input_shape[3]; slog::debug <<"width is:"<< width << slog::endl; slog::debug <<"height is:"<< height << slog::endl; @@ -101,6 +101,14 @@ bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( throw std::runtime_error("The number of channels for net input and image must match"); } +#if 1 + //input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, resized_image.data); + //engine->getRequest().set_tensor(input_tensor_name_, input_tensor); + unsigned char* data = input_tensor.data(); + cv::Size size = {(int)width, (int)height}; + cv::Mat resized_image(size, CV_8UC3, data); + cv::resize(orig_image, resized_image, size); +#else const auto input_data = input_tensor.data(); cv::Mat resized_image(orig_image); if (static_cast(width) != orig_image.size().width || @@ -127,6 +135,7 @@ bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( } else { throw std::runtime_error("Unsupported number of channels"); } +#endif return true; } diff --git a/openvino_wrapper_lib/src/models/object_segmentation_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp index 31cd4c78..1d076757 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp @@ -78,26 +78,49 @@ bool Models::ObjectSegmentationModel::matToBlob( slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } - - size_t channels = orig_image.channels(); - size_t height = orig_image.size().height; - size_t width = orig_image.size().width; - - size_t strideH = orig_image.step.buf[0]; - size_t strideW = orig_image.step.buf[1]; - - bool is_dense = - strideW == channels && - strideH == channels * width; - - if (!is_dense){ - slog::err << "Doesn't support conversion from not dense cv::Mat." << slog::endl; - return false; +#if 1 + const size_t width = getInputWidth(); + const size_t height = getInputHeight(); + const size_t channels = 3; + slog::debug <<"width is:"<< width << slog::endl; + slog::debug <<"height is:"<< height << slog::endl; + + if (orig_image.cols != width || orig_image.rows != height){ + cv::Size size = {(int)width, (int)height}; + cv::Mat resized_image(size, CV_8UC3); + cv::resize(orig_image, resized_image, size); + ov::Tensor input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, resized_image.data); + engine->getRequest().set_tensor(input_tensor_name_, input_tensor); + } else { + ov::Tensor input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, orig_image.data); + engine->getRequest().set_tensor(input_tensor_name_, input_tensor); } - - ov::Tensor input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, orig_image.data); - engine->getRequest().set_tensor(input_tensor_name_, input_tensor); - +#else + ov::InferRequest infer_request = engine->getRequest(); + ov::Tensor input_tensor = infer_request.get_tensor(getInputName("input")); + ov::Shape input_shape = input_tensor.get_shape(); + + OPENVINO_ASSERT(input_shape.size() == 4); + // For frozen graph model: + const size_t width = input_shape[2]; + const size_t height = input_shape[1]; + const size_t channels = input_shape[3]; + + slog::debug <<"width is:"<< width << slog::endl; + slog::debug <<"height is:"<< height << slog::endl; + slog::debug <<"channels is:"<< channels << slog::endl; + slog::debug <<"origin channels is:"<< orig_image.channels() << slog::endl; + slog::debug <<"input shape is:"<< input_shape << slog::endl; + + if (static_cast(orig_image.channels()) != channels) { + throw std::runtime_error("The number of channels for net input and image must match"); + } + + unsigned char* data = input_tensor.data(); + cv::Size size = {(int)width, (int)height}; + cv::Mat resized_image(size, CV_8UC3, data); + cv::resize(orig_image, resized_image, size); +#endif return true; } @@ -126,11 +149,15 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( ov::Layout tensor_layout = ov::Layout("NHWC"); ov::Layout expect_layout = ov::Layout("NCHW"); ov::Shape input_shape = model->input().get_shape(); - if (input_shape[1] == 3) + if (input_shape[1] == 3){ expect_layout = ov::Layout("NCHW"); - else if (input_shape[3] == 3) + setInputWidth(input_shape[3]); + setInputHeight(input_shape[2]); + } else if (input_shape[3] == 3){ expect_layout = ov::Layout("NHWC"); - else + setInputWidth(input_shape[2]); + setInputHeight(input_shape[1]); + } else slog::warn << "unexpect input shape " << input_shape << slog::endl; input_info.tensor(). @@ -167,16 +194,22 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( auto& outSizeVector = data.get_shape(); int outChannels, outHeight, outWidth; slog::debug << "output size vector " << outSizeVector.size() << slog::endl; + ov::Layout outputLayout(""); switch(outSizeVector.size()){ case 3: - outChannels = 0; - outHeight = outSizeVector[1]; - outWidth = outSizeVector[2]; + outputLayout = "CHW"; + outChannels = 1; + outHeight = static_cast(outSizeVector[ov::layout::height_idx(outputLayout)]); + outWidth = static_cast(outSizeVector[ov::layout::width_idx(outputLayout)]); break; case 4: - outChannels = outSizeVector[1]; - outHeight = outSizeVector[2]; - outWidth = outSizeVector[3]; + //outChannels = outSizeVector[1]; + //outHeight = outSizeVector[2]; + //outWidth = outSizeVector[3]; + outputLayout = "NCHW"; + outChannels = static_cast(outSizeVector[ov::layout::channels_idx(outputLayout)]); + outHeight = static_cast(outSizeVector[ov::layout::height_idx(outputLayout)]); + outWidth = static_cast(outSizeVector[ov::layout::width_idx(outputLayout)]); break; default: throw std::runtime_error("Unexpected output blob shape. Only 4D and 3D output blobs are" diff --git a/openvino_wrapper_lib/src/outputs/image_window_output.cpp b/openvino_wrapper_lib/src/outputs/image_window_output.cpp index 1cb37940..0f2b93e2 100644 --- a/openvino_wrapper_lib/src/outputs/image_window_output.cpp +++ b/openvino_wrapper_lib/src/outputs/image_window_output.cpp @@ -143,39 +143,21 @@ void Outputs::ImageWindowOutput::accept( } } + void Outputs::ImageWindowOutput::mergeMask( const std::vector & results) { - std::map class_color; - for (unsigned i = 0; i < results.size(); i++) { - std::string class_label = results[i].getLabel(); - if (class_color.find(class_label) == class_color.end()) { - class_color[class_label] = class_color.size(); - } - auto & color = colors_[class_color[class_label] % colors_.size() ]; const float alpha = 0.7f; - const float MASK_THRESHOLD = 0.5; - - cv::Rect location = results[i].getLocation(); - cv::Mat roi_img = frame_(location); - cv::Mat mask = results[i].getMask(); - cv::Mat colored_mask(location.height, location.width, frame_.type(), - cv::Scalar(color[2], color[1], color[0]) ); - roi_img.copyTo(colored_mask, mask <= MASK_THRESHOLD); - -/** - for (int h = 0; h < mask.size().height; ++h) { - for (int w = 0; w < mask.size().width; ++w) { - for (int ch = 0; ch < colored_mask.channels(); ++ch) { - colored_mask.at(h, w)[ch] = mask.at(h, w) > MASK_THRESHOLD ? - 255 * color[ch] : - roi_img.at(h, w)[ch]; - } - } + //const float MASK_THRESHOLD = 0.5; + //only for merged mask mat got from modles::fetchResults() + for (unsigned i=0; i= 0) { + if (fd_conf > 0) { + outputs_[target_index].rect = result_rect; std::ostringstream ostream; ostream << "[" << std::fixed << std::setprecision(3) << fd_conf << "]"; outputs_[target_index].desc += ostream.str(); + auto label = results[i].getLabel(); + outputs_[target_index].desc += "[" + label + "]"; } - auto label = results[i].getLabel(); - outputs_[target_index].desc += "[" + label + "]"; } mergeMask(results); } - - - - void Outputs::ImageWindowOutput::mergeMask( const std::vector & results) { diff --git a/sample/param/pipeline_segmentation_maskrcnn.yaml b/sample/param/pipeline_segmentation_maskrcnn.yaml index d5b8671a..fa47f088 100644 --- a/sample/param/pipeline_segmentation_maskrcnn.yaml +++ b/sample/param/pipeline_segmentation_maskrcnn.yaml @@ -3,7 +3,7 @@ Pipelines: inputs: [StandardCamera] infers: - name: ObjectSegmentationMaskrcnn - model: /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_v2_coco_2018_01_28/OUT/frozen_inference_graph.xml + model: /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/mask_rcnn_inception_resnet_v2_atrous_coco.xml engine: CPU #"HETERO:CPU,GPU,MYRIAD" label: to/be/set/xxx.labels batch: 1 From 94f51117e014f7dd2638f9ae3289bbc3cf3f2bac Mon Sep 17 00:00:00 2001 From: Lewis Liu Date: Tue, 21 Mar 2023 13:18:02 +0800 Subject: [PATCH 21/40] Use object_msgs instead of openvino_people_msgs (#265) * use object_msgs instead of openvino_people_msgs. Signed-off-by: Liu, Wei Zhi * update README by using object_msgs instead of openvino_people_msgs Signed-off-by: Liu, Wei Zhi --------- Signed-off-by: Liu, Wei Zhi --- README.md | 22 +++--- openvino_people_msgs/COLCON_IGNORE | 0 openvino_wrapper_lib/CMakeLists.txt | 2 - .../inferences/age_gender_detection.hpp | 4 +- .../outputs/base_output.hpp | 28 +++---- .../outputs/ros_service_output.hpp | 20 ++--- .../outputs/ros_topic_output.hpp | 76 +++++++++---------- .../services/frame_processing_server.hpp | 18 ++--- openvino_wrapper_lib/package.xml | 2 - .../src/outputs/ros_service_output.cpp | 8 +- .../src/outputs/ros_topic_output.cpp | 64 ++++++++-------- .../src/services/frame_processing_server.cpp | 4 +- sample/CMakeLists.txt | 7 -- sample/src/image_people_client.cpp | 8 +- sample/src/image_people_server.cpp | 4 +- tests/CMakeLists.txt | 2 - tests/package.xml | 2 - tests/src/service/unittest_peopleService.cpp | 8 +- .../src/topic/unittest_faceDetectionCheck.cpp | 20 ++--- .../topic/unittest_face_reidentification.cpp | 16 ++-- tests/src/topic/unittest_imageCheck.cpp | 20 ++--- tests/src/topic/unittest_reidentification.cpp | 8 +- .../src/topic/unittest_segmentationCheck.cpp | 6 +- .../topic/unittest_vehicleDetectionCheck.cpp | 12 +-- 24 files changed, 173 insertions(+), 188 deletions(-) create mode 100644 openvino_people_msgs/COLCON_IGNORE diff --git a/README.md b/README.md index 5ede16c4..1379ad6f 100644 --- a/README.md +++ b/README.md @@ -173,15 +173,15 @@ Specific topic(s) can be generated and published according to the given inferenc |Inference|Published Topic| |---|---| |People Detection|```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([openvino_people_msgs:msg:EmotionsStamped](../../../openvino_people_msgs/msg/EmotionsStamped.msg))| -|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([openvino_people_msgs:msg:AgeGenderStamped](../../../openvino_people_msgs/msg/AgeGenderStamped.msg))| -|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([openvino_people_msgs:msg:HeadPoseStamped](../../../openvino_people_msgs/msg/HeadPoseStamped.msg))| +|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([object_msgs:msg:EmotionsStamped](../../../object_msgs/msg/EmotionsStamped.msg))| +|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([object_msgs:msg:AgeGenderStamped](../../../object_msgs/msg/AgeGenderStamped.msg))| +|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([object_msgs:msg:HeadPoseStamped](../../../object_msgs/msg/HeadPoseStamped.msg))| |Object Detection|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))| -|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))| -|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))| -|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([openvino_people_msgs::msg::ReidentificationStamped](../../../openvino_people_msgs/msg/ReidentificationStamped.msg))| -|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([openvino_people_msgs::msg::VehicleAttribsStamped](../../../openvino_people_msgs/msg/PersonAttributeStamped.msg))| -|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([openvino_people_msgs::msg::LicensePlateStamped](../../../openvino_people_msgs/msg/LicensePlateStamped.msg))| +|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))| +|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))| +|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([object_msgs::msg::ReidentificationStamped](../../../object_msgs/msg/ReidentificationStamped.msg))| +|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([object_msgs::msg::VehicleAttribsStamped](../../../object_msgs/msg/PersonAttributeStamped.msg))| +|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([object_msgs::msg::LicensePlateStamped](../../../object_msgs/msg/LicensePlateStamped.msg))|

    @@ -196,9 +196,9 @@ Several ROS2 Services are created, expecting to be used in client/server mode, e |---|---| |Object Detection Service|```/detect_object```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| |Face Detection Service|```/detect_face```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))| -|Age Gender Detection Service|```/detect_age_gender```([openvino_people_msgs::srv::AgeGender](./openvino_people_msgs/srv/AgeGenderSrv.srv))| -|Headpose Detection Service|```/detect_head_pose```([openvino_people_msgs::srv::HeadPose](./openvino_people_msgs/srv/HeadPoseSrv.srv))| -|Emotion Detection Service|```/detect_emotion```([openvino_people_msgs::srv::Emotion](./openvino_people_msgs/srv/EmotionSrv.srv))| +|Age Gender Detection Service|```/detect_age_gender```([object_msgs::srv::AgeGender](./object_msgs/srv/AgeGenderSrv.srv))| +|Headpose Detection Service|```/detect_head_pose```([object_msgs::srv::HeadPose](./object_msgs/srv/HeadPoseSrv.srv))| +|Emotion Detection Service|```/detect_emotion```([object_msgs::srv::Emotion](./object_msgs/srv/EmotionSrv.srv))|

    diff --git a/openvino_people_msgs/COLCON_IGNORE b/openvino_people_msgs/COLCON_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/openvino_wrapper_lib/CMakeLists.txt b/openvino_wrapper_lib/CMakeLists.txt index 4afcbc37..f6ea6126 100644 --- a/openvino_wrapper_lib/CMakeLists.txt +++ b/openvino_wrapper_lib/CMakeLists.txt @@ -62,7 +62,6 @@ find_package(rmw REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(object_msgs REQUIRED) -find_package(openvino_people_msgs REQUIRED) find_package(openvino_msgs REQUIRED) find_package(class_loader REQUIRED) find_package(cv_bridge REQUIRED) @@ -233,7 +232,6 @@ ament_target_dependencies(${PROJECT_NAME} "std_msgs" "sensor_msgs" "object_msgs" - "openvino_people_msgs" "openvino_msgs" "ament_index_cpp" "class_loader" diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp index 4b5b2e40..865348f5 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp @@ -19,8 +19,8 @@ #ifndef OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ #define OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_ -#include -#include +#include +#include #include #include #include diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp index 97ac56b1..67971a47 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp @@ -22,16 +22,16 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include #include @@ -164,13 +164,13 @@ class BaseOutput virtual void setServiceResponseForFace( std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} virtual void setServiceResponse( - std::shared_ptr response) {} + std::shared_ptr response) {} Pipeline * getPipeline() const; cv::Mat getFrame() const; virtual void clearData() {} diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp index 8cdfabad..d0558ad2 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp @@ -23,12 +23,12 @@ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include @@ -60,10 +60,10 @@ class RosServiceOutput : public RosTopicOutput void setServiceResponse(std::shared_ptr response); void setResponseForFace(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); - void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); + void setServiceResponse(std::shared_ptr response); private: const std::string service_name_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp index b2fcfcec..74285c0e 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp @@ -23,24 +23,24 @@ #include #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include @@ -154,30 +154,30 @@ class RosTopicOutput : public BaseOutput protected: const std::string topic_name_; std::shared_ptr node_; - rclcpp::Publisher::SharedPtr pub_license_plate_; - std::shared_ptr license_plate_topic_; - rclcpp::Publisher::SharedPtr pub_vehicle_attribs_; - std::shared_ptr vehicle_attribs_topic_; - rclcpp::Publisher::SharedPtr pub_landmarks_; - std::shared_ptr landmarks_topic_; - rclcpp::Publisher::SharedPtr pub_face_reid_; - std::shared_ptr face_reid_topic_; - rclcpp::Publisher::SharedPtr pub_person_attribs_; - std::shared_ptr person_attribs_topic_; - rclcpp::Publisher::SharedPtr pub_person_reid_; - std::shared_ptr person_reid_topic_; - rclcpp::Publisher::SharedPtr pub_segmented_object_; - std::shared_ptr segmented_objects_topic_; + rclcpp::Publisher::SharedPtr pub_license_plate_; + std::shared_ptr license_plate_topic_; + rclcpp::Publisher::SharedPtr pub_vehicle_attribs_; + std::shared_ptr vehicle_attribs_topic_; + rclcpp::Publisher::SharedPtr pub_landmarks_; + std::shared_ptr landmarks_topic_; + rclcpp::Publisher::SharedPtr pub_face_reid_; + std::shared_ptr face_reid_topic_; + rclcpp::Publisher::SharedPtr pub_person_attribs_; + std::shared_ptr person_attribs_topic_; + rclcpp::Publisher::SharedPtr pub_person_reid_; + std::shared_ptr person_reid_topic_; + rclcpp::Publisher::SharedPtr pub_segmented_object_; + std::shared_ptr segmented_objects_topic_; rclcpp::Publisher::SharedPtr pub_detected_object_; std::shared_ptr detected_objects_topic_; rclcpp::Publisher::SharedPtr pub_face_; std::shared_ptr faces_topic_; - rclcpp::Publisher::SharedPtr pub_emotion_; - std::shared_ptr emotions_topic_; - rclcpp::Publisher::SharedPtr pub_age_gender_; - std::shared_ptr age_gender_topic_; - rclcpp::Publisher::SharedPtr pub_headpose_; - std::shared_ptr headpose_topic_; + rclcpp::Publisher::SharedPtr pub_emotion_; + std::shared_ptr emotions_topic_; + rclcpp::Publisher::SharedPtr pub_age_gender_; + std::shared_ptr age_gender_topic_; + rclcpp::Publisher::SharedPtr pub_headpose_; + std::shared_ptr headpose_topic_; }; } // namespace Outputs #endif // OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp index e5e5eb82..9c361718 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp @@ -17,16 +17,16 @@ #include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include -#include -#include -#include +#include +#include +#include #include #include diff --git a/openvino_wrapper_lib/package.xml b/openvino_wrapper_lib/package.xml index e1e4fbf3..bd73ac69 100644 --- a/openvino_wrapper_lib/package.xml +++ b/openvino_wrapper_lib/package.xml @@ -37,7 +37,6 @@ limitations under the License. class_loader cv_bridge object_msgs - openvino_people_msgs openvino_msgs openvino_param_lib realsense2 @@ -54,7 +53,6 @@ limitations under the License. class_loader cv_bridge object_msgs - openvino_people_msgs openvino_msgs openvino_param_lib realsense2 diff --git a/openvino_wrapper_lib/src/outputs/ros_service_output.cpp b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp index 5220a29a..257e8a35 100644 --- a/openvino_wrapper_lib/src/outputs/ros_service_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp @@ -42,7 +42,7 @@ void Outputs::RosServiceOutput::setResponseForFace( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (age_gender_topic_ != nullptr) { response->age_gender.objects = age_gender_topic_->objects; @@ -50,7 +50,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (emotions_topic_ != nullptr) { response->emotion.emotions = emotions_topic_->emotions; @@ -58,7 +58,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { if (headpose_topic_ != nullptr) { response->headpose.headposes = headpose_topic_->headposes; @@ -66,7 +66,7 @@ void Outputs::RosServiceOutput::setServiceResponse( } void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) + std::shared_ptr response) { slog::info << "in People::Response ..."; if (faces_topic_ != nullptr) { diff --git a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp index 8a87d5f6..a0f8a531 100644 --- a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp @@ -34,19 +34,19 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, } else { node_ = rclcpp::Node::make_shared(output_name + "_topic_publisher"); } - pub_license_plate_ = node_->create_publisher( + pub_license_plate_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_license_plates", 16); - pub_vehicle_attribs_ = node_->create_publisher( + pub_vehicle_attribs_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16); - pub_landmarks_ = node_->create_publisher( + pub_landmarks_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_landmarks", 16); - pub_face_reid_ = node_->create_publisher( + pub_face_reid_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/reidentified_faces", 16); - pub_person_attribs_ = node_->create_publisher( + pub_person_attribs_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/person_attributes", 16); - pub_person_reid_ = node_->create_publisher( + pub_person_reid_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16); - pub_segmented_object_ = node_->create_publisher( + pub_segmented_object_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/segmented_obejcts", 16); pub_detected_object_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/detected_objects", 16); @@ -54,12 +54,12 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/faces", 16); pub_emotion_ = - node_->create_publisher( + node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/emotions", 16); - pub_age_gender_ = node_->create_publisher( + pub_age_gender_ = node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/age_genders", 16); pub_headpose_ = - node_->create_publisher( + node_->create_publisher( "/openvino_toolkit/" + output_name_ + "/headposes", 16); emotions_topic_ = nullptr; detected_objects_topic_ = nullptr; @@ -83,8 +83,8 @@ void Outputs::RosTopicOutput::feedFrame(const cv::Mat & frame) void Outputs::RosTopicOutput::accept( const std::vector & results) { - vehicle_attribs_topic_ = std::make_shared(); - openvino_people_msgs::msg::VehicleAttribs attribs; + vehicle_attribs_topic_ = std::make_shared(); + object_msgs::msg::VehicleAttribs attribs; for (auto & r : results) { auto loc = r.getLocation(); attribs.roi.x_offset = loc.x; @@ -100,8 +100,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - license_plate_topic_ = std::make_shared(); - openvino_people_msgs::msg::LicensePlate plate; + license_plate_topic_ = std::make_shared(); + object_msgs::msg::LicensePlate plate; for (auto & r : results) { auto loc = r.getLocation(); plate.roi.x_offset = loc.x; @@ -116,8 +116,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - face_reid_topic_ = std::make_shared(); - openvino_people_msgs::msg::Reidentification face; + face_reid_topic_ = std::make_shared(); + object_msgs::msg::Reidentification face; for (auto & r : results) { auto loc = r.getLocation(); face.roi.x_offset = loc.x; @@ -132,8 +132,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - landmarks_topic_ = std::make_shared(); - openvino_people_msgs::msg::Landmark landmark; + landmarks_topic_ = std::make_shared(); + object_msgs::msg::Landmark landmark; for (auto & r : results) { auto loc = r.getLocation(); landmark.roi.x_offset = loc.x; @@ -154,8 +154,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - person_attribs_topic_ = std::make_shared(); - openvino_people_msgs::msg::PersonAttribute person_attrib; + person_attribs_topic_ = std::make_shared(); + object_msgs::msg::PersonAttribute person_attrib; for (auto & r : results) { auto loc = r.getLocation(); person_attrib.roi.x_offset = loc.x; @@ -170,8 +170,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - person_reid_topic_ = std::make_shared(); - openvino_people_msgs::msg::Reidentification person; + person_reid_topic_ = std::make_shared(); + object_msgs::msg::Reidentification person; for (auto & r : results) { auto loc = r.getLocation(); person.roi.x_offset = loc.x; @@ -186,8 +186,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - segmented_objects_topic_ = std::make_shared(); - openvino_people_msgs::msg::ObjectInMask object; + segmented_objects_topic_ = std::make_shared(); + object_msgs::msg::ObjectInMask object; for (auto & r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; @@ -209,8 +209,8 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept( const std::vector & results) { - segmented_objects_topic_ = std::make_shared(); - openvino_people_msgs::msg::ObjectInMask object; + segmented_objects_topic_ = std::make_shared(); + object_msgs::msg::ObjectInMask object; for (auto & r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; @@ -267,9 +267,9 @@ void Outputs::RosTopicOutput::accept( void Outputs::RosTopicOutput::accept(const std::vector & results) { - emotions_topic_ = std::make_shared(); + emotions_topic_ = std::make_shared(); - openvino_people_msgs::msg::Emotion emotion; + object_msgs::msg::Emotion emotion; for (auto r : results) { auto loc = r.getLocation(); emotion.roi.x_offset = loc.x; @@ -283,9 +283,9 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) { - age_gender_topic_ = std::make_shared(); + age_gender_topic_ = std::make_shared(); - openvino_people_msgs::msg::AgeGender ag; + object_msgs::msg::AgeGender ag; for (auto r : results) { auto loc = r.getLocation(); ag.roi.x_offset = loc.x; @@ -307,9 +307,9 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) { - headpose_topic_ = std::make_shared(); + headpose_topic_ = std::make_shared(); - openvino_people_msgs::msg::HeadPose hp; + object_msgs::msg::HeadPose hp; for (auto r : results) { auto loc = r.getLocation(); hp.roi.x_offset = loc.x; diff --git a/openvino_wrapper_lib/src/services/frame_processing_server.cpp b/openvino_wrapper_lib/src/services/frame_processing_server.cpp index 052751dc..06e8387c 100644 --- a/openvino_wrapper_lib/src/services/frame_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/frame_processing_server.cpp @@ -13,7 +13,7 @@ // limitations under the License. #include "openvino_wrapper_lib/services/frame_processing_server.hpp" -#include +#include #include #include @@ -93,5 +93,5 @@ void FrameProcessingServer::cbService( } template class FrameProcessingServer; -template class FrameProcessingServer; +template class FrameProcessingServer; } // namespace vino_service diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 6452c709..25f50b09 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -40,7 +40,6 @@ find_package(cv_bridge REQUIRED) find_package(OpenVINO REQUIRED) find_package(openvino_wrapper_lib REQUIRED) find_package(object_msgs REQUIRED) -find_package(openvino_people_msgs REQUIRED) find_package(openvino_msgs REQUIRED) find_package(openvino_param_lib REQUIRED) find_package(yaml_cpp_vendor REQUIRED) @@ -135,7 +134,6 @@ ament_target_dependencies(pipeline_with_params "class_loader" "openvino_wrapper_lib" "OpenVINO" - "openvino_people_msgs" "openvino_msgs" "openvino_param_lib" "OpenCV" @@ -159,7 +157,6 @@ ament_target_dependencies(composable_pipeline "class_loader" "openvino_wrapper_lib" "OpenVINO" - "openvino_people_msgs" "openvino_msgs" "openvino_param_lib" "OpenCV" @@ -183,7 +180,6 @@ ament_target_dependencies(image_object_server "class_loader" "openvino_wrapper_lib" "OpenVINO" - "openvino_people_msgs" "openvino_msgs" "openvino_param_lib" "OpenCV" @@ -204,7 +200,6 @@ ament_target_dependencies(image_people_server "class_loader" "openvino_wrapper_lib" "OpenVINO" - "openvino_people_msgs" "openvino_msgs" "openvino_param_lib" "OpenCV" @@ -225,7 +220,6 @@ ament_target_dependencies(image_object_client "class_loader" "openvino_wrapper_lib" "OpenVINO" - "openvino_people_msgs" "openvino_msgs" "openvino_param_lib" "OpenCV" @@ -246,7 +240,6 @@ ament_target_dependencies(image_people_client "class_loader" "openvino_wrapper_lib" "OpenVINO" - "openvino_people_msgs" "openvino_msgs" "openvino_param_lib" "OpenCV" diff --git a/sample/src/image_people_client.cpp b/sample/src/image_people_client.cpp index 0b1ce773..240beae3 100644 --- a/sample/src/image_people_client.cpp +++ b/sample/src/image_people_client.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include #include #include #include @@ -37,8 +37,8 @@ int main(int argc, char ** argv) std::string image_path = argv[1]; - auto client = node->create_client("/openvino_toolkit/service"); - auto request = std::make_shared(); + auto client = node->create_client("/openvino_toolkit/service"); + auto request = std::make_shared(); request->image_path = image_path; while (!client->wait_for_service(std::chrono::seconds(1))) { diff --git a/sample/src/image_people_server.cpp b/sample/src/image_people_server.cpp index 03f84b30..2f9fdcc2 100644 --- a/sample/src/image_people_server.cpp +++ b/sample/src/image_people_server.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include #include @@ -39,7 +39,7 @@ int main(int argc, char ** argv) try { auto node = std::make_shared>("service_people_detection", config_path); + >("service_people_detection", config_path); rclcpp::spin(node); } catch (std::exception & e) { std::cout << e.what() << std::endl; diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 3dd4228e..f6c1fde6 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -51,7 +51,6 @@ find_package(rmw REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(object_msgs REQUIRED) -find_package(openvino_people_msgs REQUIRED) find_package(openvino_msgs REQUIRED) find_package(class_loader REQUIRED) find_package(openvino_param_lib REQUIRED) @@ -146,7 +145,6 @@ if(BUILD_TESTING) "rclcpp" "openvino_param_lib" "object_msgs" - "openvino_people_msgs" "openvino_msgs" "OpenVINO" "OpenCV" diff --git a/tests/package.xml b/tests/package.xml index 0d2bce43..53577f50 100644 --- a/tests/package.xml +++ b/tests/package.xml @@ -35,7 +35,6 @@ limitations under the License. class_loader cv_bridge object_msgs - openvino_people_msgs openvino_msgs openvino_param_lib realsense2 @@ -53,7 +52,6 @@ limitations under the License. class_loader cv_bridge object_msgs - openvino_people_msgs openvino_msgs openvino_param_lib realsense2 diff --git a/tests/src/service/unittest_peopleService.cpp b/tests/src/service/unittest_peopleService.cpp index 745a203d..eca6a0c7 100644 --- a/tests/src/service/unittest_peopleService.cpp +++ b/tests/src/service/unittest_peopleService.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include -#include +#include +#include #include #include #include @@ -38,11 +38,11 @@ TEST(UnitTestPeople, testPeople) { auto node = rclcpp::Node::make_shared("openvino_people_service_test"); - auto client = node->create_client("/openvino_toolkit/service"); + auto client = node->create_client("/openvino_toolkit/service"); ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20))); - auto request = std::make_shared(); + auto request = std::make_shared(); std::string buffer = generate_file_path("data/images/team.jpg"); std::cout << buffer << std::endl; diff --git a/tests/src/topic/unittest_faceDetectionCheck.cpp b/tests/src/topic/unittest_faceDetectionCheck.cpp index e7e22f6c..90c007ed 100644 --- a/tests/src/topic/unittest_faceDetectionCheck.cpp +++ b/tests/src/topic/unittest_faceDetectionCheck.cpp @@ -14,11 +14,11 @@ #include #include -#include -#include +#include +#include #include -#include -#include +#include +#include #include #include @@ -102,7 +102,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const openvino_people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { emotion_test_pass = true; sub_called.set_value(true); }; @@ -111,7 +111,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) executor.add_node(node); { - auto sub2 = node->create_subscription( + auto sub2 = node->create_subscription( "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -130,7 +130,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_ageGender_callback = - [&sub_called](const openvino_people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { ageGender_test_pass = true; sub_called.set_value(true); }; @@ -139,7 +139,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) executor.add_node(node); { - auto sub3 = node->create_subscription( + auto sub3 = node->create_subscription( "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -158,7 +158,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_headPose_callback = - [&sub_called](const openvino_people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { headPose_test_pass = true; sub_called.set_value(true); }; @@ -167,7 +167,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) executor.add_node(node); { - auto sub4 = node->create_subscription( + auto sub4 = node->create_subscription( "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); diff --git a/tests/src/topic/unittest_face_reidentification.cpp b/tests/src/topic/unittest_face_reidentification.cpp index beb6e867..439d86b0 100644 --- a/tests/src/topic/unittest_face_reidentification.cpp +++ b/tests/src/topic/unittest_face_reidentification.cpp @@ -14,10 +14,10 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include @@ -100,7 +100,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_landmark_detection_callback = - [&sub_called](const openvino_people_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { if(msg->landmarks.size() > 0) landmark_detection = true; sub_called.set_value(true); @@ -110,7 +110,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -128,7 +128,7 @@ TEST(UnitTestFaceReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_face_reidentification_callback = - [&sub_called](const openvino_people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { if(msg->reidentified_vector.size() > 0) test_pass = true; sub_called.set_value(true); @@ -138,7 +138,7 @@ TEST(UnitTestFaceReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); diff --git a/tests/src/topic/unittest_imageCheck.cpp b/tests/src/topic/unittest_imageCheck.cpp index 6990df51..4f3359ac 100644 --- a/tests/src/topic/unittest_imageCheck.cpp +++ b/tests/src/topic/unittest_imageCheck.cpp @@ -14,11 +14,11 @@ #include #include -#include -#include +#include +#include #include -#include -#include +#include +#include #include #include @@ -102,7 +102,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const openvino_people_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { emotion_test_pass = true; sub_called.set_value(true); }; @@ -111,7 +111,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection) executor.add_node(node); { - auto sub2 = node->create_subscription( + auto sub2 = node->create_subscription( "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -130,7 +130,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_ageGender_callback = - [&sub_called](const openvino_people_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { ageGender_test_pass = true; sub_called.set_value(true); }; @@ -139,7 +139,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection) executor.add_node(node); { - auto sub3 = node->create_subscription( + auto sub3 = node->create_subscription( "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -158,7 +158,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_headPose_callback = - [&sub_called](const openvino_people_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { headPose_test_pass = true; sub_called.set_value(true); }; @@ -167,7 +167,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) executor.add_node(node); { - auto sub4 = node->create_subscription( + auto sub4 = node->create_subscription( "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); diff --git a/tests/src/topic/unittest_reidentification.cpp b/tests/src/topic/unittest_reidentification.cpp index cb19f460..b4fc16c2 100644 --- a/tests/src/topic/unittest_reidentification.cpp +++ b/tests/src/topic/unittest_reidentification.cpp @@ -14,8 +14,8 @@ #include #include -#include -#include +#include +#include #include #include @@ -69,7 +69,7 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_reidentification_callback = - [&sub_called](const openvino_people_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -78,7 +78,7 @@ TEST(UnitTestPersonReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); diff --git a/tests/src/topic/unittest_segmentationCheck.cpp b/tests/src/topic/unittest_segmentationCheck.cpp index 97e10a85..33d76d5c 100644 --- a/tests/src/topic/unittest_segmentationCheck.cpp +++ b/tests/src/topic/unittest_segmentationCheck.cpp @@ -14,7 +14,7 @@ #include #include -#include +#include #include #include @@ -67,7 +67,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_faceDetection_callback = - [&sub_called](const openvino_people_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -76,7 +76,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/segmented_obejcts", qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); diff --git a/tests/src/topic/unittest_vehicleDetectionCheck.cpp b/tests/src/topic/unittest_vehicleDetectionCheck.cpp index 30649361..41781526 100644 --- a/tests/src/topic/unittest_vehicleDetectionCheck.cpp +++ b/tests/src/topic/unittest_vehicleDetectionCheck.cpp @@ -14,10 +14,10 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include @@ -71,7 +71,7 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_vehicle_callback = - [&sub_called](const openvino_people_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { + [&sub_called](const object_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { test_pass = true; sub_called.set_value(true); }; @@ -80,7 +80,7 @@ TEST(UnitTestPersonReidentification, testReidentification) executor.add_node(node); { - auto sub1 = node->create_subscription( + auto sub1 = node->create_subscription( "/ros2_openvino_toolkit/detected_license_plates", qos, openvino_vehicle_callback); executor.spin_once(std::chrono::seconds(0)); From c1dd0a7d8ee146c008350cbe1a64f99a8aad553a Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Wed, 22 Mar 2023 14:16:01 +0800 Subject: [PATCH 22/40] Enable segmentation and yolov5 for github action. (#271) * Add the segmentation CI test for github action Signed-off-by: huangjiafengx * Enable the segmentation cases for Github Action CI. Signed-off-by: huangjiafengx * Enable the segmentation cases for Github Action CI. Signed-off-by: huangjiafengx * Enable the segmentation cases for Github Action CI. Signed-off-by: huangjiafengx --------- Signed-off-by: huangjiafengx --- .../ros2_openvino_toolkit_test/docker_run.sh | 2 +- .../test_cases/log/pipeline_image_test_ci.log | 0 .../log/pipeline_people_test_ci.log | 0 .../pipeline_person_attributes_test_ci.log | 0 .../log/pipeline_reidentification_test_ci.log | 0 .../pipeline_vehicle_detection_test_ci.log | 0 .../ros2_openvino_tool_model_download.sh | 10 +-- .../test_cases/run.sh | 6 +- .../test_cases/unittest/run_all.py | 24 ++++--- .../test_cases/unittest/test_cases.py | 63 ++++++++++-------- .../test_cases/yolov5_model_download.sh | 38 +++++++++++ .github/workflows/ros2_branch.yml | 1 - data/model_list/download_model.lst | 1 + .../launch/pipeline_segmentation_ci_test.py | 55 +++++++++++++++ .../pipeline_segmentation_image_ci_test.py | 55 +++++++++++++++ .../pipeline_segmentation_maskrcnn_ci_test.py | 55 +++++++++++++++ sample/param/.pipeline_segmentation.yaml.swp | Bin 12288 -> 0 bytes sample/param/pipeline_segmentation_ci.yaml | 19 ++++++ .../param/pipeline_segmentation_image_ci.yaml | 19 ++++++ .../pipeline_segmentation_maskrcnn_ci.yaml | 19 ++++++ 20 files changed, 322 insertions(+), 45 deletions(-) delete mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log delete mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log delete mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log delete mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log delete mode 100644 .ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh create mode 100644 sample/launch/pipeline_segmentation_ci_test.py create mode 100644 sample/launch/pipeline_segmentation_image_ci_test.py create mode 100644 sample/launch/pipeline_segmentation_maskrcnn_ci_test.py delete mode 100644 sample/param/.pipeline_segmentation.yaml.swp create mode 100644 sample/param/pipeline_segmentation_ci.yaml create mode 100644 sample/param/pipeline_segmentation_image_ci.yaml create mode 100644 sample/param/pipeline_segmentation_maskrcnn_ci.yaml diff --git a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh index 3769bf79..79fdf85f 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh @@ -23,7 +23,7 @@ function run_container() { # Using jenkins server ros2_openvino_toolkit code instead of git clone code. cd $work_dir && sed -i 's/RUN git clone -b ros2 https/#/g' Dockerfile cd $work_dir && docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic -t ros2_openvino_docker:01 . - docker run -i --privileged=true -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic" + docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v /tmp/.X11-unix:/tmp/.X11-unix -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic" } diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log deleted file mode 100644 index e69de29b..00000000 diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log deleted file mode 100644 index e69de29b..00000000 diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log deleted file mode 100644 index e69de29b..00000000 diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log deleted file mode 100644 index e69de29b..00000000 diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log deleted file mode 100644 index e69de29b..00000000 diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh index d8824d38..4ff107b6 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh @@ -10,11 +10,10 @@ pip install openvino-dev[tensorflow2,mxnet,caffe] #Download the optimized Intermediate Representation (IR) of model (execute once) cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ -cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && sed -i 's/mask_rcnn_inception_resnet_v2_atrous_coco//' convert_model.lst -#cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && sed -i 's/deeplabv3//' convert_model.lst cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert + #Copy label files (execute once) cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/ cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/ @@ -23,5 +22,8 @@ cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_ cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/ cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32 -mkdir -p /opt/openvino_toolkit/models/convert/ -#cp -r /root/public/ /opt/openvino_toolkit/models/convert/ +mkdir -p /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/ +cp /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/* /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/ + +cd /root/test_cases/ && ./yolov5_model_download.sh + diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh index e3093d3e..844fefc6 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh @@ -23,9 +23,11 @@ mkdir -p /root/test_cases/log echo "===cat pipeline_people_ci.yaml" cat /root/catkin_ws/install/openvino_node/share/openvino_node/param/pipeline_people_ci.yaml - cd /root/test_cases/unittest && python3 run_all.py -if [ $? -ne 0 ] +result=$? +#echo "cat segmentation maskrcnn" +#cat /root/test_cases/log/pipeline_segmentation_maskrcnn_test_ci.log +if [ $result -ne 0 ] then exit -1 fi diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py index 8abfd384..89c5d84e 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py @@ -6,11 +6,16 @@ def main(): suite = unittest.TestSuite() - suite.addTest(Test_Cases('test_1_pipeline_people_ci')) - suite.addTest(Test_Cases('test_2_pipeline_reidentification_ci')) - suite.addTest(Test_Cases('test_3_pipeline_image_ci')) - suite.addTest(Test_Cases('test_6_pipeline_vehicle_detection_ci')) - suite.addTest(Test_Cases('test_7_pipeline_person_attributes_ci')) + + all_cases = [Test_Cases('test_1_pipeline_people_ci'), + Test_Cases('test_2_pipeline_reidentification_ci'), + Test_Cases('test_3_pipeline_image_ci'), + Test_Cases('test_4_pipeline_segmentation_ci'), + Test_Cases('test_5_pipeline_vehicle_detection_ci'), + Test_Cases('test_6_pipeline_person_attributes_ci'), + Test_Cases('test_7_pipeline_segmentation_image_ci'), + Test_Cases('test_8_pipeline_object_yolo_ci')] + suite.addTests(all_cases) with (open('./result.html', 'wb')) as fp: runner = HTMLTestRunner( @@ -21,14 +26,15 @@ def main(): ) result = runner.run( testlist=suite, - rerun=0, + rerun=1, save_last_run=False ) + failure_count = len(all_cases) - result.success_count + print(f"all count: {len(all_cases)}") print(f"success count: {result.success_count}") - print(f"failure count: {result.failure_count}") - print(f"runtime:", result.case_end_time - result.case_start_time) - if result.failure_count == 0 and result.error_count == 0: + print(f"failure count: {failure_count}") + if result.success_count == len(all_cases) and failure_count == 0: print(f"Test ALL PASS") else: print(f"Test FAIL") diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py index 2343a4bb..c71bbd2c 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py @@ -6,16 +6,17 @@ import os class Test_Cases(unittest.TestCase): + def test_pipeline(self, launch_file, log_file, topic_list=['/rosout']): print(f"{log_file} topic_list", topic_list) - log_file = f"/root/test_cases/log/" + log_file - kill_ros2_process() - subprocess.Popen([f"ros2 launch openvino_node {launch_file} > {log_file} &"],shell=True).communicate() + subprocess.Popen([f"ros2 launch openvino_node {launch_file} > {log_file} &"], shell=True) for topic in topic_list: name=topic.split('/', -1)[-1] - sleep(2) - subprocess.Popen([f"ros2 topic echo {topic} > {name}.log &"], shell=True).communicate() - process_result = subprocess.Popen(["ps -ef | grep ros2 | grep -v 'grep' | awk '{print $2}'"],stdout=subprocess.PIPE, shell=True).communicate() + sleep(3) + print(f"{topic} {name}.log") + subprocess.Popen([f"ros2 topic echo {topic} > {name}.log &"], shell=True) + if name == "segmented_obejcts": + subprocess.Popen([f"ros2 topic echo {topic} >> {name}.log &"], shell=True) kill_ros2_process() print(f"kill the test process done") with open(f"{log_file}") as handle: @@ -28,7 +29,11 @@ def test_pipeline(self, launch_file, log_file, topic_list=['/rosout']): name = topic.split('/', -1)[-1] with open(f"{name}.log") as topic_handle: topic_info = topic_handle.read() - print("assertIn", self.assertIn("header", topic_info)) + if "header" not in topic_info: + print(f"the {launch_file} topic {name} failed") + else: + print(f"the {launch_file} topic {name} pass") + self.assertIn("header", topic_info) print(f"check all done") @@ -38,13 +43,13 @@ def test_1_pipeline_people_ci(self): "/ros2_openvino_toolkit/face_detection", \ "/ros2_openvino_toolkit/emotions_recognition"] launch_file = f"pipeline_people_ci_test.py" - log_file = f"pipeline_people_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_people_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) def test_2_pipeline_reidentification_ci(self): topic_ls = ["/ros2_openvino_toolkit/reidentified_persons",] launch_file = f"pipeline_reidentification_ci_test.py" - log_file = f"pipeline_reidentification_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_reidentification_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) def test_3_pipeline_image_ci(self): @@ -52,51 +57,53 @@ def test_3_pipeline_image_ci(self): "/ros2_openvino_toolkit/headposes_estimation", \ "/ros2_openvino_toolkit/people/age_genders_Recognition"] launch_file = f"pipeline_image_ci_test.py" - log_file = f"pipeline_image_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_image_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) def test_4_pipeline_segmentation_ci(self): topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] launch_file = f"pipeline_segmentation_ci_test.py" - log_file = f"pipeline_segmentation_test_ci.log" - self.test_pipeline(launch_file, log_file, topic_list=topic_ls) - - def test_5_pipeline_segmentation_image_ci(self): - topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] - launch_file = f"pipeline_segmentation_image_ci_test.py" - log_file = f"pipeline_segmentation_image_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_segmentation_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) - def test_6_pipeline_vehicle_detection_ci(self): + def test_5_pipeline_vehicle_detection_ci(self): topic_ls = ["/ros2_openvino_toolkit/detected_license_plates", "/ros2_openvino_toolkit/detected_vehicles_attribs"] launch_file = f"pipeline_vehicle_detection_ci_test.py" - log_file = f"pipeline_vehicle_detection_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_vehicle_detection_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) - def test_7_pipeline_person_attributes_ci(self): + def test_6_pipeline_person_attributes_ci(self): topic_ls = ["/ros2_openvino_toolkit/detected_objects", \ "/ros2_openvino_toolkit/person_attributes"] launch_file = f"pipeline_person_attributes_ci_test.py" - log_file = f"pipeline_person_attributes_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_person_attributes_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_7_pipeline_segmentation_image_ci(self): + topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] + launch_file = f"pipeline_segmentation_image_ci_test.py" + log_file = f"/root/test_cases/log/pipeline_segmentation_image_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) def test_8_pipeline_object_yolo_ci(self): topic_ls = ["/ros2_openvino_toolkit/detected_objects"] launch_file = f"pipeline_object_yolo_ci_test.py" - log_file = f"pipeline_object_yolo_test_ci.log" + log_file = f"/root/test_cases/log/pipeline_object_yolo_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + @unittest.skip("skip case") + def test_9_pipeline_segmentation_maskrcnn_ci(self): + topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] + launch_file = f"pipeline_segmentation_maskrcnn_ci_test.py" + log_file = f"/root/test_cases/log/pipeline_segmentation_maskrcnn_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) - - -def kill_ros2_process(): - sleep(30) +def kill_ros2_process(sleep_z=30): + sleep(sleep_z) process_result = subprocess.Popen(["ps -ef | grep ros2 | grep -v 'grep' | awk '{print $2}'"],stdout=subprocess.PIPE, shell=True).communicate() print(process_result[0].decode('utf-8').replace('\n', ' ')) kill_process = 'kill -9 ' + process_result[0].decode('utf-8').replace('\n', ' ') subprocess.Popen([kill_process], shell=True).communicate() - - diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh new file mode 100755 index 00000000..4ad26dc0 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh @@ -0,0 +1,38 @@ +#!/bin/bash + +#1. Copy YOLOv5 Repository from GitHub +cd /root && git clone https://github.com/ultralytics/yolov5.git + +#Set Environment for Installing YOLOv5 + +cd yolov5 +python3 -m venv yolo_env # Create a virtual python environment +source yolo_env/bin/activate # Activate environment +pip install -r requirements.txt # Install yolov5 prerequisites +pip install wheel +pip install onnx + +# Download PyTorch Weights +mkdir -p /root/yolov5/model_convert && cd /root/yolov5/model_convert +wget https://github.com/ultralytics/yolov5/releases/download/v6.2/yolov5n.pt + +cd /root/yolov5 +python3 export.py --weights model_convert/yolov5n.pt --include onnx + + +#2. Convert ONNX files to IR files +cd /root/yolov5/ +python3 -m venv ov_env # Create openVINO virtual environment +source ov_env/bin/activate # Activate environment +python -m pip install --upgrade pip # Upgrade pip +pip install openvino[onnx]==2022.1.0 # Install OpenVINO for ONNX +pip install openvino-dev[onnx]==2022.1.0 # Install OpenVINO Dev Tool for ONNX + + +cd /root/yolov5/model_convert +mo --input_model yolov5n.onnx + + +mkdir -p /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/ +sudo cp yolov5n.bin yolov5n.mapping yolov5n.xml /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/ + diff --git a/.github/workflows/ros2_branch.yml b/.github/workflows/ros2_branch.yml index 0b9add50..a2b1ceea 100644 --- a/.github/workflows/ros2_branch.yml +++ b/.github/workflows/ros2_branch.yml @@ -25,7 +25,6 @@ jobs: # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it - uses: actions/checkout@v3 - # Runs a set of commands using the runners shell - name: ros2_openvino_toolkit_test run: | diff --git a/data/model_list/download_model.lst b/data/model_list/download_model.lst index 965a7a66..0744a846 100644 --- a/data/model_list/download_model.lst +++ b/data/model_list/download_model.lst @@ -14,4 +14,5 @@ human-pose-estimation-0001 semantic-segmentation-adas-0001 mobilenet-ssd deeplabv3 +mask_rcnn_inception_resnet_v2_atrous_coco diff --git a/sample/launch/pipeline_segmentation_ci_test.py b/sample/launch/pipeline_segmentation_ci_test.py new file mode 100644 index 00000000..7be59e6d --- /dev/null +++ b/sample/launch/pipeline_segmentation_ci_test.py @@ -0,0 +1,55 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_segmentation.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_ci.yaml')), + # Realsense + # NOTE: Split realsense_node launching from OpenVINO package, which + # will be launched by RDK launching file or manually. + + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), + ('/openvino_toolkit/segmentation/segmented_obejcts', + '/ros2_openvino_toolkit/segmented_obejcts'), + ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_segmentation_image_ci_test.py b/sample/launch/pipeline_segmentation_image_ci_test.py new file mode 100644 index 00000000..ef831657 --- /dev/null +++ b/sample/launch/pipeline_segmentation_image_ci_test.py @@ -0,0 +1,55 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_segmentation_image.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_image_ci.yaml')), + # Realsense + # NOTE: Split realsense_node launching from OpenVINO package, which + # will be launched by RDK launching file or manually. + + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), + ('/openvino_toolkit/segmentation/segmented_obejcts', + '/ros2_openvino_toolkit/segmented_obejcts'), + ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_segmentation_maskrcnn_ci_test.py b/sample/launch/pipeline_segmentation_maskrcnn_ci_test.py new file mode 100644 index 00000000..98c71950 --- /dev/null +++ b/sample/launch/pipeline_segmentation_maskrcnn_ci_test.py @@ -0,0 +1,55 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_segmentation.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_maskrcnn_ci.yaml')), + # Realsense + # NOTE: Split realsense_node launching from OpenVINO package, which + # will be launched by RDK launching file or manually. + + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), + ('/openvino_toolkit/segmentation/segmented_obejcts', + '/ros2_openvino_toolkit/segmented_obejcts'), + ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/param/.pipeline_segmentation.yaml.swp b/sample/param/.pipeline_segmentation.yaml.swp deleted file mode 100644 index d3819bf95e9165c60cb94398cf6db970540bcf9d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 12288 zcmeI2F>ezw6vtg81WN#c#E48_Y;s8uQg!NrLIoMBRB2NLQHgvPCvoeuPiJ2e7+~QW zptABI5MtzOFf#A~U|{FP=TxDEijJu7DgX1kXZxMs@020Ri)y>AO}bXC6R>N99NzlC zo?RZ3_vRAGqg>g%QJYVlX8*eG)nZ|=FW8ieAk(IzC-b4vA2G>dE8@ORxta*2`%@E` zEG}k`f>vvJAZ%b*l1d(=EMrNKij+&Cc;E0*!j)xKXjOf|5_#IOaSjQb9|E}@R@O@0 zdyTsLKHn+drZ=v4&rkhWDH1>eNB{{S0VIF~kN^@u0>q{($xH`AEoCvs8MK^U*Cy7=eA=FtWMq?Y&UT0Ul+;g!Cm3#=H zcC^o9yS>y%eSC{HJ31Bd8Mn0(HsVi&8tCa6cb+`a?+H4b$!)F-Z?c4E%pDHS9BZYZ z5)*>2bDQSi(%#ZBR%yqV0^Sh^w{a*2T*bU^#~C+cEe9d3RquNc5wr0)q;-EQS;S>X ztqvj{7;b~vY*uwa<5zGsg68y)mLG5IY;@XTbE~`h2({lgvFwaw+LDxD3 jt55~?{N;rRHRPEqO( Date: Mon, 27 Mar 2023 16:06:03 +0800 Subject: [PATCH 23/40] Update the Document for openvino version (#272) Signed-off-by: huangjiafengx --- README.md | 26 +++++++++---------- .../getting_started_with_ros2_ov2.0.md | 8 +++--- .../tutorial_for_yolov5_converted.md | 4 +-- docker/Dockerfile | 2 +- 4 files changed, 20 insertions(+), 20 deletions(-) diff --git a/README.md b/README.md index 1379ad6f..33d0f8be 100644 --- a/README.md +++ b/README.md @@ -26,8 +26,8 @@ |Branch Name|ROS2 Version Supported|Openvino Version|OS Version| |-----------------------|-----------------------|--------------------------------|----------------------| -|[ros2](https://github.com/intel/ros2_openvino_toolkit/tree/ros2)|Galactic, Foxy, Humble|V2022.1, V2022.2|Ubuntu 20.04, Ubuntu 22.04| -|[dashing](https://github.com/intel/ros2_openvino_toolkit/tree/dashing)|Dashing|V2022.1, V2022.2|Ubuntu 18.04| +|[ros2](https://github.com/intel/ros2_openvino_toolkit/tree/ros2)|Galactic, Foxy, Humble|V2022.1, V2022.2, V2022.3|Ubuntu 20.04, Ubuntu 22.04| +|[dashing](https://github.com/intel/ros2_openvino_toolkit/tree/dashing)|Dashing|V2022.1, V2022.2, V2022.3|Ubuntu 18.04| |[foxy-ov2021.4](https://github.com/intel/ros2_openvino_toolkit/tree/foxy)|Foxy|V2021.4|Ubuntu 20.04| |[galactic-ov2021.4](https://github.com/intel/ros2_openvino_toolkit/tree/galactic-ov2021.4)|Galactic|V2021.4|Ubuntu 20.04| @@ -148,16 +148,16 @@ Currently, the corresponding relation of supported inference features, models us |Inference|Description|YAML Configuration|Model Used| |-----------------------|------------------------------------------------------------------|----------------------|----------------------| -|Face Detection| Object Detection task applied to face recognition using a sequence of neural networks.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[face-detection-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/face-detection-adas-0001)
    [age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/age-gender-recognition-retail-0013)
    [emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/emotions-recognition-retail-0003)
    [head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/head-pose-estimation-adas-0001)| -|Emotion Recognition| Emotion recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/emotions-recognition-retail-0003)| -|Age & Gender Recognition| Age and gender recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/age-gender-recognition-retail-0013)| -|Head Pose Estimation| Head pose estimation based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/head-pose-estimation-adas-0001)| -|Object Detection| Object detection based on SSD-based trained models.|[pipeline_object.yaml](./sample/param/pipeline_object.yaml)
    [pipeline_object_topic.yaml](./sample/param/pipeline_object_topic.yaml)|[mobilenet-ssd](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/public/mobilenet-ssd)| -|Vehicle and License Detection| Vehicle and license detection based on Intel models.|[pipeline_vehicle_detection.yaml](./sample/param/pipeline_vehicle_detection.yaml)|[vehicle-license-plate-detection-barrier-0106](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/vehicle-license-plate-detection-barrier-0106)
    [vehicle-attributes-recognition-barrier-0039](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/vehicle-attributes-recognition-barrier-0039)
    [license-plate-recognition-barrier-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/license-plate-recognition-barrier-0001)| -|Object Segmentation| Object segmentation.|[pipeline_segmentation.yaml](./sample/param/pipeline_segmentation.yaml)
    [pipeline_segmentation_image.yaml](./sample/param/pipeline_segmentation_image.yaml)
    [pipeline_video.yaml](./sample/param/pipeline_video.yaml)|[semantic-segmentation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/semantic-segmentation-adas-0001)
    [deeplabv3](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/public/deeplabv3)| -|Person Attributes| Person attributes based on object detection.|[pipeline_person_attributes.yaml](./sample/param/pipeline_person_attributes.yaml)|[person-attributes-recognition-crossroad-0230](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-attributes-recognition-crossroad-0230)
    [person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-detection-retail-0013)| -|Person Reidentification|Person reidentification based on object detection.|[pipeline_person_reidentification.yaml](./sample/param/pipeline_reidentification.yaml)|[person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-detection-retail-0013)
    [person-reidentification-retail-0277](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/intel/person-reidentification-retail-0277)| -|Object Segmentation Maskrcnn| Object segmentation and detection based on maskrcnn model.|[pipeline_segmentation_maskrcnn.yaml](./sample/param/pipeline_segmentation_maskrcnn.yaml)|[mask_rcnn_inception_v2_coco_2018_01_28](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1/models/public/mask_rcnn_inception_resnet_v2_atrous_coco)| +|Face Detection| Object Detection task applied to face recognition using a sequence of neural networks.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[face-detection-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/face-detection-adas-0001)
    [age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/age-gender-recognition-retail-0013)
    [emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/emotions-recognition-retail-0003)
    [head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/head-pose-estimation-adas-0001)| +|Emotion Recognition| Emotion recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/emotions-recognition-retail-0003)| +|Age & Gender Recognition| Age and gender recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/age-gender-recognition-retail-0013)| +|Head Pose Estimation| Head pose estimation based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
    [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
    [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
    [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/head-pose-estimation-adas-0001)| +|Object Detection| Object detection based on SSD-based trained models.|[pipeline_object.yaml](./sample/param/pipeline_object.yaml)
    [pipeline_object_topic.yaml](./sample/param/pipeline_object_topic.yaml)|[mobilenet-ssd](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mobilenet-ssd)| +|Vehicle and License Detection| Vehicle and license detection based on Intel models.|[pipeline_vehicle_detection.yaml](./sample/param/pipeline_vehicle_detection.yaml)|[vehicle-license-plate-detection-barrier-0106](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/vehicle-license-plate-detection-barrier-0106)
    [vehicle-attributes-recognition-barrier-0039](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/vehicle-attributes-recognition-barrier-0039)
    [license-plate-recognition-barrier-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/license-plate-recognition-barrier-0001)| +|Object Segmentation| Object segmentation.|[pipeline_segmentation.yaml](./sample/param/pipeline_segmentation.yaml)
    [pipeline_segmentation_image.yaml](./sample/param/pipeline_segmentation_image.yaml)
    [pipeline_video.yaml](./sample/param/pipeline_video.yaml)|[semantic-segmentation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/semantic-segmentation-adas-0001)
    [deeplabv3](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/deeplabv3)| +|Person Attributes| Person attributes based on object detection.|[pipeline_person_attributes.yaml](./sample/param/pipeline_person_attributes.yaml)|[person-attributes-recognition-crossroad-0230](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-attributes-recognition-crossroad-0230)
    [person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-detection-retail-0013)| +|Person Reidentification|Person reidentification based on object detection.|[pipeline_person_reidentification.yaml](./sample/param/pipeline_reidentification.yaml)|[person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-detection-retail-0013)
    [person-reidentification-retail-0277](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-reidentification-retail-0277)| +|Object Segmentation Maskrcnn| Object segmentation and detection based on maskrcnn model.|[pipeline_segmentation_maskrcnn.yaml](./sample/param/pipeline_segmentation_maskrcnn.yaml)|[mask_rcnn_inception_v2_coco_2018_01_28](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mask_rcnn_inception_resnet_v2_atrous_coco)|

    @@ -236,7 +236,7 @@ For the snapshot of demo results, refer to the following picture. * Refer to the quick start document for [yaml configuration guidance](./doc/quick_start/yaml_configuration_guide.md) for detailed configuration guidance. # Reference -* Open_model_zoo: Refer to the OpenVINO document for [open_model_zoo](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/1) for detailed model structure and demo samples. +* Open_model_zoo: Refer to the OpenVINO document for [open_model_zoo](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3) for detailed model structure and demo samples. * OpenVINO api 2.0: Refer to the OpenVINO document for [OpenVINO_api_2.0](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html) for latest api 2.0 transition guide. # FAQ diff --git a/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md index fc1c782b..45f79670 100644 --- a/doc/quick_start/getting_started_with_ros2_ov2.0.md +++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md @@ -9,8 +9,8 @@ For ROS2 foxy and galactic on ubuntu 20.04: * Install ROS2.
    Refer to: [ROS_foxy_install_guide](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) & [ROS_galactic_install_guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) - * Install Intel® OpenVINO™ Toolkit Version: 2022.1.
    - Refer to: [OpenVINO_install_guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html) + * Install Intel® OpenVINO™ Toolkit Version: 2022.3.
    + Refer to: [OpenVINO_install_guide](https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html#doxid-openvino-docs-install-guides-installing-openvino-apt) * Install from an achive file. Both runtime and development tool are needed, `pip` is recommended for installing the development tool.
    Refer to: [OpenVINO_devtool_install_guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html) @@ -52,7 +52,7 @@ source ./install/local_setup.bash ``` ## 3. Running the Demo -### Install OpenVINO 2022.1 by PIP +### Install OpenVINO 2022.3 by PIP OMZ tools are provided for downloading and converting models of open_model_zoo in ov2022.
    Refer to: [OMZtool_guide](https://pypi.org/project/openvino-dev/) @@ -72,7 +72,7 @@ omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/ cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert ``` -### Install OpenVINO 2022.1 by source code +### Install OpenVINO 2022.3 by source code * See all available models ``` cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools diff --git a/doc/quick_start/tutorial_for_yolov5_converted.md b/doc/quick_start/tutorial_for_yolov5_converted.md index dcde6fc3..70ee8421 100644 --- a/doc/quick_start/tutorial_for_yolov5_converted.md +++ b/doc/quick_start/tutorial_for_yolov5_converted.md @@ -54,8 +54,8 @@ To use the model optimizer, you need to run the following command to install som python3 -m venv ov_env // Create openVINO virtual environment source ov_env/bin/activate // Activate environment python -m pip install --upgrade pip // Upgrade pip -pip install openvino[onnx]==2022.1.0 // Install OpenVINO for ONNX -pip install openvino-dev[onnx]==2022.1.0 // Install OpenVINO Dev Tool for ONNX +pip install openvino[onnx]==2022.3.0 // Install OpenVINO for ONNX +pip install openvino-dev[onnx]==2022.3.0 // Install OpenVINO Dev Tool for ONNX ``` * Generate IR file diff --git a/docker/Dockerfile b/docker/Dockerfile index 5bc82bbe..57df6247 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -54,7 +54,7 @@ requests \ && apt-get install -y --no-install-recommends libboost-all-dev WORKDIR /usr/lib/x86_64-linux-gnu RUN pip install --upgrade pip -RUN pip install openvino-dev[tensorflow2]==2022.1 +RUN pip install openvino-dev[tensorflow2]==2022.3 # build ros2 openvino toolkit WORKDIR /root From 58a51c4cf9d5af35e571bf17ff3d25885af63884 Mon Sep 17 00:00:00 2001 From: Lewis Liu Date: Thu, 6 Apr 2023 15:09:03 +0800 Subject: [PATCH 24/40] Enable ci for master (#274) * update CI configurations to support branch master Signed-off-by: Liu, Wei Zhi * fix issues on the file Dockerfile for CI caes. Signed-off-by: huangjiafengx * Fix GitHub action ci issue (#276) * Enable ci for master Signed-off-by: huangjiafengx * Sloving the Github action CI fail. Signed-off-by: huangjiafengx --------- Signed-off-by: huangjiafengx --------- Signed-off-by: Liu, Wei Zhi Signed-off-by: huangjiafengx Co-authored-by: huangjiafengx --- .../ros2_openvino_toolkit_test/Dockerfile | 33 ++++++++++--------- .../ros2_openvino_toolkit_test/docker_run.sh | 9 +++-- .../test_cases/yolov5_model_download.sh | 4 +-- .../{ros2_branch.yml => basic_func_tests.yml} | 7 ++-- docker/Dockerfile | 1 - 5 files changed, 30 insertions(+), 24 deletions(-) rename .github/workflows/{ros2_branch.yml => basic_func_tests.yml} (85%) diff --git a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile index 70b44162..57df6247 100644 --- a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile +++ b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile @@ -1,12 +1,19 @@ # ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80 -ARG ROS_VERSION -FROM osrf/ros:${ROS_VERSION} +ARG ROS_PRE_INSTALLED_PKG +FROM osrf/ros:${ROS_PRE_INSTALLED_PKG} ARG VERSION +# setting proxy env --option +# If needed, enable the below ENV setting by correct proxies. +# ENV HTTP_PROXY="your_proxy" +# ENV HTTPS_PROXY="your_proxy" +# ENV FTP_PROXY="your_proxy" -LABEL maintainer="Jiawei Wu " +# author information +LABEL author="Jiawei Wu " +# default shell type SHELL ["/bin/bash", "-c"] # ignore the warning @@ -15,22 +22,19 @@ ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 RUN apt-get update && apt-get install --assume-yes apt-utils # install openvino 2022.3 - # https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \ apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0 - # install librealsense2 RUN apt-get install -y --no-install-recommends \ software-properties-common # https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md # Make sure you set http-proxy in below commands if your environment needs. - -RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE -#RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +# RUN apt-key adv --keyserver-options http-proxy=your_proxy --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options http-proxy=your_proxy --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ && apt-get install -y --no-install-recommends \ librealsense2-dkms \ @@ -49,19 +53,16 @@ pyyaml \ requests \ && apt-get install -y --no-install-recommends libboost-all-dev WORKDIR /usr/lib/x86_64-linux-gnu -RUN ln -sf libboost_python-py36.so libboost_python37.so RUN pip install --upgrade pip -#RUN pip install openvino-dev[tensorflow2]==2022.3 +RUN pip install openvino-dev[tensorflow2]==2022.3 # build ros2 openvino toolkit WORKDIR /root RUN mkdir -p catkin_ws/src WORKDIR /root/catkin_ws/src -RUN git clone https://github.com/intel/ros2_object_msgs.git -##://github.com/intel/ros2_openvino_toolkit.git -RUN git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git -RUN git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git +RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \ +&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git RUN apt-get install ros-${VERSION}-diagnostic-updater WORKDIR /root/catkin_ws -COPY jpg /root/jpg -#RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +RUN source /opt/ros/${VERSION}/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release + diff --git a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh index 79fdf85f..956ded09 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh @@ -21,8 +21,13 @@ function run_container() { docker rm -f ros2_openvino_container fi # Using jenkins server ros2_openvino_toolkit code instead of git clone code. - cd $work_dir && sed -i 's/RUN git clone -b ros2 https/#/g' Dockerfile - cd $work_dir && docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic -t ros2_openvino_docker:01 . + cd $work_dir && sed -i '/ros2_openvino_toolkit.git/d' Dockerfile + # remove the "\" + cd $work_dir && sed -i 's#ros2_object_msgs.git \\#ros2_object_msgs.git#' Dockerfile + # add the jpg for test. + cd $work_dir && sed -i '$i COPY jpg /root/jpg' Dockerfile + + cd $work_dir && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic -t ros2_openvino_docker:01 . docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v /tmp/.X11-unix:/tmp/.X11-unix -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic" } diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh index 4ad26dc0..f3e50d3b 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh @@ -25,8 +25,8 @@ cd /root/yolov5/ python3 -m venv ov_env # Create openVINO virtual environment source ov_env/bin/activate # Activate environment python -m pip install --upgrade pip # Upgrade pip -pip install openvino[onnx]==2022.1.0 # Install OpenVINO for ONNX -pip install openvino-dev[onnx]==2022.1.0 # Install OpenVINO Dev Tool for ONNX +pip install openvino[onnx]==2022.3.0 # Install OpenVINO for ONNX +pip install openvino-dev[onnx]==2022.3.0 # Install OpenVINO Dev Tool for ONNX cd /root/yolov5/model_convert diff --git a/.github/workflows/ros2_branch.yml b/.github/workflows/basic_func_tests.yml similarity index 85% rename from .github/workflows/ros2_branch.yml rename to .github/workflows/basic_func_tests.yml index a2b1ceea..d94a5357 100644 --- a/.github/workflows/ros2_branch.yml +++ b/.github/workflows/basic_func_tests.yml @@ -1,14 +1,14 @@ # This is a basic workflow to help you get started with Actions -name: ros2_branch_CI +name: Basic_Func_CI # Controls when the workflow will run on: # Triggers the workflow on push or pull request events but only for the "master" branch push: - branches: [ "ros2" ] + branches: [ "master", "ros2" ] pull_request: - branches: [ "ros2" ] + branches: [ "master", "ros2" ] # Allows you to run this workflow manually from the Actions tab workflow_dispatch: @@ -31,5 +31,6 @@ jobs: pwd mkdir -p ../workspace_ci cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace_ci + \cp ${GITHUB_WORKSPACE}/docker/Dockerfile ../workspace_ci/ros2_openvino_toolkit_test/Dockerfile cp -r ${GITHUB_WORKSPACE} ../workspace_ci/ros2_openvino_toolkit_test cd ../workspace_ci/ros2_openvino_toolkit_test && ./docker_run.sh diff --git a/docker/Dockerfile b/docker/Dockerfile index 57df6247..5a53d585 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -54,7 +54,6 @@ requests \ && apt-get install -y --no-install-recommends libboost-all-dev WORKDIR /usr/lib/x86_64-linux-gnu RUN pip install --upgrade pip -RUN pip install openvino-dev[tensorflow2]==2022.3 # build ros2 openvino toolkit WORKDIR /root From 994c2febf6e4b6537d92141c22f1b22cb2670ef4 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Fri, 21 Apr 2023 16:07:18 +0800 Subject: [PATCH 25/40] Removing the picture no using. 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z1M5o7<}OQq7^oU7szoOXN{>oxmhvejNMYzI4>q|FqoOe?FpO2*1esLC;TLq{c^&ouY+S&Il5!?U;e#K{{RS# zSR>DK_)+YJrZ(fn(Lz2=#+`5DD_e;2U6s4!)I-7c?VQZScN>5D^&EZ^u~2-l!=6qB z9?X2@sXSY1ya&np)Y15c)YYPSPw-4`U6nipxiT?n$tzYiR zNZPb3(X;r|UrV)#GOz>NtrB>C6Pyp5uH5lU+4+^uF}28-_^H3!@t%gGT^2ap?~5b- z>T2kU(h!fZ9(rb%vLCb|x$#fg*acGm0EIPtWaj|GinRV5K;W6Pj@xR~T3x2)Qy4Au zt5nh>+A@@WC=Jz0)BgbBAmfFt7O}V6x5-0~YK64O9OOixQ*_XCluwA5o|M1vkT!Wj zYUFx-t1tSHNIcZb3|$0ELV^xvXMe&(4;yfPhLihX%h5^tR)a0M9LM@pk=w+dH<$FG z#S593QeNGL%Av&rQoTjViLvyqfk-R?QBq0wfWX^LK``cKBs!(s!~IU*uN4i(wLW$j zm>%AhzUqI4MKj6s2h6G|IHB`1olR>|Qb*ZI9<^rQSi6<>wYe3y<#COokXrdaIK>>O zT+Gb=(77x?h>TNO=JAgJiq_lwRM|(C%0Io$9EdrYof}_C(2vH6mid%|%UVh(J9h;< z6Vjh54rX)z0P!)6zxvfWCaI0w5nF8uQI-JHqi-zjE1dh&&xqSt1Ba(Zt@B!qNs!a*)W+A^Z)<= From 2f9173ebf4c391ee2291cee5b349ad804e407371 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Wed, 7 Jun 2023 13:37:03 +0800 Subject: [PATCH 26/40] Removing the picture no using. (#277) (#298) Signed-off-by: huangjiafengx --- .../test_cases/unittest/run_all.py | 4 ++-- .../test_cases/unittest/test_cases.py | 5 ++--- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py index 89c5d84e..279dcf78 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py @@ -13,8 +13,8 @@ def main(): Test_Cases('test_4_pipeline_segmentation_ci'), Test_Cases('test_5_pipeline_vehicle_detection_ci'), Test_Cases('test_6_pipeline_person_attributes_ci'), - Test_Cases('test_7_pipeline_segmentation_image_ci'), - Test_Cases('test_8_pipeline_object_yolo_ci')] + Test_Cases('test_7_pipeline_segmentation_image_ci')] + #Test_Cases('test_8_pipeline_object_yolo_ci')] suite.addTests(all_cases) with (open('./result.html', 'wb')) as fp: diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py index c71bbd2c..71b83fcd 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py @@ -22,9 +22,8 @@ def test_pipeline(self, launch_file, log_file, topic_list=['/rosout']): with open(f"{log_file}") as handle: log = handle.read() check_log = log.split("user interrupted with ctrl-c (SIGINT)")[0] - if f"pipeline_object_yolo" not in log_file: - self.assertIn('Analyzing Detection results', check_log) - self.assertNotIn('ERROR', check_log) + self.assertIn('One Pipeline Created!', check_log) + self.assertNotIn('ERROR', check_log) for topic in topic_list: name = topic.split('/', -1)[-1] with open(f"{name}.log") as topic_handle: From 0102bab7df0bd5a2b705134366301e4a7dccbfa9 Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Tue, 13 Jun 2023 10:39:25 +0800 Subject: [PATCH 27/40] Uploading yolov7 and yolov8 converted document. (#296) Uploading yolov7 and yolov8 converted document Signed-off-by: huangjiafengx Signed-off-by: Fan, Tao Signed-off-by: Fan,Tao Signed-off-by: Liu, Wei Zhi Signed-off-by: Taylor Courier taylor.courier@intel.com Signed-off-by: Andrew Capatina andrew.capatina@intel.com Co-authored-by: Lewis Liu Co-authored-by: Fan,Tao <83325325+fantao015@users.noreply.github.com> Co-authored-by: wujiawei Co-authored-by: Fan,Tao --- .../tutorial_for_yolov5_converted.md | 11 ++ .../tutorial_for_yolov7_converted.md | 103 ++++++++++++++++++ .../tutorial_for_yolov8_converted.md | 99 +++++++++++++++++ 3 files changed, 213 insertions(+) create mode 100644 doc/quick_start/tutorial_for_yolov7_converted.md create mode 100644 doc/quick_start/tutorial_for_yolov8_converted.md diff --git a/doc/quick_start/tutorial_for_yolov5_converted.md b/doc/quick_start/tutorial_for_yolov5_converted.md index 70ee8421..dfc82ed8 100644 --- a/doc/quick_start/tutorial_for_yolov5_converted.md +++ b/doc/quick_start/tutorial_for_yolov5_converted.md @@ -72,6 +72,17 @@ mkdir -p /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/ sudo cp yolov5n.bin yolov5n.mapping yolov5n.xml /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/ ``` +# yolov5 optimize to yolov5-int8 +``` +The yolov5 optimize to yolov5-int8 refer to the link: + +https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/111-yolov5-quantization-migration + +The installation guide +https://github.com/openvinotoolkit/openvino_notebooks/blob/main/README.md#-installation-guide + +``` + # FAQ

      diff --git a/doc/quick_start/tutorial_for_yolov7_converted.md b/doc/quick_start/tutorial_for_yolov7_converted.md new file mode 100644 index 00000000..9c476634 --- /dev/null +++ b/doc/quick_start/tutorial_for_yolov7_converted.md @@ -0,0 +1,103 @@ +# Tutorial_For_yolov7_Converted + +# Introduction +This document describes a method to convert YOLOv7 nano PyTorch weight files with the .pt extension to ONNX weight files, and a method to convert ONNX weight files to IR +files using the OpenVINO model optimizer. This method can help OpenVINO users optimize YOLOv7 for deployment in practical applications. + +## Reference Phrase +|Term|Description| +|---|---| +|OpenVINO|Open Visual Inference & Neural Network Optimization| +|ONNX|Open Neural Network Exchange| +|YOLO|You Only Look Once| +|IR|Intermediate Representation| + +## Reference Document +|Doc|Link| +|---|---| +|OpenVINO|[openvino_2_0_transition_guide](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html)| +|YOLOv7|[yolov7](https://github.com/WongKinYiu/yolov7)| + +# Convert Weight File to ONNX +* Copy YOLOv7 Repository from GitHub +``` +git clone https://github.com/WongKinYiu/yolov7.git +``` + +* Set Environment for Installing YOLOv7 +``` +cd yolov7 +python3 -m venv yolo_env // Create a virtual python environment +source yolo_env/bin/activate // Activate environment +pip install -r requirements.txt // Install yolov7 prerequisites +pip install onnx // Install ONNX +pip install nvidia-pyindex // Add NVIDIA PIP index +pip install onnx-graphsurgeon // Install GraphSurgeon +``` + +* Download PyTorch Weights +``` +mkdir model_convert && cd model_convert +wget "https://github.com/WongKinYiu/yolov7/releases/download/v0.1/yolov7.pt" +``` + +* Convert PyTorch weights to ONNX weights +YOLOv7 repository provides export.py script, which can be used to convert PyTorch weight to ONNX weight. +``` +cd .. +python3 export.py --weights model_convert/yolov7.pt +``` + +# Convert ONNX files to IR files +After obtaining the ONNX weight file from the previous section [Convert Weight File to ONNX](#convert-weight-file-to-onnx), we can use the model optimizer to convert it to an IR file. + +* Install the OpenVINO Model Optimizer Environment +To use the model optimizer, you need to run the following command to install some necessary components (if you are still in the yolo_env virtual environment, you need to run the **deactivate** command to exit the environment or start a new terminal). +``` +python3 -m venv ov_env // Create openVINO virtual environment +source ov_env/bin/activate // Activate environment +python -m pip install --upgrade pip // Upgrade pip +pip install openvino[onnx]==2022.3.0 // Install OpenVINO for ONNX +pip install openvino-dev[onnx]==2022.3.0 // Install OpenVINO Dev Tool for ONNX +``` + +* Generate IR file +``` +cd model_convert +mo --input_model yolov7.onnx +``` +Then we will get three files: yolov7.xml, yolov7.bin, and yolov7.mapping under the model_convert folder. + +# Move to the Recommended Model Path +``` +cd ~/yolov7/model_convert +mkdir -p /opt/openvino_toolkit/models/convert/public/yolov7/FP32/ +sudo cp yolov7.bin yolov7.mapping yolov7.xml /opt/openvino_toolkit/models/convert/public/yolov7/FP32/ +``` + +# yolov7 optimize to yolov7-int8 +``` +The yolov7 optimize to yolov7-int8 refer to the link: + +https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/226-yolov7-optimization + +The installation guide +https://github.com/openvinotoolkit/openvino_notebooks/blob/main/README.md#-installation-guide + +``` + + +# FAQ + +

      +

      +How to install the python3-venv package? + +On Debian/Ubuntu systems, you need to install the python3-venv package using the following command. +``` +apt-get update +apt-get install python3-venv +``` +You may need to use sudo with that command. After installing, recreate your virtual environment. +
      +

      diff --git a/doc/quick_start/tutorial_for_yolov8_converted.md b/doc/quick_start/tutorial_for_yolov8_converted.md new file mode 100644 index 00000000..5d9793fe --- /dev/null +++ b/doc/quick_start/tutorial_for_yolov8_converted.md @@ -0,0 +1,99 @@ +# Tutorial_For_yolov8_Converted + +# Introduction +Ultralytics YOLOv8 is a cutting-edge, state-of-the-art (SOTA) model that builds upon the success of previous YOLO versions and introduces new features and improvements to further boost performance and flexibility. +YOLOv8 is designed to be fast, accurate, and easy to use, making it an excellent choice for a wide range of object detection and tracking, instance segmentation, +image classification and pose estimation tasks. +This document describes a method to convert YOLOv8 nano PyTorch weight files with the .pt extension to ONNX weight files, and a method to convert ONNX weight files to IR +files using the OpenVINO model optimizer. This method can help OpenVINO users optimize YOLOv8 for deployment in practical applications. + +##
      Documentation
      + +See below for a quickstart installation and usage example, and see the [YOLOv8 Docs](https://docs.ultralytics.com) for full documentation on training, validation, prediction and deployment. + +
      +Install + + +Pip install the ultralytics package including all [requirements](https://github.com/ultralytics/ultralytics/blob/main/requirements.txt) in a [**Python>=3.7**](https://www.python.org/) environment with [**PyTorch>=1.7**](https://pytorch.org/get-started/locally/). + +```bash +mkdir -p yolov8 && cd yolov8 +pip install ultralytics +apt install python3.8-venv +python3 -m venv openvino_env +source openvino_env/bin/activate +``` + + #### Train +Train YOLOv8n on the COCO128 dataset for 100 epochs at image size 640. For a full list of available arguments seethe Configuration page. +YOLOv8 may be used directly in the Command Line Interface (CLI) with a `yolo` command: + +```CLI +# Build a new model from YAML and start training from scratch +yolo detect train data=coco128.yaml model=yolov8n.yaml epochs=100 imgsz=640 + +# Start training from a pretrained *.pt model +yolo detect train data=coco128.yaml model=yolov8n.pt epochs=100 imgsz=640 +``` + + +#### Val + +Validate trained YOLOv8n model accuracy on the COCO128 dataset. No argument need to passed as the model retains it's training data and arguments as model attributes. +```CLI +# val official model +yolo detect val model=yolov8n.pt + +``` + +#### Predict +Use a trained YOLOv8n model to run predictions on images. +``` CLI +# predict with official model +yolo detect predict model=yolov8n.pt source='https://ultralytics.com/images/bus.jpg' +``` + +#### Export +Export a YOLOv8n model to a different format like ONNX, CoreML, etc. +``` +# export official model +yolo export model=yolov8n.pt format=openvino + +``` + +# Move to the Recommended Model Path +``` +cd yolov8n_openvino_model + +mkdir -p /opt/openvino_toolkit/models/convert/public/FP32/yolov8n + +sudo cp yolov8* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n + +``` + +# yolov8n optimize to yolov8n-int8 +``` +The yolov8n optimize to yolov8n-int8 refer to the link: + +https://github.com/openvinotoolkit/openvino_notebooks/blob/main/notebooks/230-yolov8-optimization/230-yolov8-optimization.ipynb + +The installation guide +https://github.com/openvinotoolkit/openvino_notebooks/blob/main/README.md#-installation-guide + +``` + +# FAQ + +

      +

      +Reference link + +``` +https://github.com/ultralytics/ultralytics +https://docs.ultralytics.com/tasks/detect/#predict + +``` + +
      +

      From 604fafd0047a8e39109079e2d1d2c6e9962b77b3 Mon Sep 17 00:00:00 2001 From: Lewis Liu Date: Fri, 16 Jun 2023 10:50:39 +0800 Subject: [PATCH 28/40] support yolove8 detection and segmentation (#295) * update func for input image's pre_precoss_ov Signed-off-by: Liu, Wei Zhi * pass matToBlob down to BaseModel class. Signed-off-by: Liu, Wei Zhi * Add mode attribute has_confidence_output and its getter and setter. Not all the models output confidence results, even if the series of detection models. For example, yolov5 and yolov7 output the confident as float in its output tensor (besides the array of scores for each class), while yolov8 has not. Signed-off-by: Liu, Wei Zhi * remove useless code. Signed-off-by: Liu, Wei Zhi * support yolov8 detection model Signed-off-by: Liu, Wei Zhi * Refine Model Attributes: - add more model propertis (tensors' count, need_transpose) - fix issues when loadLabelsFromFile - set "inputx" and "outputx" (x = [0..N]) as the default key of map:[in|out]putnames - provide interface to retag keys of map:[in|out]putnames Signed-off-by: Liu, Wei Zhi * add parameter expected frame size when input shape is dynamic. Signed-off-by: Liu, Wei Zhi * abstract part of updateLayerProperty to class BaseModel. Signed-off-by: Liu, Wei Zhi * update yolov5-detection-model class to align with updated BaseModel and ModelAttributes Signed-off-by: Liu, Wei Zhi * add yolov8 segmentation feature. Signed-off-by: Liu, Wei Zhi * update default input/output names for all models. Signed-off-by: Liu, Wei Zhi * merge maskrcnn-inception model into new segmentation-instance implementations. Signed-off-by: Liu, Wei Zhi * support ros topic output for Segmentation-Instance models. Signed-off-by: Liu, Wei Zhi * fix boundingbox calc for big-size input images. Signed-off-by: Liu, Wei Zhi * update documentation mainl for yolov8 (segmentation & detection). Signed-off-by: Liu, Wei Zhi --------- Signed-off-by: Liu, Wei Zhi --- README.md | 34 +- .../frozen_inference_graph.labels | 3 +- openvino_param_lib/src/param_manager.cpp | 1 + openvino_wrapper_lib/CMakeLists.txt | 6 +- .../object_segmentation_instance.hpp | 151 +++++++ .../models/attributes/base_attribute.hpp | 128 +++++- .../models/base_model.hpp | 55 ++- .../models/object_detection_yolov5_model.hpp | 9 - .../models/object_detection_yolov8_model.hpp | 35 ++ ...t_segmentation_instance_maskrcnn_model.hpp | 43 ++ .../object_segmentation_instance_model.hpp | 56 +++ .../outputs/base_output.hpp | 7 + .../outputs/image_window_output.hpp | 7 + .../outputs/ros_topic_output.hpp | 6 + .../openvino_wrapper_lib/pipeline_manager.hpp | 2 + .../openvino_wrapper_lib/pipeline_params.hpp | 4 + .../openvino_wrapper_lib/utils/common.hpp | 385 ++++++++++++++++++ .../object_segmentation_instance.cpp | 135 ++++++ .../src/models/age_gender_detection_model.cpp | 2 +- .../src/models/attributes/ssd_model_attr.cpp | 4 +- .../src/models/base_model.cpp | 121 +++++- .../src/models/emotion_detection_model.cpp | 4 +- .../src/models/head_pose_detection_model.cpp | 2 +- .../src/models/object_detection_ssd_model.cpp | 4 +- .../models/object_detection_yolov5_model.cpp | 174 ++++---- .../models/object_detection_yolov8_model.cpp | 25 ++ ...t_segmentation_instance_maskrcnn_model.cpp | 221 ++++++++++ .../object_segmentation_instance_model.cpp | 300 ++++++++++++++ .../object_segmentation_maskrcnn_model.cpp | 6 +- .../src/models/object_segmentation_model.cpp | 4 +- .../models/person_attribs_detection_model.cpp | 2 +- .../vehicle_attribs_detection_model.cpp | 2 +- .../src/outputs/image_window_output.cpp | 45 +- .../src/outputs/ros_topic_output.cpp | 23 ++ openvino_wrapper_lib/src/pipeline_manager.cpp | 38 +- .../pipeline_segmentation_instance.launch.py | 55 +++ .../pipeline_segmentation_maskrcnn.launch.py | 8 +- sample/launch/rviz2.launch.py | 35 ++ sample/param/pipeline_object_yolo.yaml | 10 +- .../param/pipeline_segmentation_instance.yaml | 29 ++ 40 files changed, 2010 insertions(+), 171 deletions(-) create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp create mode 100644 openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp create mode 100644 openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp create mode 100644 openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp create mode 100644 openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp create mode 100644 openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp create mode 100644 sample/launch/pipeline_segmentation_instance.launch.py create mode 100644 sample/launch/rviz2.launch.py create mode 100644 sample/param/pipeline_segmentation_instance.yaml diff --git a/README.md b/README.md index 33d0f8be..869fa51c 100644 --- a/README.md +++ b/README.md @@ -37,7 +37,7 @@ * [x] Age Gender Recognition * [x] Emotion Recognition * [x] Head Pose Estimation -* [x] Object Segmentation +* [x] Object Segmentation (Semantic & Instance) * [x] Person Re-Identification * [x] Vehicle Attribute Detection * [x] Vehicle License Plate Detection @@ -54,6 +54,7 @@ # Introduction ## Design Architecture +

      Architecture Design From the view of hirarchical architecture design, the package is divided into different functional components, as shown in below picture. ![OpenVINO_Architecture](./data/images/design_arch.PNG "OpenVINO RunTime Architecture") @@ -94,8 +95,10 @@ See more from [here](https://github.com/openvinotoolkit/openvino) for Intel Open - **Optimized Models** provided by Model Optimizer component of Intel® OpenVINO™ toolkit. Imports trained models from various frameworks (Caffe*, Tensorflow*, MxNet*, ONNX*, Kaldi*) and converts them to a unified intermediate representation file. It also optimizes topologies through node merging, horizontal fusion, eliminating batch normalization, and quantization. It also supports graph freeze and graph summarize along with dynamic input freezing.

      +

      ## Logic Flow +

      Logic Flow From the view of logic implementation, the package introduces the definitions of parameter manager, pipeline and pipeline manager. The following picture depicts how these entities co-work together when the corresponding program is launched. ![Logic_Flow](./data/images/impletation_logic.PNG "OpenVINO RunTime Logic Flow") @@ -119,6 +122,7 @@ The contents in **.yaml config file** should be well structured and follow the s **Pipeline manager** manages all the created pipelines according to the inference requests or external demands (say, system exception, resource limitation, or end user's operation). Because of co-working with resource management and being aware of the whole framework, it covers the ability of performance optimization by sharing system resource between pipelines and reducing the burden of data copy.

      +

      # Supported Features ## Multiple Input Components @@ -152,12 +156,13 @@ Currently, the corresponding relation of supported inference features, models us |Emotion Recognition| Emotion recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
      [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
      [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
      [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[emotions-recognition-retail-0003](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/emotions-recognition-retail-0003)| |Age & Gender Recognition| Age and gender recognition based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
      [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
      [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
      [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[age-gender-recognition-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/age-gender-recognition-retail-0013)| |Head Pose Estimation| Head pose estimation based on detected face image.|[pipeline_image.yaml](./sample/param/pipeline_image.yaml)
      [pipeline_image_video.yaml](./sample/param/pipeline_image_video.yaml)
      [pipeline_people.yaml](./sample/param/pipeline_people.yaml)
      [pipeline_people_ip.yaml](./sample/param/pipeline_people_ip.yaml)|[head-pose-estimation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/head-pose-estimation-adas-0001)| -|Object Detection| Object detection based on SSD-based trained models.|[pipeline_object.yaml](./sample/param/pipeline_object.yaml)
      [pipeline_object_topic.yaml](./sample/param/pipeline_object_topic.yaml)|[mobilenet-ssd](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mobilenet-ssd)| +|Object Detection| Object detection based on SSD-based trained models.|[pipeline_object.yaml](./sample/param/pipeline_object.yaml)
      [pipeline_object_topic.yaml](./sample/param/pipeline_object_topic.yaml)|[mobilenet-ssd](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mobilenet-ssd)
      [yolov5](https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/111-yolov5-quantization-migration)
      [yolov7](https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/226-yolov7-optimization)
      [yolov8](https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/230-yolov8-optimization)| |Vehicle and License Detection| Vehicle and license detection based on Intel models.|[pipeline_vehicle_detection.yaml](./sample/param/pipeline_vehicle_detection.yaml)|[vehicle-license-plate-detection-barrier-0106](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/vehicle-license-plate-detection-barrier-0106)
      [vehicle-attributes-recognition-barrier-0039](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/vehicle-attributes-recognition-barrier-0039)
      [license-plate-recognition-barrier-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/license-plate-recognition-barrier-0001)| -|Object Segmentation| Object segmentation.|[pipeline_segmentation.yaml](./sample/param/pipeline_segmentation.yaml)
      [pipeline_segmentation_image.yaml](./sample/param/pipeline_segmentation_image.yaml)
      [pipeline_video.yaml](./sample/param/pipeline_video.yaml)|[semantic-segmentation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/semantic-segmentation-adas-0001)
      [deeplabv3](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/deeplabv3)| +|Object Segmentation - Semantic| semantic segmentation, assign a class label to each pixel in an image. |[pipeline_segmentation.yaml](./sample/param/pipeline_segmentation.yaml)
      [pipeline_segmentation_image.yaml](./sample/param/pipeline_segmentation_image.yaml)
      [pipeline_video.yaml](./sample/param/pipeline_video.yaml)|[semantic-segmentation-adas-0001](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/semantic-segmentation-adas-0001)
      [deeplabv3](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/deeplabv3)| +| Object Segmentation - Instance | Instance Segmentation, combination of semantic segmentation & object detection. | [pipeline_segmentation_instance.launch.yaml](./sample/param/pipeline_segmentation_instance.yaml) | [yolov8-seg](https://github.com/openvinotoolkit/openvino_notebooks/tree/main/notebooks/230-yolov8-optimization)
      [mask_rcnn_inception_v2_coco_2018_01_28](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mask_rcnn_inception_resnet_v2_atrous_coco)| |Person Attributes| Person attributes based on object detection.|[pipeline_person_attributes.yaml](./sample/param/pipeline_person_attributes.yaml)|[person-attributes-recognition-crossroad-0230](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-attributes-recognition-crossroad-0230)
      [person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-detection-retail-0013)| |Person Reidentification|Person reidentification based on object detection.|[pipeline_person_reidentification.yaml](./sample/param/pipeline_reidentification.yaml)|[person-detection-retail-0013](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-detection-retail-0013)
      [person-reidentification-retail-0277](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/intel/person-reidentification-retail-0277)| -|Object Segmentation Maskrcnn| Object segmentation and detection based on maskrcnn model.|[pipeline_segmentation_maskrcnn.yaml](./sample/param/pipeline_segmentation_maskrcnn.yaml)|[mask_rcnn_inception_v2_coco_2018_01_28](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mask_rcnn_inception_resnet_v2_atrous_coco)| +|Object Segmentation Maskrcnn| Object segmentation and detection based on maskrcnn model.[_Deprecated, it is recommended to use `object segementation - instance` for first try._]|[pipeline_segmentation_maskrcnn.yaml](./sample/param/pipeline_segmentation_maskrcnn.yaml)|[mask_rcnn_inception_v2_coco_2018_01_28](https://github.com/openvinotoolkit/open_model_zoo/tree/releases/2022/3/models/public/mask_rcnn_inception_resnet_v2_atrous_coco)|

      @@ -212,6 +217,7 @@ OpenCV based image window is natively supported by the package. To enable window, Image Window output should be added into the output choices in .yaml config file. Refer to [the config file guidance](./doc/quick_start/yaml_configuration_guide.md) for more information about checking/adding this feature in your launching. ## Demo Result Snapshots +

      Demo Snapshots For the snapshot of demo results, refer to the following picture. * Face detection input from standard camera @@ -225,6 +231,7 @@ For the snapshot of demo results, refer to the following picture. * Person reidentification input from standard camera ![person_reidentification_demo_video](./data/images/person-reidentification.gif "person reidentification demo video") +

      # Installation and Launching ## Deploy in Local Environment @@ -240,11 +247,28 @@ For the snapshot of demo results, refer to the following picture. * OpenVINO api 2.0: Refer to the OpenVINO document for [OpenVINO_api_2.0](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html) for latest api 2.0 transition guide. # FAQ -* [How to get the IR file for yolov5?](./doc/quick_start/tutorial_for_yolov5_converted.md) +* How to get the IR file for [yolov5](./doc/quick_start/tutorial_for_yolov5_converted.md) | [yolov7](./doc/quick_start/tutorial_for_yolov7_converted.md) | [yolov8](./doc/quick_start/tutorial_for_yolov8_converted.md) ? * [How to build OpenVINO by source?](https://github.com/openvinotoolkit/openvino/wiki#how-to-build) * [How to build RealSense by source?](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) * [What is the basic command of Docker CLI?](https://docs.docker.com/engine/reference/commandline/docker/) * [What is the canonical C++ API for interacting with ROS?](https://docs.ros2.org/latest/api/rclcpp/) +

      How to change logging level? + This project provides to logging levels: *DEBUG* & *INFO*.
      + You may follow the steps to change logging level:
      + + - Update ./openvino_wrapper_lib/CMakeLists.txt by uncommenting (for DEBUG level) or commenting (for INFO level) this line: + ```code + #add_definitions(-DLOG_LEVEL_DEBUG) + ``` + - Rebuild project
      + Refer corresponding quick-start documents to rebuild this project. e.g.:
      + ```code + source /opt/ros//setup.bash + colcon build --symlink-install + ``` + - Launch OpenVINO Node
      + You will see the logging is changed. +

      # Feedback * Report questions, issues and suggestions, using: [issue](https://github.com/intel/ros2_openvino_toolkit/issues). diff --git a/data/labels/object_segmentation/frozen_inference_graph.labels b/data/labels/object_segmentation/frozen_inference_graph.labels index b4427edc..744de27d 100644 --- a/data/labels/object_segmentation/frozen_inference_graph.labels +++ b/data/labels/object_segmentation/frozen_inference_graph.labels @@ -1,3 +1,4 @@ +_background person bicycle car @@ -87,4 +88,4 @@ vase scissors teddy_bear hair_drier -toothbrush \ No newline at end of file +toothbrush diff --git a/openvino_param_lib/src/param_manager.cpp b/openvino_param_lib/src/param_manager.cpp index 89527c95..bebf3d7f 100644 --- a/openvino_param_lib/src/param_manager.cpp +++ b/openvino_param_lib/src/param_manager.cpp @@ -191,6 +191,7 @@ void ParamManager::print() const for (auto & infer : pipeline.infers) { slog::info << "\t\tName: " << infer.name << slog::endl; slog::info << "\t\tModel: " << infer.model << slog::endl; + slog::info << "\t\tModel-Type: " << infer.model_type << slog::endl; slog::info << "\t\tEngine: " << infer.engine << slog::endl; slog::info << "\t\tLabel: " << infer.label << slog::endl; slog::info << "\t\tBatch: " << infer.batch << slog::endl; diff --git a/openvino_wrapper_lib/CMakeLists.txt b/openvino_wrapper_lib/CMakeLists.txt index f6ea6126..131607a5 100644 --- a/openvino_wrapper_lib/CMakeLists.txt +++ b/openvino_wrapper_lib/CMakeLists.txt @@ -30,7 +30,7 @@ set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}") #################################### ## to get verbose log, ## then, uncomment below line -add_definitions(-DLOG_LEVEL_DEBUG) +#add_definitions(-DLOG_LEVEL_DEBUG) #################################### # environment variable OpenVINO_DIR can be use instead of relaive path to specify location of configuration file @@ -189,6 +189,7 @@ add_library(${PROJECT_NAME} SHARED src/inferences/head_pose_detection.cpp src/inferences/object_segmentation.cpp src/inferences/object_segmentation_maskrcnn.cpp + src/inferences/object_segmentation_instance.cpp src/inferences/person_reidentification.cpp src/inferences/person_attribs_detection.cpp #src/inferences/landmarks_detection.cpp @@ -209,6 +210,8 @@ add_library(${PROJECT_NAME} SHARED src/models/head_pose_detection_model.cpp src/models/object_segmentation_model.cpp src/models/object_segmentation_maskrcnn_model.cpp + src/models/object_segmentation_instance_model.cpp + src/models/object_segmentation_instance_maskrcnn_model.cpp src/models/person_reidentification_model.cpp src/models/person_attribs_detection_model.cpp #src/models/landmarks_detection_model.cpp @@ -217,6 +220,7 @@ add_library(${PROJECT_NAME} SHARED src/models/license_plate_detection_model.cpp src/models/object_detection_ssd_model.cpp src/models/object_detection_yolov5_model.cpp + src/models/object_detection_yolov8_model.cpp src/outputs/image_window_output.cpp src/outputs/ros_topic_output.cpp src/outputs/rviz_output.cpp diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp new file mode 100644 index 00000000..f1dbc548 --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp @@ -0,0 +1,151 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_INSTANCE_HPP_ +#define OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_INSTANCE_HPP_ +#include +#include +#include +#include +#include +#include +#include +#include "openvino_wrapper_lib/models/object_segmentation_instance_model.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/inferences/base_inference.hpp" +#include "openvino/openvino.hpp" +#include "opencv2/opencv.hpp" +// namespace +namespace openvino_wrapper_lib +{ +/** + * @class ObjectSegmentationInstanceResult + * @brief Class for storing and processing object segmentation result. + */ +class ObjectSegmentationInstanceResult : public Result +{ +public: + friend class ObjectSegmentationInstance; + explicit ObjectSegmentationInstanceResult(const cv::Rect & location); + inline std::string getLabel() const + { + return label_; + } + inline void setLabel(const std::string& label) + { + label_ = label; + } + /** + * @brief Get the confidence that the detected area is a face. + * @return The confidence value. + */ + inline float getConfidence() const + { + return confidence_; + } + inline void setConfidence(float conf) + { + confidence_ = conf; + } + inline cv::Mat getMask() const + { + return mask_; + } + inline void setMask(const cv::Mat& mask) + { + mask_ = mask; + } + +private: + std::string label_ = ""; + float confidence_ = -1; + cv::Mat mask_; +}; +/** + * @class ObjectSegmentation + * @brief Class to load object segmentation model and perform object segmentation. + */ +class ObjectSegmentationInstance : public BaseInference +{ +public: + using Result = openvino_wrapper_lib::ObjectSegmentationInstanceResult; + explicit ObjectSegmentationInstance(double); + ~ObjectSegmentationInstance() override; + /** + * @brief Load the object segmentation model. + */ + void loadNetwork(std::shared_ptr); + /** + * @brief Enqueue a frame to this class. + * The frame will be buffered but not infered yet. + * @param[in] frame The frame to be enqueued. + * @param[in] input_frame_loc The location of the enqueued frame with respect + * to the frame generated by the input device. + * @return Whether this operation is successful. + */ + bool enqueue(const cv::Mat &, const cv::Rect &) override; + + /** + * @brief Start inference for all buffered frames. + * @return Whether this operation is successful. + */ + bool submitRequest() override; + /** + * @brief This function will fetch the results of the previous inference and + * stores the results in a result buffer array. All buffered frames will be + * cleared. + * @return Whether the Inference object fetches a result this time + */ + bool fetchResults() override; + /** + * @brief Get the length of the buffer result array. + * @return The length of the buffer result array. + */ + int getResultsLength() const override; + /** + * @brief Get the location of result with respect + * to the frame generated by the input device. + * @param[in] idx The index of the result. + */ + const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + /** + * @brief Show the observed detection result either through image window + or ROS topic. + */ + void observeOutput(const std::shared_ptr & output); + /** + * @brief Get the name of the Inference instance. + * @return The name of the Inference instance. + */ + const std::string getName() const override; + const std::vector getFilteredROIs( + const std::string filter_conditions) const override; + +private: + std::shared_ptr valid_model_; + std::vector results_; + int width_ = 0; + int height_ = 0; + double show_output_thresh_ = 0; + + std::vector colors_ = { + {128, 64, 128}, {232, 35, 244}, {70, 70, 70}, {156, 102, 102}, {153, 153, 190}, + {153, 153, 153}, {30, 170, 250}, {0, 220, 220}, {35, 142, 107}, {152, 251, 152}, + {180, 130, 70}, {60, 20, 220}, {0, 0, 255}, {142, 0, 0}, {70, 0, 0}, + {100, 60, 0}, {90, 0, 0}, {230, 0, 0}, {32, 11, 119}, {0, 74, 111}, + {81, 0, 81} + }; +}; +} // namespace openvino_wrapper_lib +#endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp index 7f36c061..abf8b3aa 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2018-2022 Intel Corporation +// Copyright (c) 2018-2023 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -39,14 +39,24 @@ class ModelAttribute { public: using Ptr = std::shared_ptr; + const char* DefaultInputName {"input0"}; + const char* DefaultOutputName = "output0"; struct ModelAttr { - int max_proposal_count = 0; - int object_size = 0; + // Input Tensor Size int input_height = 0; int input_width = 0; - std::string model_name; + + //Input/Output Tensor Info + int input_tensor_count = 1; // The number of input tensors + int output_tensor_count = 1; // The number of output tensors + bool has_confidence_output = true; //Yolov5~7 have a float for confidence, while yolov8 hasn't. + bool need_transpose = false; // If the output tensor needs transpose + int max_proposal_count = 0; // The max number of objects in inference output tensor + int object_size = 0; //The size of each object in inference output tensor std::map input_names; std::map output_names; + + std::string model_name; std::vector labels; }; @@ -62,12 +72,19 @@ class ModelAttribute } inline void printAttribute() { - slog::info << "----Attributes for Model " << attr_.model_name << "----" << slog::endl; + slog::info << "-------------------- Attributes for Model ----------------------" << slog::endl; slog::info << "| model_name: " << attr_.model_name << slog::endl; slog::info << "| max_proposal_count: " << attr_.max_proposal_count << slog::endl; slog::info << "| object_size: " << attr_.object_size << slog::endl; slog::info << "| input_height: " << attr_.input_height << slog::endl; slog::info << "| input_width: " << attr_.input_width << slog::endl; + slog::info << "| input_tensor_count: " << attr_.input_tensor_count << slog::endl; + slog::info << "| output_tensor_count: " << attr_.output_tensor_count << slog::endl; + slog::info << "| need_transpose (max_proposal_count < object_size): " << std::boolalpha + << attr_.need_transpose << slog::endl; + slog::info << "| has_confidence_output: " << std::boolalpha << attr_.has_confidence_output << + slog::endl; + slog::info << "| input_names: " << slog::endl; for (auto & item: attr_.input_names) { slog::info << "| " << item.first << "-->" << item.second << slog::endl; @@ -77,13 +94,31 @@ class ModelAttribute slog::info << "| " << item.first << "-->" << item.second << slog::endl; } + slog::info << "| lables:" << slog::endl; + for (size_t i = 0; i(attr_.input_names.size())){ + slog::info << "--------" << slog::endl; + slog::warn << "The count of input_tensor(s) is not aligned with input names!" + << slog::endl; + } + if( attr_.output_tensor_count != static_cast(attr_.output_names.size())){ + slog::info << "--------" << slog::endl; + slog::warn << "The count of output_tensor(s) is not aligned with output names!" + << slog::endl; + } + slog::info << "-------------------- Attributes for Model ----------------------" << slog::endl; } virtual bool updateLayerProperty( @@ -100,7 +135,7 @@ class ModelAttribute attr_.model_name = name; } - inline std::string getInputName(std::string name = "input") const + inline std::string getInputName(std::string name = "input0") const { auto it = attr_.input_names.find(name); if(it == attr_.input_names.end()){ @@ -111,7 +146,7 @@ class ModelAttribute return it->second; } - inline std::string getOutputName(std::string name = "output") const + inline std::string getOutputName(std::string name = "output0") const { auto it = attr_.output_names.find(name); if(it == attr_.output_names.end()){ @@ -135,10 +170,10 @@ class ModelAttribute inline void loadLabelsFromFile(const std::string file_path) { std::ifstream input_file(file_path); - std::copy(std::istream_iterator(input_file), - std::istream_iterator(), - std::back_inserter(attr_.labels)); + for(std::string name; std::getline(input_file, name);){ + attr_.labels.push_back(name); } + } inline std::vector& getLabels() { @@ -150,6 +185,11 @@ class ModelAttribute attr_.input_names[key] = value; } + inline const std::string getInputInfo(std::string key) + { + return attr_.input_names[key]; + } + inline void addOutputInfo(std::string key, std::string value) { attr_.output_names[key] = value; @@ -185,6 +225,72 @@ class ModelAttribute attr_.object_size = size; } + inline void setHasConfidenceOutput(const bool has) + { + attr_.has_confidence_output = has; + } + + inline bool hasConfidenceOutput() const + { + return attr_.has_confidence_output; + } + + inline void setCountOfInputs(const int count) + { + attr_.input_tensor_count = count; + } + + inline int getCountOfInputs() const + { + return attr_.input_tensor_count; + } + + inline void setCountOfOutputs(const int count) + { + attr_.output_tensor_count = count; + } + + inline int getCountOfOutputs() const + { + return attr_.output_tensor_count; + } + + inline void setTranspose(bool trans) + { + attr_.need_transpose = trans; + } + + inline bool needTranspose() const + { + return attr_.need_transpose; + } + + inline bool _renameMapKeyByValue(std::map& map, + const std::string& value, const std::string& new_key) + { + for (auto& item: map){ + auto n = item.second.find(value); + if (std::string::npos != n) { + //if(item.second.contains(value)){ + auto nh = map.extract(item.first); + nh.key() = new_key; + map.insert(std::move(nh)); + return true; + } + } + + return false; + } + + inline bool retagOutputByValue(const std::string& value, const std::string& new_tag) + { + return _renameMapKeyByValue(attr_.output_names, value, new_tag); + } + + inline bool retagInputByValue(const std::string& value, const std::string& new_tag) + { + return _renameMapKeyByValue(attr_.input_names, value, new_tag); + } protected: ModelAttr attr_; std::string input_tensor_name_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp index ce0a0ac0..fbc84dcb 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp @@ -107,6 +107,12 @@ namespace Models * @param[in] network_reader The reader of the network to be set. */ virtual bool updateLayerProperty(std::shared_ptr& network_reader) = 0; + + virtual bool matToBlob( + const cv::Mat &orig_image, const cv::Rect &, float scale_factor, + int batch_index, const std::shared_ptr &engine); + + cv::Mat extendFrameToInputRatio(const cv::Mat); ov::Core engine; std::shared_ptr model_; void setFrameSize(const int &w, const int &h) @@ -119,11 +125,57 @@ namespace Models return frame_size_; } + inline void setFrameResizeeRatioWidth(const float r) + { + frame_resize_ratio_width_ = r; + } + + inline void setFrameResizeeRatioHeight(const float r) + { + frame_resize_ratio_height_ = r; + } + + inline float getFrameResizeRatioWidth() const + { + return frame_resize_ratio_width_; + } + + inline float getFrameResizeRatioHeight() const + { + return frame_resize_ratio_height_; + } + + inline void setKeepInputShapeRatio(bool keep) + { + keep_input_shape_ratio_ = keep; + } + + inline bool isKeepInputRatio() const + { + return keep_input_shape_ratio_; + } + + inline void setExpectedFrameSize(cv::Size expect) + { + expected_frame_size_ = expect; + } + + inline cv::Size getExpectedFrameSize() const + { + return expected_frame_size_; + } + private: int max_batch_size_; std::string model_loc_; std::string label_loc_; + + //Information about Input Data cv::Size frame_size_; + cv::Size expected_frame_size_ {224, 224}; + float frame_resize_ratio_width_ = 1.0; + float frame_resize_ratio_height_ = 1.0; + bool keep_input_shape_ratio_ = false; }; class ObjectDetectionModel : public BaseModel @@ -135,9 +187,6 @@ namespace Models std::vector &result, const float &confidence_thresh = 0.3, const bool &enable_roi_constraint = false) = 0; - virtual bool matToBlob( - const cv::Mat &orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr &engine) = 0; }; } // namespace Models diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp index 8e2f177e..e5cd757e 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp @@ -53,21 +53,12 @@ class ObjectDetectionYolov5Model : public ObjectDetectionModel const cv::Mat & frame, const cv::Rect & input_frame_loc) override; - bool matToBlob( - const cv::Mat & orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr & engine) override; - /** * @brief Get the name of this detection model. * @return Name of the model. */ const std::string getModelCategory() const override; bool updateLayerProperty(std::shared_ptr&) override; - static Resize_t pre_process_ov(const cv::Mat &input_image); - - cv::Mat input_image; - Resize_t resize_img; - }; } // namespace Models #endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV5_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp new file mode 100644 index 00000000..c3cdd828 --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp @@ -0,0 +1,35 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV8_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV8_MODEL_HPP_ +#include +#include +#include +#include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" + +namespace Models +{ + +class ObjectDetectionYolov8Model : public ObjectDetectionYolov5Model +{ + using Result = openvino_wrapper_lib::ObjectDetectionResult; + +public: + explicit ObjectDetectionYolov8Model(const std::string& label_loc, const std::string & model_loc, + int batch_size = 1); + +}; +} // namespace Models +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV8_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp new file mode 100644 index 00000000..8b32826d --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp @@ -0,0 +1,43 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MASKRCNN_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MASKRCNN_MODEL_HPP_ +#include +#include +#include "openvino_wrapper_lib/models/base_model.hpp" + +namespace Models +{ + +/** + * @class ObjectSegmentationInstanceMaskrcnnModel + * @brief This class generates the object segmentation model. + */ +class ObjectSegmentationInstanceMaskrcnnModel : public ObjectSegmentationInstanceModel +{ + using Result = openvino_wrapper_lib::ObjectSegmentationInstanceResult; +public: + ObjectSegmentationInstanceMaskrcnnModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + + bool fetchResults( + const std::shared_ptr & engine, + std::vector & results, + const float & confidence_thresh = 0.3, + const bool & enable_roi_constraint = false); + + bool updateLayerProperty(std::shared_ptr&) override; + +}; +} // namespace Models +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MASKRCNN_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp new file mode 100644 index 00000000..2a566197 --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp @@ -0,0 +1,56 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MODEL_HPP_ +#define OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MODEL_HPP_ +#include +#include +#include "openvino_wrapper_lib/models/base_model.hpp" + +namespace openvino_wrapper_lib +{ + class ObjectSegmentationInstanceResult; +} + +namespace Models +{ + +/** + * @class ObjectSegmentationInstanceModel + * @brief This class generates the object segmentation model. + */ +class ObjectSegmentationInstanceModel : public BaseModel +{ + using Result = openvino_wrapper_lib::ObjectSegmentationInstanceResult; +public: + ObjectSegmentationInstanceModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + + virtual bool fetchResults( + const std::shared_ptr & engine, + std::vector & results, + const float & confidence_thresh = 0.3, + const bool & enable_roi_constraint = false); + + bool enqueue(const std::shared_ptr & ,const cv::Mat &, + const cv::Rect & ) override; + + /** + * @brief Get the name of this segmentation model. + * @return Name of the model. + */ + const std::string getModelCategory() const override; + virtual bool updateLayerProperty(std::shared_ptr&) override; + +}; +} // namespace Models +#endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp index 67971a47..150c0a69 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp @@ -51,6 +51,7 @@ #include "openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp" #include "openvino_wrapper_lib/inferences/license_plate_detection.hpp" #include "openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation_instance.hpp" #include "opencv2/opencv.hpp" class Pipeline; @@ -115,6 +116,12 @@ class BaseOutput virtual void accept(const std::vector &) { } + /** + * @brief Generate output content according to the object segmentation result for instance models. + */ + virtual void accept(const std::vector &) + { + } /** * @brief Generate output content according to the object detection result. */ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp index d7c39ea1..2ee11789 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp @@ -104,6 +104,12 @@ class ImageWindowOutput : public BaseOutput * @param[in] An obejct segmentation result objetc. */ void accept(const std::vector &) override; + /** + * @brief Generate image window output content according to + * the object segmentation instance result. + * @param[in] An obejct segmentation result objetc. + */ + void accept(const std::vector &) override; /** * @brief Generate image window output content according to * the face detection result. @@ -152,6 +158,7 @@ class ImageWindowOutput : public BaseOutput void mergeMask(const std::vector &); void mergeMask(const std::vector &); + void mergeMask(const std::vector &); struct OutputData { diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp index 74285c0e..ff3dc28d 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp @@ -120,6 +120,12 @@ class RosTopicOutput : public BaseOutput * @param[in] results a bundle of object segmentation maskrcnn results. */ void accept(const std::vector &) override; + /** + * @brief Generate ros topic infomation according to + * the object segmentation result. + * @param[in] results a bundle of object segmentation maskrcnn results. + */ + void accept(const std::vector &) override; /** * @brief Generate ros topic infomation according to * the object detection result. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp index e4a3d485..b4bef25d 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp @@ -127,6 +127,8 @@ class PipelineManager std::shared_ptr createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer); std::shared_ptr + createObjectSegmentationInstance(const Params::ParamManager::InferenceRawData & infer); + std::shared_ptr createPersonReidentification(const Params::ParamManager::InferenceRawData & infer); std::shared_ptr createPersonAttribsDetection(const Params::ParamManager::InferenceRawData & infer); diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp index bcb2991a..e1cf80a2 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp @@ -54,8 +54,12 @@ const char kInferTpye_HeadPoseEstimation[] = "HeadPoseEstimation"; const char kInferTpye_ObjectDetection[] = "ObjectDetection"; const char kInferTpye_ObjectSegmentation[] = "ObjectSegmentation"; const char kInferTpye_ObjectSegmentationMaskrcnn[] = "ObjectSegmentationMaskrcnn"; +const char kInferTpye_ObjectSegmentationInstance[] = "ObjectSegmentationInstance"; +const char kInferTpye_ObjectSegmentationTypeYolo[] = "yolo"; +const char kInferTpye_ObjectSegmentationTypeMaskrcnn[] = "maskrcnn"; const char kInferTpye_ObjectDetectionTypeSSD[] = "SSD"; const char kInferTpye_ObjectDetectionTypeYolov5[] = "yolov5"; +const char kInferTpye_ObjectDetectionTypeYolov8[] = "yolov8"; const char kInferTpye_PersonReidentification[] = "PersonReidentification"; const char kInferTpye_PersonAttribsDetection[] = "PersonAttribsDetection"; const char kInferTpye_LandmarksDetection[] = "LandmarksDetection"; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp new file mode 100644 index 00000000..75877d44 --- /dev/null +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp @@ -0,0 +1,385 @@ +// Copyright (C) 2018-2019 Intel Corporation +// SPDX-License-Identifier: Apache-2.0 +// + +/** + * @brief a header file with common samples functionality + * @file common.hpp + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#ifndef UNUSED + #ifdef _WIN32 + #define UNUSED + #else + #define UNUSED __attribute__((unused)) + #endif +#endif + +template +constexpr std::size_t arraySize(const T (&)[N]) noexcept { + return N; +} + +// Helpers to print IE version information. +// We don't directly define operator<< for InferenceEngine::Version +// and such, because that won't get picked up by argument-dependent lookup +// due to not being in the same namespace as the Version class itself. +// We need ADL to work in order to print these objects using slog. +// So instead, we define wrapper classes and operator<< for those classes. + +class PrintableIeVersion { +public: + using ref_type = const InferenceEngine::Version &; + + PrintableIeVersion(ref_type version) : version(version) {} + + friend std::ostream &operator<<(std::ostream &os, const PrintableIeVersion &p) { + ref_type version = p.version; + + return os << "\t" << version.description << " version ......... " + << IE_VERSION_MAJOR << "." << IE_VERSION_MINOR + << "\n\tBuild ........... " << IE_VERSION_PATCH; + } + +private: + ref_type version; +}; + +inline PrintableIeVersion printable(PrintableIeVersion::ref_type version) { + return { version }; +} + +class PrintableIeVersionMap { +public: + using ref_type = const std::map &; + + PrintableIeVersionMap(ref_type versions) : versions(versions) {} + + friend std::ostream &operator<<(std::ostream &os, const PrintableIeVersionMap &p) { + ref_type versions = p.versions; + + for (const auto &version : versions) { + os << "\t" << version.first << std::endl + << printable(version.second) << std::endl; + } + + return os; + } + +private: + ref_type versions; +}; + +inline PrintableIeVersionMap printable(PrintableIeVersionMap::ref_type versions) { + return { versions }; +} + +/** + * @class Color + * @brief A Color class stores channels of a given color + */ +class Color { +private: + unsigned char _r; + unsigned char _g; + unsigned char _b; + +public: + /** + * A default constructor. + * @param r - value for red channel + * @param g - value for green channel + * @param b - value for blue channel + */ + Color(unsigned char r, + unsigned char g, + unsigned char b) : _r(r), _g(g), _b(b) {} + + inline unsigned char red() const { + return _r; + } + + inline unsigned char blue() const { + return _b; + } + + inline unsigned char green() const { + return _g; + } +}; + +// Known colors for training classes from the Cityscapes dataset +static UNUSED const Color CITYSCAPES_COLORS[] = { + { 128, 64, 128 }, + { 232, 35, 244 }, + { 70, 70, 70 }, + { 156, 102, 102 }, + { 153, 153, 190 }, + { 153, 153, 153 }, + { 30, 170, 250 }, + { 0, 220, 220 }, + { 35, 142, 107 }, + { 152, 251, 152 }, + { 180, 130, 70 }, + { 60, 20, 220 }, + { 0, 0, 255 }, + { 142, 0, 0 }, + { 70, 0, 0 }, + { 100, 60, 0 }, + { 90, 0, 0 }, + { 230, 0, 0 }, + { 32, 11, 119 }, + { 0, 74, 111 }, + { 81, 0, 81 } +}; + +static std::vector> +perfCountersSorted(std::map perfMap) { + using perfItem = std::pair; + std::vector sorted; + for (auto &kvp : perfMap) sorted.push_back(kvp); + + std::stable_sort(sorted.begin(), sorted.end(), + [](const perfItem& l, const perfItem& r) { + return l.second.execution_index < r.second.execution_index; + }); + + return sorted; +} + +static UNUSED void printPerformanceCounts(const std::map& performanceMap, + std::ostream &stream, const std::string &deviceName, + bool bshowHeader = true) { + long long totalTime = 0; + // Print performance counts + if (bshowHeader) { + stream << std::endl << "performance counts:" << std::endl << std::endl; + } + + auto performanceMapSorted = perfCountersSorted(performanceMap); + + for (const auto & it : performanceMapSorted) { + std::string toPrint(it.first); + const int maxLayerName = 30; + + if (it.first.length() >= maxLayerName) { + toPrint = it.first.substr(0, maxLayerName - 4); + toPrint += "..."; + } + + + stream << std::setw(maxLayerName) << std::left << toPrint; + switch (it.second.status) { + case InferenceEngine::InferenceEngineProfileInfo::EXECUTED: + stream << std::setw(15) << std::left << "EXECUTED"; + break; + case InferenceEngine::InferenceEngineProfileInfo::NOT_RUN: + stream << std::setw(15) << std::left << "NOT_RUN"; + break; + case InferenceEngine::InferenceEngineProfileInfo::OPTIMIZED_OUT: + stream << std::setw(15) << std::left << "OPTIMIZED_OUT"; + break; + } + stream << std::setw(30) << std::left << "layerType: " + std::string(it.second.layer_type) + " "; + stream << std::setw(20) << std::left << "realTime: " + std::to_string(it.second.realTime_uSec); + stream << std::setw(20) << std::left << "cpu: " + std::to_string(it.second.cpu_uSec); + stream << " execType: " << it.second.exec_type << std::endl; + if (it.second.realTime_uSec > 0) { + totalTime += it.second.realTime_uSec; + } + } + stream << std::setw(20) << std::left << "Total time: " + std::to_string(totalTime) << " microseconds" << std::endl; + std::cout << std::endl; + std::cout << "Full device name: " << deviceName << std::endl; + std::cout << std::endl; +} + +static UNUSED void printPerformanceCounts(InferenceEngine::InferRequest request, std::ostream &stream, std::string deviceName, bool bshowHeader = true) { + auto performanceMap = request.GetPerformanceCounts(); + printPerformanceCounts(performanceMap, stream, deviceName, bshowHeader); +} + +inline std::map getMapFullDevicesNames(InferenceEngine::Core& ie, std::vector devices) { + std::map devicesMap; + InferenceEngine::Parameter p; + for (std::string& deviceName : devices) { + if (deviceName != "") { + try { + p = ie.GetMetric(deviceName, METRIC_KEY(FULL_DEVICE_NAME)); + devicesMap.insert(std::pair(deviceName, p.as())); + } + catch (InferenceEngine::Exception &) { + } + } + } + return devicesMap; +} + +inline std::string getFullDeviceName(std::map& devicesMap, std::string device) { + std::map::iterator it = devicesMap.find(device); + if (it != devicesMap.end()) { + return it->second; + } else { + return ""; + } +} + +inline std::string getFullDeviceName(InferenceEngine::Core& ie, std::string device) { + InferenceEngine::Parameter p; + try { + p = ie.GetMetric(device, METRIC_KEY(FULL_DEVICE_NAME)); + return p.as(); + } + catch (InferenceEngine::Exception &) { + return ""; + } +} + +inline std::size_t getTensorWidth(const InferenceEngine::TensorDesc& desc) { + const auto& layout = desc.getLayout(); + const auto& dims = desc.getDims(); + const auto& size = dims.size(); + if ((size >= 2) && + (layout == InferenceEngine::Layout::NCHW || + layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || + layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::OIHW || + layout == InferenceEngine::Layout::CHW || + layout == InferenceEngine::Layout::HW)) { + // Regardless of layout, dimensions are stored in fixed order + return dims.back(); + } else { + throw std::runtime_error("Tensor does not have width dimension"); + } + return 0; +} + +inline std::size_t getTensorHeight(const InferenceEngine::TensorDesc& desc) { + const auto& layout = desc.getLayout(); + const auto& dims = desc.getDims(); + const auto& size = dims.size(); + if ((size >= 2) && + (layout == InferenceEngine::Layout::NCHW || + layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || + layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::OIHW || + layout == InferenceEngine::Layout::CHW || + layout == InferenceEngine::Layout::HW)) { + // Regardless of layout, dimensions are stored in fixed order + return dims.at(size - 2); + } else { + throw std::runtime_error("Tensor does not have height dimension"); + } + return 0; +} + +inline std::size_t getTensorChannels(const InferenceEngine::TensorDesc& desc) { + const auto& layout = desc.getLayout(); + if (layout == InferenceEngine::Layout::NCHW || + layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || + layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::C || + layout == InferenceEngine::Layout::CHW || + layout == InferenceEngine::Layout::NC || + layout == InferenceEngine::Layout::CN) { + // Regardless of layout, dimensions are stored in fixed order + const auto& dims = desc.getDims(); + switch (desc.getLayoutByDims(dims)) { + case InferenceEngine::Layout::C: return dims.at(0); + case InferenceEngine::Layout::NC: return dims.at(1); + case InferenceEngine::Layout::CHW: return dims.at(0); + case InferenceEngine::Layout::NCHW: return dims.at(1); + case InferenceEngine::Layout::NCDHW: return dims.at(1); + case InferenceEngine::Layout::SCALAR: // [[fallthrough]] + case InferenceEngine::Layout::BLOCKED: // [[fallthrough]] + default: + throw std::runtime_error("Tensor does not have channels dimension"); + } + } else { + throw std::runtime_error("Tensor does not have channels dimension"); + } + return 0; +} + +inline std::size_t getTensorBatch(const InferenceEngine::TensorDesc& desc) { + const auto& layout = desc.getLayout(); + if (layout == InferenceEngine::Layout::NCHW || + layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || + layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::NC || + layout == InferenceEngine::Layout::CN) { + // Regardless of layout, dimensions are stored in fixed order + const auto& dims = desc.getDims(); + switch (desc.getLayoutByDims(dims)) { + case InferenceEngine::Layout::NC: return dims.at(0); + case InferenceEngine::Layout::NCHW: return dims.at(0); + case InferenceEngine::Layout::NCDHW: return dims.at(0); + case InferenceEngine::Layout::CHW: // [[fallthrough]] + case InferenceEngine::Layout::C: // [[fallthrough]] + case InferenceEngine::Layout::SCALAR: // [[fallthrough]] + case InferenceEngine::Layout::BLOCKED: // [[fallthrough]] + default: + throw std::runtime_error("Tensor does not have channels dimension"); + } + } else { + throw std::runtime_error("Tensor does not have channels dimension"); + } + return 0; +} + +inline void showAvailableDevices() { + InferenceEngine::Core ie; + std::vector devices = ie.GetAvailableDevices(); + + std::cout << std::endl; + std::cout << "Available target devices:"; + for (const auto& device : devices) { + std::cout << " " << device; + } + std::cout << std::endl; +} + +inline std::string fileNameNoExt(const std::string &filepath) { + auto pos = filepath.rfind('.'); + if (pos == std::string::npos) return filepath; + return filepath.substr(0, pos); +} + +static inline ov::Layout getLayoutFromShape(const ov::Shape& shape) { + if (shape.size() == 2) { + return "NC"; + } + else if (shape.size() == 3) { + return (shape[0] >= 1 && shape[0] <= 4) ? "CHW" : + "HWC"; + } + else if (shape.size() == 4) { + return (shape[1] >= 1 && shape[1] <= 4) ? "NCHW" : + "NHWC"; + } + else { + throw std::runtime_error("Usupported " + std::to_string(shape.size()) + "D shape"); + } +} diff --git a/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp new file mode 100644 index 00000000..2355519f --- /dev/null +++ b/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp @@ -0,0 +1,135 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include +#include +#include +#include "openvino_wrapper_lib/inferences/object_segmentation_instance.hpp" +#include "openvino_wrapper_lib/outputs/base_output.hpp" +#include "openvino_wrapper_lib/slog.hpp" + +openvino_wrapper_lib::ObjectSegmentationInstanceResult::ObjectSegmentationInstanceResult(const cv::Rect &location) + : Result(location) +{ +} + +openvino_wrapper_lib::ObjectSegmentationInstance::ObjectSegmentationInstance(double show_output_thresh) + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() +{ +} + +openvino_wrapper_lib::ObjectSegmentationInstance::~ObjectSegmentationInstance() = default; + +void openvino_wrapper_lib::ObjectSegmentationInstance::loadNetwork( + const std::shared_ptr network) +{ + slog::info << "Loading Network: " << network->getModelCategory() << slog::endl; + valid_model_ = network; + setMaxBatchSize(network->getMaxBatchSize()); +} + +bool openvino_wrapper_lib::ObjectSegmentationInstance::enqueue( + const cv::Mat &frame, + const cv::Rect &input_frame_loc) +{ + if (width_ == 0 && height_ == 0) + { + width_ = frame.cols; + height_ = frame.rows; + } + + if (valid_model_ == nullptr || getEngine() == nullptr) + { + throw std::logic_error("Model or Engine is not set correctly!"); + return false; + } + + if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) + { + slog::warn << "Number of " << getName() << "input more than maximum(" << + max_batch_size_ << ") processed by inference" << slog::endl; + return false; + } + + if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) + { + return false; + } + + enqueued_frames_ += 1; + return true; +} + +bool openvino_wrapper_lib::ObjectSegmentationInstance::submitRequest() +{ + return openvino_wrapper_lib::BaseInference::submitRequest(); +} + +bool openvino_wrapper_lib::ObjectSegmentationInstance::fetchResults() +{ + + bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); + if (!can_fetch) + { + return false; + } + results_.clear(); + + return (valid_model_ != nullptr) && valid_model_->fetchResults( + getEngine(), results_, show_output_thresh_); +} + +int openvino_wrapper_lib::ObjectSegmentationInstance::getResultsLength() const +{ + return static_cast(results_.size()); +} + +const openvino_wrapper_lib::Result * +openvino_wrapper_lib::ObjectSegmentationInstance::getLocationResult(int idx) const +{ + return &(results_[idx]); +} + +const std::string openvino_wrapper_lib::ObjectSegmentationInstance::getName() const +{ + return valid_model_->getModelCategory(); +} + +void openvino_wrapper_lib::ObjectSegmentationInstance::observeOutput( + const std::shared_ptr &output) +{ + if (output != nullptr) + { + output->accept(results_); + } +} + +const std::vector openvino_wrapper_lib::ObjectSegmentationInstance::getFilteredROIs( + const std::string filter_conditions) const +{ + if (!filter_conditions.empty()) + { + slog::err << "Object segmentation does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; + } + std::vector filtered_rois; + for (auto res : results_) + { + filtered_rois.push_back(res.getLocation()); + } + return filtered_rois; +} diff --git a/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp index ac3eea86..c15eda7f 100644 --- a/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp @@ -48,7 +48,7 @@ bool Models::AgeGenderDetectionModel::updateLayerProperty( return false; } - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); const ov::Layout tensor_layout{"NCHW"}; input_info.tensor(). set_element_type(ov::element::f32). diff --git a/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp index 1340d490..f79b5d07 100644 --- a/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp +++ b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp @@ -44,7 +44,7 @@ bool Models::SSDModelAttr::updateLayerProperty( input_tensor_name_ = model->input().get_any_name(); ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); input_info.tensor().set_element_type(ov::element::u8); - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); ov::Shape input_dims = input_info_map[0].get_shape(); setInputHeight(input_dims[2]); @@ -60,7 +60,7 @@ bool Models::SSDModelAttr::updateLayerProperty( } ov::preprocess::OutputInfo& output_info = ppp.output(); - addOutputInfo("output", model->output().get_any_name()); + addOutputInfo(ModelAttribute::DefaultOutputName, model->output().get_any_name()); slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; diff --git a/openvino_wrapper_lib/src/models/base_model.cpp b/openvino_wrapper_lib/src/models/base_model.cpp index 70647b5a..e7746504 100644 --- a/openvino_wrapper_lib/src/models/base_model.cpp +++ b/openvino_wrapper_lib/src/models/base_model.cpp @@ -25,6 +25,9 @@ #include #include "openvino_wrapper_lib/models/base_model.hpp" #include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/utils/common.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" +#include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" #include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Base Network @@ -63,29 +66,117 @@ void Models::BaseModel::modelInit() updateLayerProperty(model_); } -#if 0 +Models::ObjectDetectionModel::ObjectDetectionModel( + const std::string& label_loc, + const std::string& model_loc, + int max_batch_size) +: BaseModel(label_loc, model_loc, max_batch_size) {} + +bool Models::BaseModel::matToBlob( + const cv::Mat & orig_image, const cv::Rect &, float scale_factor, + int batch_index, const std::shared_ptr & engine) +{ + if (engine == nullptr) + { + slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; + return false; + } + + ov::InferRequest infer_request = engine->getRequest(); + ov::Tensor input_tensor = infer_request.get_tensor(getInputName("input0")); + ov::Shape input_shape = input_tensor.get_shape(); + + OPENVINO_ASSERT(input_shape.size() == 4); + const auto layout = getLayoutFromShape(input_shape); + const size_t width = input_shape[ov::layout::width_idx(layout)]; //input_shape[2]; + const size_t height = input_shape[ov::layout::height_idx(layout)]; //input_shape[1]; + const size_t channels = input_shape[ov::layout::channels_idx(layout)]; //input_shape[3]; + + slog::debug <<"width is:"<< width << slog::endl; + slog::debug <<"height is:"<< height << slog::endl; + slog::debug <<"channels is:"<< channels << slog::endl; + slog::debug <<"origin channels is:"<< orig_image.channels() << slog::endl; + slog::debug <<"input shape is:"<< input_shape << slog::endl; + + unsigned char* data = input_tensor.data(); + cv::Size size = {(int)width, (int)height}; + cv::Mat resized_image(size, CV_8UC3, data); + + if ( isKeepInputRatio()){ + slog::debug << "keep Input Shape Ratio is ENABLED!" << slog::endl; + cv::Mat extend_image = extendFrameToInputRatio(orig_image); + cv::resize(extend_image, resized_image, size); + frame_resize_ratio_width_ = static_cast(extend_image.cols) / width; + frame_resize_ratio_height_ = static_cast(extend_image.rows) / height; + } else { + cv::resize(orig_image, resized_image, size); + frame_resize_ratio_width_ = static_cast(orig_image.cols) / width; + frame_resize_ratio_height_ = static_cast(orig_image.rows) / height; + } + + return true; +} + +cv::Mat Models::BaseModel::extendFrameToInputRatio(const cv::Mat orig) +{ + auto orig_width = orig.cols; + auto orig_height = orig.rows; + const auto target_width = getInputWidth(); + const auto target_height = getInputHeight(); + const float orig_ratio = static_cast(orig_width) / orig_height; + const float target_ratio = static_cast(target_width) / target_height; + + slog::debug << "extend Ratio: orit_ratio:"<< orig_ratio << ", target_ratio:" << target_ratio << + ", orig_width:" << orig_width << ", orig_height:" << orig_height << slog::endl; + if (orig_ratio < target_ratio){ + orig_width = (int)(orig_height * target_ratio); + }else{ + orig_height = (int)(orig_width * target_ratio); + } + + slog::debug << "extend Image to: " << orig_width << "x" << orig_height << slog::endl; + cv::Mat result = cv::Mat::zeros(orig_height, orig_width, CV_8UC3); + orig.copyTo(result(cv::Rect(0, 0, orig.cols, orig.rows))); + + return result; +} + bool Models::BaseModel::updateLayerProperty( - InferenceEngine::CNNNetReader::Ptr model) + std::shared_ptr& model) { -#if 0 - if (!updateLayerProperty(model)){ - slog::warn << "The model(name: " << getModelName() << ") failed to update Layer Property!" + slog::info<< "Checking INPUTS & OUTPUTS for Model " <inputs(); + slog::debug <<"input size="<outputs(); + slog::debug <<"output size="<outputs(); diff --git a/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp index 2c938ca8..f9cb5448 100644 --- a/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp @@ -162,7 +162,7 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty( ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); input_info.tensor().set_element_type(ov::element::u8); - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); ov::Shape input_dims = input_info_map[0].get_shape(); @@ -193,7 +193,7 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty( return false; } ov::preprocess::OutputInfo& output_info = ppp.output(); - addOutputInfo("output", model->output().get_any_name()); + addOutputInfo(ModelAttribute::DefaultOutputName, model->output().get_any_name()); slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; diff --git a/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp index 8dd7176d..b89fda66 100644 --- a/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022 Intel Corporation +// Copyright (c) 2022-2023 Intel Corporation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -13,77 +13,81 @@ // limitations under the License. /** - * @brief a header file with declaration of ObjectDetectionModel class + * @brief a header file with declaration of ObjectDetectionYolov5Model class * @file object_detection_yolov5_model.cpp */ #include #include #include #include +#include #include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/utils/common.hpp" #include "openvino_wrapper_lib/engines/engine.hpp" #include "openvino_wrapper_lib/inferences/object_detection.hpp" #include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" +using namespace cv; +using namespace dnn; // Validated Object Detection Network Models::ObjectDetectionYolov5Model::ObjectDetectionYolov5Model( const std::string & label_loc, const std::string & model_loc, int max_batch_size) : ObjectDetectionModel(label_loc, model_loc, max_batch_size) { + setKeepInputShapeRatio(true); } bool Models::ObjectDetectionYolov5Model::updateLayerProperty( std::shared_ptr& model) { - slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; - auto input_info_map = model->inputs(); - if (input_info_map.size() != 1) { - slog::warn << "This model seems not Yolo-like, which has only one input, but we got " - << std::to_string(input_info_map.size()) << "inputs" << slog::endl; - return false; - } - // set input property - ov::Shape input_dims = input_info_map[0].get_shape(); + Models::BaseModel::updateLayerProperty(model); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); - input_tensor_name_ = model->input().get_any_name(); - ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); - const ov::Layout input_tensor_layout{"NHWC"}; - setInputHeight(input_dims[2]); - setInputWidth(input_dims[3]); + + // preprocess image inputs + ov::preprocess::InputInfo& input_info = ppp.input(getInputInfo("input0")); + ov::Layout tensor_layout = ov::Layout("NHWC"); + + if( model->input(0).get_partial_shape().is_dynamic()){ + auto expected_size = getExpectedFrameSize(); + slog::info << "Model's input has dynamic shape, set to expected size: " + << expected_size << slog::endl; + input_info.tensor().set_shape({1, expected_size.height, expected_size.width, 3}); + } + input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(input_tensor_layout). - set_color_format(ov::preprocess::ColorFormat::BGR); + set_element_type(ov::element::u8). + set_layout(tensor_layout). + set_color_format(ov::preprocess::ColorFormat::BGR); + input_info.preprocess(). convert_element_type(ov::element::f32). convert_color(ov::preprocess::ColorFormat::RGB).scale({255., 255., 255.}); ppp.input().model().set_layout("NCHW"); - addInputInfo("input", input_tensor_name_); - // set output property - auto output_info_map = model->outputs(); - if (output_info_map.size() != 1) { - slog::warn << "This model seems not Yolo-like! We got " - << std::to_string(output_info_map.size()) << "outputs, but Yolov5 has only one." - << slog::endl; - return false; - } - output_tensor_name_ = model->output().get_any_name(); - ov::preprocess::OutputInfo& output_info = ppp.output(); - addOutputInfo("output", output_tensor_name_); - output_info.tensor().set_element_type(ov::element::f32); - slog::info << "Checking Object Detection output ... Name=" << output_tensor_name_ - << slog::endl; + ppp.output().tensor().set_element_type(ov::element::f32); model = ppp.build(); - ov::Shape output_dims = output_info_map[0].get_shape(); - setMaxProposalCount(static_cast(output_dims[1])); - - auto object_size = static_cast(output_dims[2]); - setObjectSize(object_size); + ov::Shape input_shape = model->input(getInputInfo("input0")).get_shape(); + slog::debug<<"image_tensor shape is:"<< input_shape.size() <outputs(); + ov::Shape output_dims = output_info_map[0].get_shape(); + if (output_dims[1] < output_dims[2]){ + slog::info << "Object-Size bigger than Proposal-Count, Outputs need Transform!" << slog::endl; + setTranspose(true); + setMaxProposalCount(static_cast(output_dims[2])); + setObjectSize(static_cast(output_dims[1])); + } else { + setTranspose(false); + setMaxProposalCount(static_cast(output_dims[1])); + setObjectSize(static_cast(output_dims[2])); + } printAttribute(); slog::info << "This model is Yolo-like, Layer Property updated!" << slog::endl; return true; @@ -107,26 +111,6 @@ bool Models::ObjectDetectionYolov5Model::enqueue( return true; } - -bool Models::ObjectDetectionYolov5Model::matToBlob( - const cv::Mat & orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr & engine) -{ - resize_img = pre_process_ov(orig_image); - input_image = orig_image; - - size_t height = resize_img.resized_image.rows; - size_t width = resize_img.resized_image.cols; - size_t channels = orig_image.channels(); - auto *input_data = (float *) resize_img.resized_image.data; - - ov::Tensor input_tensor; - input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, input_data); - engine->getRequest().set_input_tensor(input_tensor); - - return true; -} - bool Models::ObjectDetectionYolov5Model::fetchResults( const std::shared_ptr & engine, std::vector & results, @@ -140,19 +124,35 @@ bool Models::ObjectDetectionYolov5Model::fetchResults( const ov::Tensor &output_tensor = request.get_output_tensor(); ov::Shape output_shape = output_tensor.get_shape(); auto *detections = output_tensor.data(); + int rows = output_shape.at(1); + int dimentions = output_shape.at(2); + Mat output_buffer(output_shape[1], output_shape[2], CV_32F, detections); + //Check if transpose is needed + if (output_shape.at(2) > output_shape.at(1) && + output_shape.at(2) > 300){ // 300 is just a random number(bigger than the number of classes) + transpose(output_buffer, output_buffer); //[8400,84] for yolov8 + detections = (float*)output_buffer.data; + rows = output_shape.at(2); + dimentions = output_shape.at(1); + } + //slog::debug << "AFTER calibration: rows->" << rows << ", dimentions->" << dimentions << slog::endl; + std::vector boxes; std::vector class_ids; std::vector confidences; std::vector & labels = getLabels(); - for (size_t i = 0; i < output_shape.at(1); i++) { - float *detection = &detections[i * output_shape.at(2)]; - float confidence = detection[4]; - if (confidence < confidence_thresh) - continue; + for (size_t i = 0; i < rows; i++) { + float *detection = &detections[i * dimentions]; + if (hasConfidenceOutput()) { + float confidence = detection[4]; + if (confidence < confidence_thresh) + continue; + } - float *classes_scores = &detection[5]; - int col = static_cast(output_shape.at(2) - 5); + const int classes_scores_start_pos = hasConfidenceOutput()? 5 : 4; + float *classes_scores = &detection[classes_scores_start_pos]; + int col = static_cast(dimentions - classes_scores_start_pos); cv::Mat scores(1, col, CV_32FC1, classes_scores); cv::Point class_id; @@ -160,7 +160,7 @@ bool Models::ObjectDetectionYolov5Model::fetchResults( cv::minMaxLoc(scores, nullptr, &max_class_score, nullptr, &class_id); if (max_class_score > confidence_thresh) { - confidences.emplace_back(confidence); + confidences.emplace_back(max_class_score); class_ids.emplace_back(class_id.x); float x = detection[0]; @@ -177,12 +177,12 @@ bool Models::ObjectDetectionYolov5Model::fetchResults( std::vector nms_result; cv::dnn::NMSBoxes(boxes, confidences, confidence_thresh, NMS_THRESHOLD, nms_result); for (int idx: nms_result) { - double rx = (double) input_image.cols / (resize_img.resized_image.cols - resize_img.dw); - double ry = (double) input_image.rows / (resize_img.resized_image.rows - resize_img.dh); - double vx = rx * boxes[idx].x; - double vy = ry * boxes[idx].y; - double vw = rx * boxes[idx].width; - double vh = ry * boxes[idx].height; + double rx = getFrameResizeRatioWidth(); + double ry = getFrameResizeRatioHeight(); + int vx = int(rx * boxes[idx].x); + double vy = int(ry * boxes[idx].y); + double vw = int(rx * boxes[idx].width); + double vh = int(ry * boxes[idx].height); cv::Rect rec(vx, vy, vw, vh); Result result(rec); result.setConfidence(confidences[idx]); @@ -194,31 +194,3 @@ bool Models::ObjectDetectionYolov5Model::fetchResults( return true; } - -Models::Resize_t Models::ObjectDetectionYolov5Model::pre_process_ov(const cv::Mat &input_image) { - const float INPUT_WIDTH = 640.f; - const float INPUT_HEIGHT = 640.f; - auto width = (float) input_image.cols; - auto height = (float) input_image.rows; - auto r = float(INPUT_WIDTH / std::max(width, height)); - int new_unpadW = int(round(width * r)); - int new_unpadH = int(round(height * r)); - Resize_t resize_img{}; - - cv::resize(input_image, resize_img.resized_image, {new_unpadW, new_unpadH}, - 0, 0, cv::INTER_AREA); - - resize_img.dw = (int) INPUT_WIDTH - new_unpadW; - resize_img.dh = (int) INPUT_HEIGHT - new_unpadH; - cv::Scalar color = cv::Scalar(100, 100, 100); - cv::copyMakeBorder(resize_img.resized_image, - resize_img.resized_image, - 0, - resize_img.dh, - 0, - resize_img.dw, - cv::BORDER_CONSTANT, - color); - - return resize_img; -} diff --git a/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp b/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp new file mode 100644 index 00000000..c37c6777 --- /dev/null +++ b/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp @@ -0,0 +1,25 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "openvino_wrapper_lib/models/object_detection_yolov8_model.hpp" + +Models::ObjectDetectionYolov8Model::ObjectDetectionYolov8Model( + const std::string & label_loc, const std::string & model_loc, int max_batch_size) +: ObjectDetectionYolov5Model(label_loc, model_loc, max_batch_size) +{ + //setKeepInputShapeRatio(true); + setHasConfidenceOutput(false); + setExpectedFrameSize({640, 640}); +} + diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp new file mode 100644 index 00000000..531f5971 --- /dev/null +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp @@ -0,0 +1,221 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief a source code file with declaration of ObjectSegmentationInstanceMaskrcnnModel class + * It is a child of class ObjectSegmentationInstanceModel. + */ +#include +#include +#include +#include "openvino_wrapper_lib/inferences/object_segmentation_instance.hpp" +#include "openvino_wrapper_lib/utils/common.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" + +// Validated Object Segmentation Network +Models::ObjectSegmentationInstanceMaskrcnnModel::ObjectSegmentationInstanceMaskrcnnModel( + const std::string & label_loc, + const std::string & model_loc, + int max_batch_size) + : ObjectSegmentationInstanceModel(label_loc, model_loc, max_batch_size) +{ + setHasConfidenceOutput(true); + setKeepInputShapeRatio(true); + setCountOfInputs(2); + setCountOfOutputs(2); + setExpectedFrameSize({640, 360}); +} + +bool Models::ObjectSegmentationInstanceMaskrcnnModel::updateLayerProperty( + std::shared_ptr& model) +{ + Models::BaseModel::updateLayerProperty(model); + + slog::debug << "in Models' PrePostProcessor:" << slog::endl; + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + slog::debug << "Model's input size=" << model->inputs().size() << slog::endl; + //1. preprocess image inputs + for(int i=0; i" << getInputInfo(name) << slog::endl; + auto& input_info = ppp.input(getInputInfo(name)); + ov::Layout tensor_layout = ov::Layout("NHWC"); + auto input_shape = model->input(getInputInfo(name)).get_partial_shape(); + + if (input_shape.size() == 4) { // first input contains images + slog::debug << "handling Input[image_tensor]..." << slog::endl; + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout); + //addInputInfo(ModelAttribute::DefaultInputName, name); + //retagInputByValue(getInputInfo(name), "image_tensor"); + + if (input_shape.is_dynamic()){ + auto expected_size = getExpectedFrameSize(); + slog::info << "Model's input has dynamic shape, fix it to " << expected_size << slog::endl; + input_info.tensor().set_shape({1, expected_size.height, expected_size.width, 3}); + } + } else if (input_shape.size() == 2) { // second input contains image info + slog::debug << "handling Input[image_info]..." << slog::endl; + input_info.tensor().set_element_type(ov::element::f32); + //addInputInfo("input2", info_name_); + //retagInputByValue(getInputInfo(name), "image_info"); + } else { + throw std::logic_error("Unsupported input shape with size = " + std::to_string(input_shape.size())); + } + } + + //ppp.input(0).model().set_layout("NCHW"); + + model = ppp.build(); + ppp = ov::preprocess::PrePostProcessor(model); + + ov::Shape input0_shape = model->input(getInputName("input0")).get_shape(); + slog::debug <<"image_tensor shape is:"<< input0_shape.size() <output(output); + auto shape = output_info.get_partial_shape(); + slog::info << "Output shape for [" << output << "] is: " << shape << slog::endl; + if (shape.size() == 4){ + slog::info << "find output tensor - [masks]" << slog::endl; + retagOutputByValue(output, "masks"); + } else if (shape.size() == 2){ + slog::info << "find output tensor - [detection]" << slog::endl; + retagOutputByValue(output, "detection"); + } else { + throw std::logic_error("The shape ofoutput tensers are wrong, must be 4 or 3!"); + } + }; + check_output_and_rename(getOutputName("output0")); + check_output_and_rename(getOutputName("output1")); + + ov::preprocess::OutputInfo& output_info = ppp.output(getOutputName("masks")); + output_info.tensor().set_element_type(ov::element::f32); + + model = ppp.build(); + + if(model->is_dynamic()) { + slog::warn << "Model is still dynamic !!!!" << slog::endl; + } else { + auto output_info_map = model->outputs(); + ov::Shape output_dims = output_info_map[0].get_shape(); + if (output_dims[1] < output_dims[2]){ + slog::info << "Object-Size bigger than Proposal-Count, Outputs need Transform!" << slog::endl; + setTranspose(true); + setMaxProposalCount(static_cast(output_dims[2])); + setObjectSize(static_cast(output_dims[1])); + } else { + setTranspose(false); + setMaxProposalCount(static_cast(output_dims[1])); + setObjectSize(static_cast(output_dims[2])); + } + } + + printAttribute(); + slog::info << "Layer Property updated!" << slog::endl; + return true; + +} + +bool Models::ObjectSegmentationInstanceMaskrcnnModel::fetchResults( + const std::shared_ptr & engine, + std::vector & results, + const float & confidence_thresh, + const bool & enable_roi_constraint) +{ + ov::InferRequest infer_request = engine->getRequest(); + slog::debug << "Analyzing Detection results..." << slog::endl; + std::string detection_output = getOutputName("detection"); + std::string mask_output = getOutputName("masks"); + slog::debug << "Detection_output=" << detection_output << ", Mask_output=" << mask_output << slog::endl; + + //get detection data + ov::Tensor do_tensor = infer_request.get_tensor(detection_output); + const auto do_data = do_tensor.data(); + ov::Shape do_shape = do_tensor.get_shape(); + slog::debug << "Detection Blob getDims = " <(); + ov::Shape mask_shape = mask_tensor.get_shape(); + + // determine models + size_t box_description_size = do_shape.back(); + OPENVINO_ASSERT(mask_shape.size() == 4); + size_t box_num = mask_shape[0]; + size_t C = mask_shape[1]; + size_t H = mask_shape[2]; + size_t W = mask_shape[3]; + size_t box_stride = W * H * C; + slog::debug << "box_description is:" << box_description_size << slog::endl; + slog::debug << "box_num is:" << box_num<< slog::endl; + slog::debug << "C is:" << C << slog::endl; + slog::debug << "H is:" << H << slog::endl; + slog::debug << "W is:" << W << slog::endl; + + for (size_t box = 0; box < box_num; ++box) { + // box description: batch, label, prob, x1, y1, x2, y2 + float * box_info = do_data + box * box_description_size; + auto batch = static_cast(box_info[0]); + slog::debug << "batch =" << batch << slog::endl; + if (batch < 0) { + slog::warn << "Batch size should be greater than 0. [batch=" << batch <<"]." << slog::endl; + break; + } + float prob = box_info[2]; + const double rx = getFrameResizeRatioWidth(); + const double ry = getFrameResizeRatioHeight(); + //slog::debug << "FrameResizeRatio W:" < confidence_thresh) { + float x1 = std::min(std::max(0.0f, box_info[3] * iW), static_cast(iW)) * rx; + float y1 = std::min(std::max(0.0f, box_info[4] * iH), static_cast(iH)) * ry; + float x2 = std::min(std::max(0.0f, box_info[5] * iW), static_cast(iW)) * rx; + float y2 = std::min(std::max(0.0f, box_info[6] * iH), static_cast(iH)) * ry; + int box_width = static_cast(x2 - x1); + int box_height = static_cast(y2 - y1); + slog::debug << "Box[" << box_width << "x" << box_height << "]" << slog::endl; + if (box_width <= 0 || box_height <=0) break; + int class_id = static_cast(box_info[1] + 1e-6f); + float * mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); + slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch + << ": [" << x1 << ", " << y1 << "], [" << x2 << ", " << y2 << "]" << slog::endl; + cv::Mat mask_mat(H, W, CV_32FC1, mask_arr); + cv::Rect roi = cv::Rect(static_cast(x1), static_cast(y1), box_width, box_height); + cv::Mat resized_mask_mat(box_height, box_width, CV_32FC1); + cv::resize(mask_mat, resized_mask_mat, cv::Size(box_width, box_height)); + Result result(roi); + result.setConfidence(prob); + std::vector & labels = getLabels(); + std::string label = class_id < labels.size() ? labels[class_id] : + std::string("label #") + std::to_string(class_id); + result.setLabel(label); + result.setMask(resized_mask_mat); + slog::debug << "adding one segmentation Box ..." << slog::endl; + results.emplace_back(result); + } + } + + return true; +} diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp new file mode 100644 index 00000000..47293bdf --- /dev/null +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp @@ -0,0 +1,300 @@ +// Copyright (c) 2023 Intel Corporation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/** + * @brief a header file with declaration of ObjectSegmentationInstanceModel class + * By default yolov8 segementation models are supported. + */ +#include +#include +#include +#include "openvino_wrapper_lib/inferences/object_segmentation_instance.hpp" +#include "openvino_wrapper_lib/utils/common.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_instance_model.hpp" +#include "openvino_wrapper_lib/slog.hpp" +#include "openvino_wrapper_lib/engines/engine.hpp" + +// Validated Object Segmentation Network +Models::ObjectSegmentationInstanceModel::ObjectSegmentationInstanceModel( + const std::string & label_loc, + const std::string & model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ + setHasConfidenceOutput(false); + setKeepInputShapeRatio(true); + setCountOfInputs(1); + setCountOfOutputs(2); + setExpectedFrameSize({640, 640}); +} + +bool Models::ObjectSegmentationInstanceModel::enqueue( + const std::shared_ptr &engine, + const cv::Mat &frame, + const cv::Rect &input_frame_loc) +{ + if (engine == nullptr) + { + slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; + return false; + } + + setFrameSize(frame.cols, frame.rows); + + for (const auto &inputInfoItem : inputs_info_) + { + auto dims = inputInfoItem.get_partial_shape(); + slog::debug << "input tensor shape is:"<< dims.size() <getRequest().get_tensor(inputInfoItem); + auto data = in_tensor.data(); + data[0] = static_cast(frame.rows); // height + data[1] = static_cast(frame.cols); // width + data[2] = 1; + } + } + + return true; +} + +const std::string Models::ObjectSegmentationInstanceModel::getModelCategory() const +{ + return "Object Segmentation - Yolo-Like"; +} + +bool Models::ObjectSegmentationInstanceModel::updateLayerProperty( + std::shared_ptr& model) +{ + Models::BaseModel::updateLayerProperty(model); + + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); + + //1. preprocess image inputs + ov::preprocess::InputInfo& input_info = ppp.input(getInputInfo("input0")); + ov::Layout tensor_layout = ov::Layout("NHWC"); + + if( model->input(0).get_partial_shape().is_dynamic()){ + auto expected_size = getExpectedFrameSize(); + slog::info << "Model's input has dynamic shape, fix it to " << expected_size << slog::endl; + input_info.tensor().set_shape({1, expected_size.height, expected_size.width, 3}); + } + + input_info.tensor(). + set_element_type(ov::element::u8). + set_layout(tensor_layout). + set_color_format(ov::preprocess::ColorFormat::BGR); + + input_info.preprocess(). + convert_element_type(ov::element::f32). + convert_color(ov::preprocess::ColorFormat::RGB).scale({255., 255., 255.}); + ppp.input().model().set_layout("NCHW"); + + model = ppp.build(); + ppp = ov::preprocess::PrePostProcessor(model); + + ov::Shape input_shape = model->input(getInputInfo("input0")).get_shape(); + slog::debug <<"image_tensor shape is:"<< input_shape.size() <output(output); + auto shape = output_info.get_partial_shape(); + slog::info << "Output shape for [" << output << "] is: " << shape << slog::endl; + if (shape.size() == 4){ + slog::info << "find output tensor - [masks]" << slog::endl; + retagOutputByValue(output, "masks"); + } else if (shape.size() == 3){ + slog::info << "find output tensor - [detection]" << slog::endl; + retagOutputByValue(output, "detection"); + } else { + throw std::logic_error("The shape ofoutput tensers are wrong, must be 4 or 3!"); + } + }; + check_output_and_rename(getOutputName("output0")); + check_output_and_rename(getOutputName("output1")); + + ov::preprocess::OutputInfo& output_info = ppp.output(getOutputName("masks")); + output_info.tensor().set_element_type(ov::element::f32); + + model = ppp.build(); + + if(model->is_dynamic()) { + slog::warn << "Model is still dynamic !!!!" << slog::endl; + } else { + auto output_info_map = model->outputs(); + ov::Shape output_dims = output_info_map[0].get_shape(); + if (output_dims[1] < output_dims[2]){ + slog::info << "Object-Size bigger than Proposal-Count, Outputs need Transform!" << slog::endl; + setTranspose(true); + setMaxProposalCount(static_cast(output_dims[2])); + setObjectSize(static_cast(output_dims[1])); + } else { + setTranspose(false); + setMaxProposalCount(static_cast(output_dims[1])); + setObjectSize(static_cast(output_dims[2])); + } + } + + printAttribute(); + slog::info << "Layer Property updated!" << slog::endl; + return true; + +} + +bool Models::ObjectSegmentationInstanceModel::fetchResults( + const std::shared_ptr & engine, + std::vector & results, + const float & confidence_thresh, + const bool & enable_roi_constraint) +{ + + const float NMS_THRESHOLD = 0.45; // threshold for removing overlapping bounding boxes + + ov::InferRequest request = engine->getRequest(); + std::string det_output = getOutputName("detection"); + const ov::Tensor det_output_tensor = request.get_tensor(det_output); + ov::Shape det_output_shape = det_output_tensor.get_shape(); + auto *detections = det_output_tensor.data(); + int rows = det_output_shape.at(1); + int dimentions = det_output_shape.at(2); + cv::Mat output_buffer(det_output_shape[1], det_output_shape[2], CV_32F, detections); + //Check if transpose is needed + //if ( needTranspose()){ //DON'T use func needTranspose(), it is not correctly set when calling updateLayerProperty() + if (det_output_shape.at(2) > det_output_shape.at(1) && + det_output_shape.at(2) > 300){ // 300 is just a random number(bigger than the number of classes) + cv::transpose(output_buffer, output_buffer); //[8400,84+32] for yolov8 seg + detections = (float*)output_buffer.data; + rows = det_output_shape.at(2); + dimentions = det_output_shape.at(1); + } + slog::debug << "AFTER calibration: rows->" << rows << ", dimentions->" << dimentions << slog::endl; + + std::vector boxes; + std::vector mask_confs; + std::vector class_ids; + std::vector confidences; + std::vector & labels = getLabels(); + + for (int i = 0; i < rows; i++) { + //float *detection = &detections[i * dimentions]; + if (hasConfidenceOutput()) { + float confidence = output_buffer.at(int(i), 4); + if (confidence < confidence_thresh) + continue; + } + + const int classes_scores_start_pos = hasConfidenceOutput()? 5 : 4; + cv::Mat classes_scores = output_buffer.row(i).colRange(classes_scores_start_pos, dimentions-32); //4, 84 + + cv::Point class_id; + double max_class_score; + cv::minMaxLoc(classes_scores, nullptr, &max_class_score, nullptr, &class_id); + + if (max_class_score > confidence_thresh) { + confidences.emplace_back(max_class_score); + class_ids.emplace_back(class_id.x); + + float x = output_buffer.at(i, 0); //detection[0]; + float y = output_buffer.at(i, 1); //detection[1]; + float w = output_buffer.at(i, 2); //detection[2]; + float h = output_buffer.at(i, 3); //detection[3]; + auto x_min = x - (w / 2); + auto y_min = y - (h / 2); + + boxes.emplace_back(x_min, y_min, w, h); + cv::Mat mask_conf = output_buffer.row(i).colRange(dimentions-32, dimentions); //84, 116 + mask_confs.emplace_back(mask_conf); + } + } + + std::vector nms_result; + cv::dnn::NMSBoxes(boxes, confidences, confidence_thresh, NMS_THRESHOLD, nms_result); + + const ov::Tensor mask_output_tensor = request.get_tensor(getOutputName("masks")); + ov::Shape mask_output_shape = mask_output_tensor.get_shape(); + //const ov::Layout mask_layout {"NCHW"}; //must be "NCHW"? + const auto MASK_CHANNEL = mask_output_shape[1]; + const auto MASK_HEIGHT = mask_output_shape[2]; //mask_output_shape[ov::layout::height_idx(mask_layout)]; + const auto MASK_WIDTH = mask_output_shape[3]; //mask_output_shape[ov::layout::width_idx(mask_layout)]; + slog::debug << "mask_output_shape: " << mask_output_shape << ",MASK_HEIGHT:" << MASK_HEIGHT << ", MASK_WIDTH:" << MASK_WIDTH << slog::endl; + //cv::Mat proto(32, 25600, CV_32F, mask_output_tensor.data()); //[32,25600] + cv::Mat proto(MASK_CHANNEL, MASK_HEIGHT * MASK_WIDTH, CV_32F, mask_output_tensor.data()); //[32,25600] + + for (int idx: nms_result) { + double rx = getFrameResizeRatioWidth(); + double ry = getFrameResizeRatioHeight(); + slog::debug << "Detection-Ratio (Input Image to Input Tensor): "<< rx << "x" << ry << slog::endl; + + //Bounding-Box in Input Tensor Size + int vx = std::max(0, int(boxes[idx].x)); + int vy = std::max(0, int(boxes[idx].y)); + int vw = std::min(std::max(0, int(boxes[idx].width)), getInputWidth()-vx-1); + int vh = std::min(std::max(0, int(boxes[idx].height)), getInputHeight()-vy-1); + + cv::Rect vrec(vx, vy, vw, vh); + slog::debug << "Detection Rectangle in Input Tensor Size: " << vrec << slog::endl; + const int det_bb_w = vw*rx; + const int det_bb_h = vh*ry; + cv::Rect det_bb(vx*rx, vy*ry, det_bb_w, det_bb_h); + slog::debug << "Detection Rectangle in Input Image Size: " << det_bb << slog::endl; + Result result(det_bb); + result.setConfidence(confidences[idx]); + std::string label = class_ids[idx] < labels.size() ? + labels[class_ids[idx]] : std::string("label #") + std::to_string(class_ids[idx]); + result.setLabel(label); + + //Mask data operation + auto sigmoid = [](float a) {return 1. / (1. + exp(-a));}; + cv::Mat m = mask_confs[idx] * proto; + for (int col = 0; col < m.cols; col++) { + m.at(0, col) = sigmoid(m.at(0, col)); + } + cv::Mat reshaped_m = m.reshape(1, MASK_HEIGHT); //1x25600-->160x160, mask_output_shape:NCHW + + double mask_rx = static_cast(MASK_WIDTH) / getInputWidth(); + double mask_ry = static_cast(MASK_HEIGHT) / getInputHeight(); + slog::debug << "Mask-Ratio (Mask Tensor to Input Tensor): " << mask_rx <<"x" << mask_ry << slog::endl; + int mask_x = int(mask_rx * vx); + int mask_y = int(mask_ry * vy); + int mask_w = int(mask_rx * vw); + int mask_h = int(mask_ry * vh); + if (mask_x + mask_w >= MASK_WIDTH){ + mask_w = MASK_WIDTH - 1; + } + if (mask_y + mask_h >= MASK_HEIGHT){ + mask_h = MASK_HEIGHT - 1; + } + cv::Rect roi{mask_x, mask_y, mask_w, mask_h}; + slog::debug << "Mask ROI:" << roi << slog::endl; + cv::Mat roi_mask = reshaped_m(roi); + cv::Mat resized_mask; + cv::resize(roi_mask, resized_mask, cv::Size(det_bb_w, det_bb_h)); + result.setMask(resized_mask); + + results.push_back(result); + } + + return true; +} diff --git a/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp index d08b5a57..37ab35b4 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp @@ -82,7 +82,7 @@ bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( } ov::InferRequest infer_request = engine->getRequest(); - ov::Tensor input_tensor = infer_request.get_tensor(getInputName("input")); + ov::Tensor input_tensor = infer_request.get_tensor(getInputName()); ov::Shape input_shape = input_tensor.get_shape(); OPENVINO_ASSERT(input_shape.size() == 4); @@ -183,7 +183,7 @@ bool Models::ObjectSegmentationMaskrcnnModel::updateLayerProperty( input_info.tensor(). set_element_type(ov::element::u8). set_layout(tensor_layout); - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); } else if (info_shape.size() == 2) { // second input contains image info image_info.tensor().set_element_type(ov::element::f32); addInputInfo("input2", info_name_); @@ -192,7 +192,7 @@ bool Models::ObjectSegmentationMaskrcnnModel::updateLayerProperty( } } - std::string inputName = getInputName("input"); + std::string inputName = getInputName(); slog::debug << "input name is:" << inputName << slog::endl; OPENVINO_ASSERT (input_shape.size()== 4); size_t netBatchSize = input_shape[0]; diff --git a/openvino_wrapper_lib/src/models/object_segmentation_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp index 1d076757..be720437 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_model.cpp @@ -97,7 +97,7 @@ bool Models::ObjectSegmentationModel::matToBlob( } #else ov::InferRequest infer_request = engine->getRequest(); - ov::Tensor input_tensor = infer_request.get_tensor(getInputName("input")); + ov::Tensor input_tensor = infer_request.get_tensor(getInputName()); ov::Shape input_shape = input_tensor.get_shape(); OPENVINO_ASSERT(input_shape.size() == 4); @@ -167,7 +167,7 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( input_info.preprocess(). convert_layout(expect_layout). resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); auto outputs_info = model->outputs(); if (outputs_info.size() != 1) { diff --git a/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp index 405740d6..30a1e739 100644 --- a/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp @@ -48,7 +48,7 @@ bool Models::PersonAttribsDetectionModel::updateLayerProperty( } model = ppp.build(); - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); addOutputInfo("attributes_output_",output_info_map[0].get_any_name()); addOutputInfo("top_output_", output_info_map[1].get_any_name()); addOutputInfo("bottom_output_", output_info_map[2].get_any_name()); diff --git a/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp index e5a65947..11629ba9 100644 --- a/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp @@ -47,7 +47,7 @@ bool Models::VehicleAttribsDetectionModel::updateLayerProperty( set_layout(tensor_layout); model = ppp.build(); - addInputInfo("input", input_tensor_name_); + addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); // set input and output layer name addOutputInfo("color_output_", output_info_map[1].get_any_name()); diff --git a/openvino_wrapper_lib/src/outputs/image_window_output.cpp b/openvino_wrapper_lib/src/outputs/image_window_output.cpp index 0f2b93e2..6c81a348 100644 --- a/openvino_wrapper_lib/src/outputs/image_window_output.cpp +++ b/openvino_wrapper_lib/src/outputs/image_window_output.cpp @@ -180,6 +180,7 @@ void Outputs::ImageWindowOutput::accept( mergeMask(results); } +//TODO: Deprecated, will merge the impl into the func for instanceResult. void Outputs::ImageWindowOutput::mergeMask( const std::vector & results) { @@ -202,6 +203,31 @@ void Outputs::ImageWindowOutput::mergeMask( cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); } } + +void Outputs::ImageWindowOutput::mergeMask( + const std::vector & results) +{ + std::map class_color; + for (unsigned i = 0; i < results.size(); i++) { + std::string class_label = results[i].getLabel(); + if (class_color.find(class_label) == class_color.end()) { + class_color[class_label] = class_color.size(); + } + auto & color = colors_[class_color[class_label] % colors_.size() ]; + const float alpha = 0.7f; + const float MASK_THRESHOLD = 0.5; + + cv::Rect location = results[i].getLocation(); + cv::Mat roi_img = frame_(location); + cv::Mat mask = results[i].getMask(); + cv::Mat colored_mask(location.height, location.width, frame_.type(), + cv::Scalar(color[2], color[1], color[0]) ); + roi_img.copyTo(colored_mask, mask <= MASK_THRESHOLD); + cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); + } +} + +//TODO: Deprecated, will merge the impl into the func for instanceResult. void Outputs::ImageWindowOutput::accept( const std::vector & results) { @@ -221,7 +247,24 @@ void Outputs::ImageWindowOutput::accept( mergeMask(results); } - +void Outputs::ImageWindowOutput::accept( + const std::vector & results) +{ + for (unsigned i = 0; i < results.size(); i++) { + cv::Rect result_rect = results[i].getLocation(); + unsigned target_index = findOutput(result_rect); + outputs_[target_index].rect = result_rect; + auto fd_conf = results[i].getConfidence(); + if (fd_conf >= 0) { + std::ostringstream ostream; + ostream << "[" << std::fixed << std::setprecision(3) << fd_conf << "]"; + outputs_[target_index].desc += ostream.str(); + } + auto label = results[i].getLabel(); + outputs_[target_index].desc += "[" + label + "]"; + } + mergeMask(results); +} void Outputs::ImageWindowOutput::accept( diff --git a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp index a0f8a531..3cd16eb8 100644 --- a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp @@ -229,6 +229,29 @@ void Outputs::RosTopicOutput::accept( } } +void Outputs::RosTopicOutput::accept( + const std::vector & results) +{ + segmented_objects_topic_ = std::make_shared(); + object_msgs::msg::ObjectInMask object; + for (auto & r : results) { + auto loc = r.getLocation(); + object.roi.x_offset = loc.x; + object.roi.y_offset = loc.y; + object.roi.width = loc.width; + object.roi.height = loc.height; + object.object_name = r.getLabel(); + object.probability = r.getConfidence(); + cv::Mat mask = r.getMask(); + for (int h = 0; h < mask.size().height; ++h) { + for (int w = 0; w < mask.size().width; ++w) { + object.mask_array.push_back(mask.at(h, w)); + } + } + segmented_objects_topic_->objects_vector.push_back(object); + } +} + void Outputs::RosTopicOutput::accept( const std::vector & results) { diff --git a/openvino_wrapper_lib/src/pipeline_manager.cpp b/openvino_wrapper_lib/src/pipeline_manager.cpp index 184ac922..18106cdf 100644 --- a/openvino_wrapper_lib/src/pipeline_manager.cpp +++ b/openvino_wrapper_lib/src/pipeline_manager.cpp @@ -23,7 +23,7 @@ #include #include -#if 0 +#if 0 //in curent versions, these models are not supported any more. #include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" #include "openvino_wrapper_lib/inferences/face_reidentification.hpp" #include "openvino_wrapper_lib/models/face_reidentification_model.hpp" @@ -47,9 +47,13 @@ #include "openvino_wrapper_lib/inferences/head_pose_detection.hpp" #include "openvino_wrapper_lib/models/head_pose_detection_model.hpp" #include "openvino_wrapper_lib/models/object_detection_yolov5_model.hpp" +#include "openvino_wrapper_lib/models/object_detection_yolov8_model.hpp" #include "openvino_wrapper_lib/models/object_detection_ssd_model.hpp" #include "openvino_wrapper_lib/inferences/object_segmentation.hpp" +#include "openvino_wrapper_lib/inferences/object_segmentation_instance.hpp" #include "openvino_wrapper_lib/models/object_segmentation_model.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_instance_model.hpp" +#include "openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp" #include "openvino_wrapper_lib/inputs/base_input.hpp" #include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino_wrapper_lib/inputs/realsense_camera.hpp" @@ -211,6 +215,8 @@ PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & pa object = createObjectSegmentation(infer); } else if (infer.name == kInferTpye_ObjectSegmentationMaskrcnn) { object = createObjectSegmentationMaskrcnn(infer); + } else if (infer.name == kInferTpye_ObjectSegmentationInstance) { + object = createObjectSegmentationInstance(infer); } else if (infer.name == kInferTpye_PersonReidentification) { object = createPersonReidentification(infer); } else if (infer.name == kInferTpye_PersonAttribsDetection) { @@ -300,6 +306,11 @@ PipelineManager::createObjectDetection( std::make_shared(infer.label, infer.model, infer.batch); } + if (infer.model_type == kInferTpye_ObjectDetectionTypeYolov8) { + object_detection_model = + std::make_shared(infer.label, infer.model, infer.batch); + } + slog::debug << "for test in createObjectDetection(), Created SSDModel" << slog::endl; object_inference_ptr = std::make_shared( infer.enable_roi_constraint, infer.confidence_threshold); // To-do theshold configuration @@ -332,6 +343,7 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR return segmentation_inference_ptr; } +// TODO: Deprecated std::shared_ptr PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer) { @@ -350,6 +362,30 @@ PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::In return segmentation_inference_ptr; } +std::shared_ptr +PipelineManager::createObjectSegmentationInstance(const Params::ParamManager::InferenceRawData & infer) +{ + std::shared_ptr model; + if (infer.model_type == kInferTpye_ObjectSegmentationTypeMaskrcnn) { + slog::info << "Model Typle: kInferType_ObjectSegmentationTypeMaskrcnn" << slog::endl; + model = std::make_shared(infer.label, infer.model, infer.batch); + } else { + slog::info << "Model Typle: kInferType_ObjectSegmentationTypeYolo" << slog::endl; + model = std::make_shared(infer.label, infer.model, infer.batch); + } + model->modelInit(); + slog::info << "Instance Segmentation model initialized." << slog::endl; + auto engine = engine_manager_.createEngine(infer.engine, model); + slog::info << "Engine initialized for Instance Segmentation." << slog::endl; + auto segmentation_inference_ptr = std::make_shared( + infer.confidence_threshold); + slog::info << "Segmentation Inference instanced." << slog::endl; + segmentation_inference_ptr->loadNetwork(model); + segmentation_inference_ptr->loadEngine(engine); + + return segmentation_inference_ptr; +} + std::shared_ptr PipelineManager::createPersonReidentification( const Params::ParamManager::InferenceRawData & infer) diff --git a/sample/launch/pipeline_segmentation_instance.launch.py b/sample/launch/pipeline_segmentation_instance.launch.py new file mode 100644 index 00000000..ec9da321 --- /dev/null +++ b/sample/launch/pipeline_segmentation_instance.launch.py @@ -0,0 +1,55 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_segmentation.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_instance.yaml')), + # Realsense + # NOTE: Split realsense_node launching from OpenVINO package, which + # will be launched by RDK launching file or manually. + + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), + ('/openvino_toolkit/segmentation/segmented_obejcts', + '/ros2_openvino_toolkit/segmented_obejcts'), + ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + # package='rviz2', + # executable='rviz2', output='screen', + # arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_segmentation_maskrcnn.launch.py b/sample/launch/pipeline_segmentation_maskrcnn.launch.py index b07d5476..e1901a3e 100644 --- a/sample/launch/pipeline_segmentation_maskrcnn.launch.py +++ b/sample/launch/pipeline_segmentation_maskrcnn.launch.py @@ -48,8 +48,8 @@ def generate_launch_description(): output='screen'), # Rviz - launch_ros.actions.Node( - package='rviz2', - executable='rviz2', output='screen', - arguments=['--display-config', default_rviz]), + #launch_ros.actions.Node( + # package='rviz2', + # executable='rviz2', output='screen', + # arguments=['--display-config', default_rviz]), ]) diff --git a/sample/launch/rviz2.launch.py b/sample/launch/rviz2.launch.py new file mode 100644 index 00000000..a0fb3a65 --- /dev/null +++ b/sample/launch/rviz2.launch.py @@ -0,0 +1,35 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch rviz2 for ROS2-OpenVINO.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + # Rviz + launch_ros.actions.Node( + package='rviz2', + executable='rviz2', output='screen', + arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/param/pipeline_object_yolo.yaml b/sample/param/pipeline_object_yolo.yaml index 2d5e479b..a80fc4c3 100644 --- a/sample/param/pipeline_object_yolo.yaml +++ b/sample/param/pipeline_object_yolo.yaml @@ -1,11 +1,13 @@ Pipelines: - name: object - inputs: [Image] + inputs: [StandardCamera] input_path: to/be/set/image_path infers: - name: ObjectDetection - model: /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/yolov5n.xml - model_type: yolov5 + #model: /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/yolov5n.xml + model: /home/lewis/develop/openvino/models/models/yolo/yolov7/yolov7_int8.xml + #model: /home/lewis/develop/openvino/models/models/yolo/yolov8/yolov8n_openvino_int8_model/yolov8n.xml + model_type: yolov5 #yolov8 engine: CPU #MYRIAD label: to/be/set/xxx.labels batch: 1 @@ -13,7 +15,7 @@ Pipelines: enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame outputs: [ImageWindow, RosTopic, RViz] connects: - - left: Image + - left: StandardCamera right: [ObjectDetection] - left: ObjectDetection right: [ImageWindow] diff --git a/sample/param/pipeline_segmentation_instance.yaml b/sample/param/pipeline_segmentation_instance.yaml new file mode 100644 index 00000000..96ab1c3d --- /dev/null +++ b/sample/param/pipeline_segmentation_instance.yaml @@ -0,0 +1,29 @@ +Pipelines: +- name: segmentation + inputs: [StandardCamera] + infers: + - name: ObjectSegmentationInstance + # for Yolov8 Seg models ----------------- + model: /opt/openvino_toolkit/models/convert/public/yolov8n-seg/FP32/yolov8n-seg.xml + model_type: yolo + label: /opt/openvino_toolkit/labels/object_detection/coco.names + # for maskrcnn inception resnet ----------------- + #model: /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP32/mask_rcnn_inception_resnet_v2_atrous_coco.xml + #model_type: maskrcnn + #label: /opt/openvino_toolkit/labels/object_segmentation/frozen_inference_graph.labels #for maskrcnn + #---------------------- + engine: CPU #"HETERO:CPU,GPU," #"HETERO:CPU,GPU,MYRIAD" + batch: 1 + confidence_threshold: 0.5 + outputs: [ImageWindow, RosTopic, RViz] + connects: + - left: StandardCamera + right: [ObjectSegmentationInstance] + - left: ObjectSegmentationInstance + right: [ImageWindow] + - left: ObjectSegmentationInstance + right: [RosTopic] + - left: ObjectSegmentationInstance + right: [RViz] + +Common: From aefe7af624fb05d50e11ad12cc0c77024f65eaea Mon Sep 17 00:00:00 2001 From: huangjiafengx Date: Thu, 29 Jun 2023 14:43:34 +0800 Subject: [PATCH 29/40] Fixing the storage no enough for github action (#299) * Fixing the storage no enough for github action Signed-off-by: huangjiafengx * Enable the yolov8n test for github CI Signed-off-by: huangjiafengx * Adding the yolov8n-seg for github action CI 1. The topic for /ros2_openvino_toolkit/segmented_obejcts no output. 2. Firstly annotating the case and waitting the topic has output Signed-off-by: huangjiafengx --------- Signed-off-by: huangjiafengx --- .../ros2_openvino_toolkit_test/Dockerfile | 68 ------------------- .../ros2_openvino_toolkit_test/docker_run.sh | 9 +-- .../ros2_openvino_tool_model_download.sh | 3 +- .../test_cases/run.sh | 2 + .../test_cases/unittest/run_all.py | 6 +- .../test_cases/unittest/test_cases.py | 19 +++++- .../test_cases/yolov8_model_download.sh | 24 +++++++ .github/workflows/basic_func_tests.yml | 29 +++++--- docker/Dockerfile | 49 +++++-------- ...t.py => pipeline_object_yolov5_ci_test.py} | 2 +- .../launch/pipeline_object_yolov8_ci_test.py | 51 ++++++++++++++ .../pipeline_segmentation_instance_ci_test.py | 55 +++++++++++++++ ...ci.yaml => pipeline_object_yolov5_ci.yaml} | 0 sample/param/pipeline_object_yolov8_ci.yaml | 21 ++++++ ...e_segmentation_instance_yolov8_seg_ci.yaml | 24 +++++++ 15 files changed, 243 insertions(+), 119 deletions(-) delete mode 100644 .ci_local_test/ros2_openvino_toolkit_test/Dockerfile create mode 100755 .ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh rename sample/launch/{pipeline_object_yolo_ci_test.py => pipeline_object_yolov5_ci_test.py} (99%) create mode 100644 sample/launch/pipeline_object_yolov8_ci_test.py create mode 100644 sample/launch/pipeline_segmentation_instance_ci_test.py rename sample/param/{pipeline_object_yolo_ci.yaml => pipeline_object_yolov5_ci.yaml} (100%) create mode 100644 sample/param/pipeline_object_yolov8_ci.yaml create mode 100644 sample/param/pipeline_segmentation_instance_yolov8_seg_ci.yaml diff --git a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile deleted file mode 100644 index 57df6247..00000000 --- a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile +++ /dev/null @@ -1,68 +0,0 @@ -# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80 - -ARG ROS_PRE_INSTALLED_PKG -FROM osrf/ros:${ROS_PRE_INSTALLED_PKG} -ARG VERSION - -# setting proxy env --option -# If needed, enable the below ENV setting by correct proxies. -# ENV HTTP_PROXY="your_proxy" -# ENV HTTPS_PROXY="your_proxy" -# ENV FTP_PROXY="your_proxy" - -# author information -LABEL author="Jiawei Wu " - -# default shell type -SHELL ["/bin/bash", "-c"] - -# ignore the warning -ARG DEBIAN_FRONTEND=noninteractive -ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 -RUN apt-get update && apt-get install --assume-yes apt-utils - -# install openvino 2022.3 -# https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html -RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release -RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \ -apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list -RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0 - -# install librealsense2 -RUN apt-get install -y --no-install-recommends \ -software-properties-common -# https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md -# Make sure you set http-proxy in below commands if your environment needs. -# RUN apt-key adv --keyserver-options http-proxy=your_proxy --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options http-proxy=your_proxy --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE -RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE -RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ -&& apt-get install -y --no-install-recommends \ -librealsense2-dkms \ -librealsense2-utils \ -librealsense2-dev \ -librealsense2-dbg \ -libgflags-dev \ -libboost-all-dev \ -&& rm -rf /var/lib/apt/lists/* - -# other dependencies -RUN apt-get update && apt-get install -y python3-pip && python3 -m pip install -U \ -numpy \ -networkx \ -pyyaml \ -requests \ -&& apt-get install -y --no-install-recommends libboost-all-dev -WORKDIR /usr/lib/x86_64-linux-gnu -RUN pip install --upgrade pip -RUN pip install openvino-dev[tensorflow2]==2022.3 - -# build ros2 openvino toolkit -WORKDIR /root -RUN mkdir -p catkin_ws/src -WORKDIR /root/catkin_ws/src -RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \ -&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git -RUN apt-get install ros-${VERSION}-diagnostic-updater -WORKDIR /root/catkin_ws -RUN source /opt/ros/${VERSION}/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release - diff --git a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh index 956ded09..91a19139 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh @@ -20,15 +20,16 @@ function run_container() { then docker rm -f ros2_openvino_container fi + + # Removing some docker image .. # Using jenkins server ros2_openvino_toolkit code instead of git clone code. - cd $work_dir && sed -i '/ros2_openvino_toolkit.git/d' Dockerfile - # remove the "\" - cd $work_dir && sed -i 's#ros2_object_msgs.git \\#ros2_object_msgs.git#' Dockerfile + cd $work_dir && sed -i '/RUN git clone -b ros2/d' Dockerfile # add the jpg for test. cd $work_dir && sed -i '$i COPY jpg /root/jpg' Dockerfile cd $work_dir && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic -t ros2_openvino_docker:01 . - docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v /tmp/.X11-unix:/tmp/.X11-unix -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic" + cd $work_dir && docker images + docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic" } diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh index 4ff107b6..e2678f36 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh @@ -5,7 +5,7 @@ mkdir -p /opt/openvino_toolkit/models apt install -y python3.8-venv cd ~ && python3 -m venv openvino_env && source openvino_env/bin/activate python -m pip install --upgrade pip -pip install openvino-dev[tensorflow2,mxnet,caffe] +pip install openvino-dev[tensorflow2,onnx]==2022.3 #Download the optimized Intermediate Representation (IR) of model (execute once) @@ -26,4 +26,5 @@ mkdir -p /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrou cp /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/* /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/ cd /root/test_cases/ && ./yolov5_model_download.sh +cd /root/test_cases/ && ./yolov8_model_download.sh diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh index 844fefc6..d13dd828 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh @@ -27,6 +27,8 @@ cd /root/test_cases/unittest && python3 run_all.py result=$? #echo "cat segmentation maskrcnn" #cat /root/test_cases/log/pipeline_segmentation_maskrcnn_test_ci.log + +echo "Test ENV:" && df -h && free -g if [ $result -ne 0 ] then exit -1 diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py index 279dcf78..09e05d3f 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py @@ -13,8 +13,10 @@ def main(): Test_Cases('test_4_pipeline_segmentation_ci'), Test_Cases('test_5_pipeline_vehicle_detection_ci'), Test_Cases('test_6_pipeline_person_attributes_ci'), - Test_Cases('test_7_pipeline_segmentation_image_ci')] - #Test_Cases('test_8_pipeline_object_yolo_ci')] + Test_Cases('test_7_pipeline_segmentation_image_ci'), + Test_Cases('test_8_pipeline_object_yolov5_ci'), + Test_Cases('test_9_pipeline_object_yolov8_ci')] + #Test_Cases('test_10_pipeline_segmentation_instance_ci')] suite.addTests(all_cases) with (open('./result.html', 'wb')) as fp: diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py index 71b83fcd..a9bbb34b 100755 --- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py @@ -85,12 +85,25 @@ def test_7_pipeline_segmentation_image_ci(self): log_file = f"/root/test_cases/log/pipeline_segmentation_image_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) - def test_8_pipeline_object_yolo_ci(self): + def test_8_pipeline_object_yolov5_ci(self): topic_ls = ["/ros2_openvino_toolkit/detected_objects"] - launch_file = f"pipeline_object_yolo_ci_test.py" - log_file = f"/root/test_cases/log/pipeline_object_yolo_test_ci.log" + launch_file = f"pipeline_object_yolov5_ci_test.py" + log_file = f"/root/test_cases/log/pipeline_object_yolov5_test_ci.log" self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + def test_9_pipeline_object_yolov8_ci(self): + topic_ls = ["/ros2_openvino_toolkit/detected_objects"] + launch_file = f"pipeline_object_yolov8_ci_test.py" + log_file = f"/root/test_cases/log/pipeline_object_yolov8_test_ci.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + def test_10_pipeline_segmentation_instance_ci(self): + topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] + launch_file = f"pipeline_segmentation_instance_ci_test.py" + log_file = f"/root/test_cases/log/pipeline_segmentation_instance.log" + self.test_pipeline(launch_file, log_file, topic_list=topic_ls) + + @unittest.skip("skip case") def test_9_pipeline_segmentation_maskrcnn_ci(self): topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"] diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh new file mode 100755 index 00000000..a3879291 --- /dev/null +++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh @@ -0,0 +1,24 @@ +#!/bin/bash + +#Pip install the ultralytics package including all requirements in a Python>=3.7 environment with PyTorch>=1.7. + +mkdir -p yolov8 && cd yolov8 +pip install ultralytics +apt install python3.8-venv +python3 -m venv openvino_env +source openvino_env/bin/activate + + +#Export a YOLOv8n model to a different format like ONNX, CoreML, etc. +# export official model +yolo export model=yolov8n.pt format=openvino +yolo export model=yolov8n-seg.pt format=openvino + + +# Move to the Recommended Model Path +mkdir -p /opt/openvino_toolkit/models/convert/public/FP32/yolov8n +mkdir -p /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg + +cp yolov8n_openvino_model/* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n +cp yolov8n-seg_openvino_model/* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg + diff --git a/.github/workflows/basic_func_tests.yml b/.github/workflows/basic_func_tests.yml index d94a5357..b051dd5a 100644 --- a/.github/workflows/basic_func_tests.yml +++ b/.github/workflows/basic_func_tests.yml @@ -15,22 +15,35 @@ on: # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: + # Removed the old artifacts + remove-old-artifacts: + runs-on: ubuntu-20.04 + timeout-minutes: 10 + steps: + - name: Remove old artifacts + uses: c-hive/gha-remove-artifacts@v1 + with: + age: '15 days' # This workflow contains a single job called "build" build: # The type of runner that the job will run on runs-on: ubuntu-20.04 - # Steps represent a sequence of tasks that will be executed as part of the job steps: # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it - uses: actions/checkout@v3 - # Runs a set of commands using the runners shell - name: ros2_openvino_toolkit_test run: | - pwd - mkdir -p ../workspace_ci - cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace_ci - \cp ${GITHUB_WORKSPACE}/docker/Dockerfile ../workspace_ci/ros2_openvino_toolkit_test/Dockerfile - cp -r ${GITHUB_WORKSPACE} ../workspace_ci/ros2_openvino_toolkit_test - cd ../workspace_ci/ros2_openvino_toolkit_test && ./docker_run.sh + df -h + sudo docker rmi $(docker image ls -aq) || true + sudo swapoff /swapfile || true + sudo rm -rf /usr/share/dotnet /usr/local/lib/android /opt/ghc || true + mkdir -p ../workspace + cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace + cp -r ${GITHUB_WORKSPACE} ../workspace/ros2_openvino_toolkit_test + ls ${GITHUB_WORKSPACE}/docker/Dockerfile + cp ${GITHUB_WORKSPACE}/docker/Dockerfile ../workspace/ros2_openvino_toolkit_test + ls ../workspace/ros2_openvino_toolkit_test/Dockerfile + cd ../workspace/ros2_openvino_toolkit_test && ./docker_run.sh + diff --git a/docker/Dockerfile b/docker/Dockerfile index 5a53d585..2ee938b7 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -1,41 +1,26 @@ -# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80 - ARG ROS_PRE_INSTALLED_PKG FROM osrf/ros:${ROS_PRE_INSTALLED_PKG} ARG VERSION -# setting proxy env --option -# If needed, enable the below ENV setting by correct proxies. -# ENV HTTP_PROXY="your_proxy" -# ENV HTTPS_PROXY="your_proxy" -# ENV FTP_PROXY="your_proxy" - -# author information -LABEL author="Jiawei Wu " - -# default shell type SHELL ["/bin/bash", "-c"] # ignore the warning ARG DEBIAN_FRONTEND=noninteractive ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 -RUN apt-get update && apt-get install --assume-yes apt-utils # install openvino 2022.3 # https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html -RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release -RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \ -apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list -RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0 +RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release \ +&& wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \ +apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list && \ +apt update && apt-cache search openvino && apt install -y openvino-2022.3.0 + # install librealsense2 RUN apt-get install -y --no-install-recommends \ -software-properties-common -# https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md -# Make sure you set http-proxy in below commands if your environment needs. -# RUN apt-key adv --keyserver-options http-proxy=your_proxy --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options http-proxy=your_proxy --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE -RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE -RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ +software-properties-common \ +&& apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \ +&& add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ && apt-get install -y --no-install-recommends \ librealsense2-dkms \ librealsense2-utils \ @@ -51,17 +36,17 @@ numpy \ networkx \ pyyaml \ requests \ -&& apt-get install -y --no-install-recommends libboost-all-dev -WORKDIR /usr/lib/x86_64-linux-gnu -RUN pip install --upgrade pip - +&& apt-get install --assume-yes apt-utils \ +&& apt-get install -y --no-install-recommends libboost-all-dev \ +&& apt-get install ros-${VERSION}-diagnostic-updater \ +&& pip install --upgrade pip +RUN cd /usr/lib/x86_64-linux-gnu && ln -sf libboost_python-py36.so libboost_python37.so +COPY jpg /root/jpg # build ros2 openvino toolkit -WORKDIR /root -RUN mkdir -p catkin_ws/src +RUN cd /root && mkdir -p catkin_ws/src && cd /root/catkin_ws/src \ +&& git clone https://github.com/intel/ros2_object_msgs.git WORKDIR /root/catkin_ws/src -RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \ -&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git -RUN apt-get install ros-${VERSION}-diagnostic-updater +RUN git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git WORKDIR /root/catkin_ws RUN source /opt/ros/${VERSION}/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/sample/launch/pipeline_object_yolo_ci_test.py b/sample/launch/pipeline_object_yolov5_ci_test.py similarity index 99% rename from sample/launch/pipeline_object_yolo_ci_test.py rename to sample/launch/pipeline_object_yolov5_ci_test.py index 083ed88d..cceaa362 100644 --- a/sample/launch/pipeline_object_yolo_ci_test.py +++ b/sample/launch/pipeline_object_yolov5_ci_test.py @@ -30,7 +30,7 @@ def generate_launch_description(): 'rviz/default.rviz') return LaunchDescription([ launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = - os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo_ci.yaml')), + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolov5_ci.yaml')), # Openvino detection launch_ros.actions.Node( package='openvino_node', diff --git a/sample/launch/pipeline_object_yolov8_ci_test.py b/sample/launch/pipeline_object_yolov8_ci_test.py new file mode 100644 index 00000000..4d79a599 --- /dev/null +++ b/sample/launch/pipeline_object_yolov8_ci_test.py @@ -0,0 +1,51 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_object_yolo.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolov8_ci.yaml')), + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/object/detected_objects', + '/ros2_openvino_toolkit/detected_objects'), + ('/openvino_toolkit/object/images', + '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + #package='rviz2', + #executable='rviz2', output='screen', + #arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/launch/pipeline_segmentation_instance_ci_test.py b/sample/launch/pipeline_segmentation_instance_ci_test.py new file mode 100644 index 00000000..08f13803 --- /dev/null +++ b/sample/launch/pipeline_segmentation_instance_ci_test.py @@ -0,0 +1,55 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +"""Launch face detection and rviz.""" + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +import launch_ros.actions + +from launch.substitutions import LaunchConfiguration, PythonExpression +import launch + +def generate_launch_description(): + #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param', + #'pipeline_segmentation.yaml') + default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch', + 'rviz/default.rviz') + return LaunchDescription([ + launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = + os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_instance_yolov8_seg_ci.yaml')), + # Realsense + # NOTE: Split realsense_node launching from OpenVINO package, which + # will be launched by RDK launching file or manually. + + # Openvino detection + launch_ros.actions.Node( + package='openvino_node', + executable='pipeline_with_params', + arguments=['-config', LaunchConfiguration('yaml_path')], + remappings=[ + ('/openvino_toolkit/image_raw', '/camera/color/image_raw'), + ('/openvino_toolkit/segmentation/segmented_obejcts', + '/ros2_openvino_toolkit/segmented_obejcts'), + ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')], + output='screen'), + + # Rviz + #launch_ros.actions.Node( + # package='rviz2', + # executable='rviz2', output='screen', + # arguments=['--display-config', default_rviz]), + ]) diff --git a/sample/param/pipeline_object_yolo_ci.yaml b/sample/param/pipeline_object_yolov5_ci.yaml similarity index 100% rename from sample/param/pipeline_object_yolo_ci.yaml rename to sample/param/pipeline_object_yolov5_ci.yaml diff --git a/sample/param/pipeline_object_yolov8_ci.yaml b/sample/param/pipeline_object_yolov8_ci.yaml new file mode 100644 index 00000000..37b6ad91 --- /dev/null +++ b/sample/param/pipeline_object_yolov8_ci.yaml @@ -0,0 +1,21 @@ +Pipelines: +- name: object + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + infers: + - name: ObjectDetection + model: /opt/openvino_toolkit/models/convert/public/FP32/yolov8n/yolov8n.xml + model_type: yolov8 + engine: CPU #MYRIAD + label: to/be/set/xxx.labels + batch: 1 + confidence_threshold: 0.5 + enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame + outputs: [RosTopic] + connects: + - left: Image + right: [ObjectDetection] + - left: ObjectDetection + right: [RosTopic] + +OpenvinoCommon: diff --git a/sample/param/pipeline_segmentation_instance_yolov8_seg_ci.yaml b/sample/param/pipeline_segmentation_instance_yolov8_seg_ci.yaml new file mode 100644 index 00000000..ffc3f276 --- /dev/null +++ b/sample/param/pipeline_segmentation_instance_yolov8_seg_ci.yaml @@ -0,0 +1,24 @@ +Pipelines: +- name: segmentation + inputs: [Image] + input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg + + infers: + - name: ObjectSegmentationInstance + # for Yolov8 Seg models ----------------- + model: /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg/yolov8n-seg.xml + model_type: yolov8 + label: /opt/openvino_toolkit/labels/object_detection/coco.names + engine: CPU #"HETERO:CPU,GPU," #"HETERO:CPU,GPU,MYRIAD" + batch: 1 + confidence_threshold: 0.5 + outputs: [RosTopic] + connects: + - left: Image + right: [ObjectSegmentationInstance] + - left: ObjectSegmentationInstance + right: [ImageWindow] + - left: ObjectSegmentationInstance + right: [RosTopic] + +Common: From 02dba20582ccd77d3008397d54916ea3a8c37902 Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Mon, 3 Jul 2023 14:44:26 +0800 Subject: [PATCH 30/40] fix no detection object displayed in maskrcnn-seg model Signed-off-by: Liu, Wei Zhi --- ...object_segmentation_instance_maskrcnn_model.cpp | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp index 531f5971..128549d7 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp @@ -193,16 +193,24 @@ bool Models::ObjectSegmentationInstanceMaskrcnnModel::fetchResults( float y1 = std::min(std::max(0.0f, box_info[4] * iH), static_cast(iH)) * ry; float x2 = std::min(std::max(0.0f, box_info[5] * iW), static_cast(iW)) * rx; float y2 = std::min(std::max(0.0f, box_info[6] * iH), static_cast(iH)) * ry; + auto fSize = getFrameSize(); + if ((int)x2 >= fSize.width){ + x2 = fSize.width-2; + } + if ((int)y2 >= fSize.height){ + x2 = fSize.height-2; + } int box_width = static_cast(x2 - x1); int box_height = static_cast(y2 - y1); slog::debug << "Box[" << box_width << "x" << box_height << "]" << slog::endl; if (box_width <= 0 || box_height <=0) break; int class_id = static_cast(box_info[1] + 1e-6f); float * mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); - slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch - << ": [" << x1 << ", " << y1 << "], [" << x2 << ", " << y2 << "]" << slog::endl; cv::Mat mask_mat(H, W, CV_32FC1, mask_arr); - cv::Rect roi = cv::Rect(static_cast(x1), static_cast(y1), box_width, box_height); + cv::Rect roi = cv::Rect(static_cast(x1), static_cast(y1), box_width, box_height) + /*& cv::Rect({0, 0}, getFrameSize()-cv::Size{2, 2})*/; + slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch + << ": " << roi << slog::endl; cv::Mat resized_mask_mat(box_height, box_width, CV_32FC1); cv::resize(mask_mat, resized_mask_mat, cv::Size(box_width, box_height)); Result result(roi); From 6702e621bfbd5e4a46dab1567bd4f70341aeeb0a Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Mon, 3 Jul 2023 14:48:47 +0800 Subject: [PATCH 31/40] use input-device's header (rather LockedHeader) as topic header. Signed-off-by: Liu, Wei Zhi --- openvino_wrapper_lib/src/outputs/ros_topic_output.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp index 3cd16eb8..3bda3a37 100644 --- a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp @@ -348,7 +348,7 @@ void Outputs::RosTopicOutput::accept(const std::vectorgetInputDevice()->getLockedHeader(); + auto header = getPipeline()->getInputDevice()->getHeader(); if (vehicle_attribs_topic_ != nullptr) { vehicle_attribs_topic_->header = header; pub_vehicle_attribs_->publish(*vehicle_attribs_topic_); From 4a5da29eb5571b2faf214ec9300e3bd158d64d2b Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Mon, 3 Jul 2023 14:52:30 +0800 Subject: [PATCH 32/40] specify device node info for StandardCamera input. e.g. in pipelie YAML config file: Pipelines: - name: object inputs: [StandardCamera] input_path: /dev/video0 ... Signed-off-by: Liu, Wei Zhi Signed-off-by: Fan,Tao --- openvino_param_lib/src/param_manager.cpp | 1 + .../inputs/standard_camera.hpp | 2 ++ .../src/inputs/standard_camera.cpp | 28 ++++++++++++++----- openvino_wrapper_lib/src/pipeline_manager.cpp | 2 +- 4 files changed, 25 insertions(+), 8 deletions(-) diff --git a/openvino_param_lib/src/param_manager.cpp b/openvino_param_lib/src/param_manager.cpp index bebf3d7f..b6286c65 100644 --- a/openvino_param_lib/src/param_manager.cpp +++ b/openvino_param_lib/src/param_manager.cpp @@ -180,6 +180,7 @@ void ParamManager::print() const slog::info << i.c_str() << ", "; } slog::info << slog::endl; + slog::info << "\tInput_Meta: " << pipeline.input_meta << slog::endl; slog::info << "\tOutputs: "; for (auto & i : pipeline.outputs) { diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp index d5924551..cc2a7195 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp @@ -40,6 +40,7 @@ namespace Input class StandardCamera : public BaseInputDevice { public: + StandardCamera(const std::string & camera=""); /** * @brief Initialize the input device, * for cameras, it will turn the camera on and get ready to read frames, @@ -62,6 +63,7 @@ class StandardCamera : public BaseInputDevice int getCameraId(); cv::VideoCapture cap; int camera_id_ = -1; + std::string device_path_; }; } // namespace Input #endif // OPENVINO_WRAPPER_LIB__INPUTS__STANDARD_CAMERA_HPP_ diff --git a/openvino_wrapper_lib/src/inputs/standard_camera.cpp b/openvino_wrapper_lib/src/inputs/standard_camera.cpp index 8b25f717..8579294b 100644 --- a/openvino_wrapper_lib/src/inputs/standard_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/standard_camera.cpp @@ -18,6 +18,11 @@ */ #include "openvino_wrapper_lib/inputs/standard_camera.hpp" +Input::StandardCamera::StandardCamera(const std::string & camera) +: device_path_(camera) +{ +} + bool Input::StandardCamera::initialize() { return initialize(640, 480); @@ -25,14 +30,23 @@ bool Input::StandardCamera::initialize() bool Input::StandardCamera::initialize(size_t width, size_t height) { - auto id = getCameraId(); - setInitStatus(cap.open(id)); - cap.set(cv::CAP_PROP_FRAME_WIDTH, width); - cap.set(cv::CAP_PROP_FRAME_HEIGHT, height); - setWidth(width); - setHeight(height); + bool init = false; + if(!device_path_.empty()){ + init = cap.open(device_path_); + } + if (init == false){ + auto id = getCameraId(); + init = cap.open(id); + } - return isInit(); + if(init){ + cap.set(cv::CAP_PROP_FRAME_WIDTH, width); + cap.set(cv::CAP_PROP_FRAME_HEIGHT, height); + setWidth(width); + setHeight(height); + setInitStatus(true); + } + return init; } bool Input::StandardCamera::read(cv::Mat * frame) diff --git a/openvino_wrapper_lib/src/pipeline_manager.cpp b/openvino_wrapper_lib/src/pipeline_manager.cpp index 18106cdf..221892eb 100644 --- a/openvino_wrapper_lib/src/pipeline_manager.cpp +++ b/openvino_wrapper_lib/src/pipeline_manager.cpp @@ -133,7 +133,7 @@ PipelineManager::parseInputDevice(const PipelineData & pdata) if (name == kInputType_RealSenseCamera) { device = std::make_shared(); } else if (name == kInputType_StandardCamera) { - device = std::make_shared(); + device = std::make_shared(pdata.params.input_meta); } else if (name == kInputType_IpCamera) { if (pdata.params.input_meta != "") { device = std::make_shared(pdata.params.input_meta); From 158fc0d0707326502c39db80830ec43a59bd2cf9 Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Tue, 4 Jul 2023 10:01:34 +0800 Subject: [PATCH 33/40] fix yolov8-seg model crash. Signed-off-by: Liu, Wei Zhi --- .../models/object_segmentation_instance_model.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp index 47293bdf..c5c9a6bf 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp @@ -255,9 +255,18 @@ bool Models::ObjectSegmentationInstanceModel::fetchResults( cv::Rect vrec(vx, vy, vw, vh); slog::debug << "Detection Rectangle in Input Tensor Size: " << vrec << slog::endl; - const int det_bb_w = vw*rx; - const int det_bb_h = vh*ry; - cv::Rect det_bb(vx*rx, vy*ry, det_bb_w, det_bb_h); + const int det_bb_x = vx*rx; + const int det_bb_y = vy*ry; + const auto frame_size = getFrameSize(); + int det_bb_w = vw*rx; + int det_bb_h = vh*ry; + if (det_bb_w+det_bb_x >= frame_size.width){ + det_bb_w = std::max(0, frame_size.width - det_bb_x - 2); + } + if (det_bb_h+det_bb_y >= frame_size.height){ + det_bb_h = std::max(0, frame_size.height - det_bb_y -2); + } + cv::Rect det_bb(det_bb_x, det_bb_y, det_bb_w, det_bb_h); slog::debug << "Detection Rectangle in Input Image Size: " << det_bb << slog::endl; Result result(det_bb); result.setConfidence(confidences[idx]); From 310631ca4ca35e92089532e23d1529f55536c345 Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Tue, 4 Jul 2023 10:02:17 +0800 Subject: [PATCH 34/40] add rviz output for instance segmentation. Signed-off-by: Liu, Wei Zhi --- .../include/openvino_wrapper_lib/outputs/rviz_output.hpp | 6 ++++++ openvino_wrapper_lib/src/outputs/rviz_output.cpp | 6 ++++++ 2 files changed, 12 insertions(+) diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp index 6711fab6..eca91266 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp @@ -97,6 +97,12 @@ class RvizOutput : public BaseOutput * @param[in] results A bundle of object segmentation maskrcnn results. */ void accept(const std::vector &) override; + /** + * @brief Generate image window output content according to + * the object segmentation instance result. + * @param[in] An obejct segmentation result objetc. + */ + void accept(const std::vector &) override; /** * @brief Generate rviz output content according to * the emotion detection result. diff --git a/openvino_wrapper_lib/src/outputs/rviz_output.cpp b/openvino_wrapper_lib/src/outputs/rviz_output.cpp index f35e6414..5d70b9f1 100644 --- a/openvino_wrapper_lib/src/outputs/rviz_output.cpp +++ b/openvino_wrapper_lib/src/outputs/rviz_output.cpp @@ -91,6 +91,12 @@ void Outputs::RvizOutput::accept( image_window_output_->accept(results); } +void Outputs::RvizOutput::accept( + const std::vector & results) +{ + image_window_output_->accept(results); +} + void Outputs::RvizOutput::accept(const std::vector & results) { image_window_output_->accept(results); From 320f482a7262ec415e088d7b67bfab96fe0ecbcf Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Thu, 6 Jul 2023 17:28:31 +0800 Subject: [PATCH 35/40] add design pictures. 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zOl5Id+R?N>BmQ~%u>d-GqLCbBvk}J>TJtSsA|1!IbhXGH)sw-C*Yjz4DZlIT^o#Ni z^;UEm`MJU>ch)b6h<8#-Ic1n<$ljreRn_M7+D*Z*EFo2~mX wZG1&IuCHJA+hyr7eYC9{AAGl1Uo*2m14$MLBrrB|IsgCw07*qoM6N<$f-B<4lmGw# literal 0 HcmV?d00001 From e0c87e105df89d1392050c9b8ee4bade739587f6 Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Fri, 15 Sep 2023 16:56:37 +0800 Subject: [PATCH 36/40] add github actions for code format checking. Signed-off-by: Liu, Wei Zhi --- .clang-format | 65 +++++++++++++++++++++++++++++++ .github/workflows/code_format.yml | 40 +++++++++++++++++++ 2 files changed, 105 insertions(+) create mode 100644 .clang-format create mode 100644 .github/workflows/code_format.yml diff --git a/.clang-format b/.clang-format new file mode 100644 index 00000000..aa8a2aff --- /dev/null +++ b/.clang-format @@ -0,0 +1,65 @@ +--- +BasedOnStyle: Google +AccessModifierOffset: -2 +ConstructorInitializerIndentWidth: 2 +AlignEscapedNewlinesLeft: false +AlignTrailingComments: true +AllowAllParametersOfDeclarationOnNextLine: false +AllowShortIfStatementsOnASingleLine: false +AllowShortLoopsOnASingleLine: false +AllowShortFunctionsOnASingleLine: None +AlwaysBreakTemplateDeclarations: true +AlwaysBreakBeforeMultilineStrings: true +BreakBeforeBinaryOperators: false +BreakBeforeTernaryOperators: false +BreakConstructorInitializersBeforeComma: true +BinPackParameters: true +ColumnLimit: 120 +ConstructorInitializerAllOnOneLineOrOnePerLine: true +DerivePointerBinding: false +PointerBindsToType: true +ExperimentalAutoDetectBinPacking: false +IndentCaseLabels: true +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCSpaceBeforeProtocolList: true +PenaltyBreakBeforeFirstCallParameter: 19 +PenaltyBreakComment: 60 +PenaltyBreakString: 1 +PenaltyBreakFirstLessLess: 1000 +PenaltyExcessCharacter: 1000 +PenaltyReturnTypeOnItsOwnLine: 90 +SpacesBeforeTrailingComments: 2 +Cpp11BracedListStyle: false +Standard: Auto +IndentWidth: 2 +TabWidth: 2 +UseTab: Never +IndentFunctionDeclarationAfterType: false +SpacesInParentheses: false +SpacesInAngles: false +SpaceInEmptyParentheses: false +SpacesInCStyleCastParentheses: false +SpaceAfterControlStatementKeyword: true +SpaceBeforeAssignmentOperators: true +ContinuationIndentWidth: 4 +SortIncludes: false +SpaceAfterCStyleCast: false + +# Configure each individual brace in BraceWrapping +BreakBeforeBraces: Custom + +# Control of individual brace wrapping cases +BraceWrapping: { + AfterClass: 'true' + AfterControlStatement: 'false' + AfterEnum : 'true' + AfterFunction : 'true' + AfterNamespace : 'true' + AfterStruct : 'true' + AfterUnion : 'true' + BeforeCatch : 'false' + BeforeElse : 'false' + IndentBraces : 'false' +} +... diff --git a/.github/workflows/code_format.yml b/.github/workflows/code_format.yml new file mode 100644 index 00000000..83e580d1 --- /dev/null +++ b/.github/workflows/code_format.yml @@ -0,0 +1,40 @@ + +name: Code_Format_Check + +# Controls when the workflow will run +on: + # Triggers the workflow on push or pull request events but only for the "master" branch + push: + branches: [ "master", "ros2" ] + pull_request: + branches: [ "master", "ros2" ] + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # Removed the old artifacts + remove-old-artifacts: + runs-on: ubuntu-22.04 + timeout-minutes: 10 + steps: + - name: Remove old artifacts + uses: c-hive/gha-remove-artifacts@v1 + with: + age: '15 days' + pre-commit: + # The type of runner that the job will run on + runs-on: ubuntu-22.04 + # Steps represent a sequence of tasks that will be executed as part of the job + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v3 + # Runs a set of commands using the runners shell + - name: code_format_check + run: | + sudo apt-get install clang-format -y + find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format -i -style=file + git diff --exit-code + + From 662b9768683ba909b7652517dc641f7e7c9ba0bd Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Wed, 27 Sep 2023 14:37:04 +0800 Subject: [PATCH 37/40] update code format with clang-format checking Signed-off-by: Liu, Wei Zhi --- .../openvino_param_lib/param_manager.hpp | 8 +- .../include/openvino_param_lib/slog.hpp | 116 ++-- openvino_param_lib/src/param_manager.cpp | 85 ++- .../openvino_wrapper_lib/engines/engine.hpp | 10 +- .../engines/engine_manager.hpp | 20 +- .../inferences/age_gender_detection.hpp | 11 +- .../inferences/base_filter.hpp | 97 ++- .../inferences/base_inference.hpp | 42 +- .../inferences/base_reidentification.hpp | 11 +- .../inferences/emotions_detection.hpp | 11 +- .../inferences/face_detection.hpp | 2 +- .../inferences/face_reidentification.hpp | 16 +- .../inferences/head_pose_detection.hpp | 11 +- .../inferences/inference_manager.hpp | 59 +- .../inferences/landmarks_detection.hpp | 11 +- .../inferences/license_plate_detection.hpp | 96 ++- .../inferences/object_detection.hpp | 34 +- .../inferences/object_segmentation.hpp | 28 +- .../object_segmentation_instance.hpp | 24 +- .../object_segmentation_maskrcnn.hpp | 28 +- .../inferences/person_attribs_detection.hpp | 23 +- .../inferences/person_reidentification.hpp | 16 +- .../inferences/vehicle_attribs_detection.hpp | 17 +- .../inputs/base_input.hpp | 12 +- .../inputs/image_input.hpp | 6 +- .../inputs/image_topic.hpp | 2 +- .../openvino_wrapper_lib/inputs/ip_camera.hpp | 6 +- .../inputs/realsense_camera.hpp | 2 +- .../inputs/ros2_handler.hpp | 9 +- .../inputs/standard_camera.hpp | 6 +- .../inputs/video_input.hpp | 4 +- .../models/attributes/base_attribute.hpp | 94 +-- .../models/base_model.hpp | 249 ++++---- .../models/emotion_detection_model.hpp | 2 +- .../models/face_detection_model.hpp | 4 +- .../models/face_reidentification_model.hpp | 12 +- .../models/head_pose_detection_model.hpp | 3 +- .../models/landmarks_detection_model.hpp | 12 +- .../models/license_plate_detection_model.hpp | 22 +- .../models/object_detection_ssd_model.hpp | 22 +- .../models/object_detection_yolov5_model.hpp | 27 +- .../models/object_detection_yolov8_model.hpp | 4 +- ...t_segmentation_instance_maskrcnn_model.hpp | 13 +- .../object_segmentation_instance_model.hpp | 17 +- .../object_segmentation_maskrcnn_model.hpp | 9 +- .../models/object_segmentation_model.hpp | 9 +- .../models/person_attribs_detection_model.hpp | 2 +- .../models/person_reidentification_model.hpp | 12 +- .../vehicle_attribs_detection_model.hpp | 17 +- .../outputs/base_output.hpp | 75 +-- .../outputs/image_window_output.hpp | 79 ++- .../outputs/ros_service_output.hpp | 9 +- .../outputs/ros_topic_output.hpp | 33 +- .../outputs/rviz_output.hpp | 50 +- .../include/openvino_wrapper_lib/pipeline.hpp | 29 +- .../openvino_wrapper_lib/pipeline_manager.hpp | 67 +-- .../openvino_wrapper_lib/pipeline_params.hpp | 14 +- .../services/frame_processing_server.hpp | 12 +- .../services/pipeline_processing_server.hpp | 14 +- .../include/openvino_wrapper_lib/slog.hpp | 116 ++-- .../openvino_wrapper_lib/utils/common.hpp | 551 +++++++++--------- .../utils/version_info.hpp | 35 +- openvino_wrapper_lib/src/engines/engine.cpp | 9 +- .../src/engines/engine_manager.cpp | 58 +- .../src/inferences/age_gender_detection.cpp | 31 +- .../src/inferences/base_filter.cpp | 59 +- .../src/inferences/base_inference.cpp | 4 +- .../src/inferences/base_reidentification.cpp | 39 +- .../src/inferences/emotions_detection.cpp | 47 +- .../src/inferences/face_detection.cpp | 10 +- .../src/inferences/face_reidentification.cpp | 47 +- .../src/inferences/head_pose_detection.cpp | 31 +- .../src/inferences/landmarks_detection.cpp | 49 +- .../inferences/license_plate_detection.cpp | 51 +- .../src/inferences/object_detection.cpp | 62 +- .../src/inferences/object_segmentation.cpp | 92 ++- .../object_segmentation_instance.cpp | 54 +- .../object_segmentation_maskrcnn.cpp | 88 ++- .../inferences/person_attribs_detection.cpp | 54 +- .../inferences/person_reidentification.cpp | 49 +- .../inferences/vehicle_attribs_detection.cpp | 48 +- .../src/inputs/image_input.cpp | 9 +- .../src/inputs/image_topic.cpp | 25 +- openvino_wrapper_lib/src/inputs/ip_camera.cpp | 3 +- .../src/inputs/realsense_camera.cpp | 15 +- .../src/inputs/standard_camera.cpp | 30 +- .../src/inputs/video_input.cpp | 4 +- .../src/models/age_gender_detection_model.cpp | 52 +- .../src/models/attributes/ssd_model_attr.cpp | 40 +- .../src/models/base_model.cpp | 94 ++- .../src/models/emotion_detection_model.cpp | 26 +- .../src/models/face_detection_model.cpp | 6 +- .../models/face_reidentification_model.cpp | 24 +- .../src/models/head_pose_detection_model.cpp | 31 +- .../src/models/landmarks_detection_model.cpp | 28 +- .../models/license_plate_detection_model.cpp | 18 +- .../src/models/object_detection_ssd_model.cpp | 86 ++- .../models/object_detection_yolov5_model.cpp | 125 ++-- .../models/object_detection_yolov8_model.cpp | 11 +- ...t_segmentation_instance_maskrcnn_model.cpp | 109 ++-- .../object_segmentation_instance_model.cpp | 281 +++++---- .../object_segmentation_maskrcnn_model.cpp | 153 +++-- .../src/models/object_segmentation_model.cpp | 128 ++-- .../models/person_attribs_detection_model.cpp | 23 +- .../models/person_reidentification_model.cpp | 18 +- .../vehicle_attribs_detection_model.cpp | 20 +- .../src/outputs/base_output.cpp | 4 +- .../src/outputs/image_window_output.cpp | 130 ++--- .../src/outputs/ros_service_output.cpp | 18 +- .../src/outputs/ros_topic_output.cpp | 98 ++-- .../src/outputs/rviz_output.cpp | 48 +- openvino_wrapper_lib/src/pipeline.cpp | 88 ++- openvino_wrapper_lib/src/pipeline_manager.cpp | 157 +++-- openvino_wrapper_lib/src/pipeline_params.cpp | 18 +- .../src/services/frame_processing_server.cpp | 36 +- .../services/pipeline_processing_server.cpp | 44 +- sample/include/utility.hpp | 14 +- sample/src/image_object_client.cpp | 34 +- sample/src/image_object_server.cpp | 14 +- sample/src/image_people_client.cpp | 38 +- sample/src/image_people_server.cpp | 14 +- sample/src/parameters.cpp | 16 +- sample/src/pipeline_composite.cpp | 17 +- sample/src/pipeline_with_params.cpp | 24 +- .../src/lib/unittest_createPipelineCheck.cpp | 32 +- tests/src/service/unittest_objectService.cpp | 25 +- tests/src/service/unittest_peopleService.cpp | 10 +- .../src/topic/unittest_faceDetectionCheck.cpp | 62 +- .../topic/unittest_face_reidentification.cpp | 52 +- tests/src/topic/unittest_imageCheck.cpp | 62 +- .../topic/unittest_objectDetectionCheck.cpp | 30 +- tests/src/topic/unittest_reidentification.cpp | 27 +- .../src/topic/unittest_segmentationCheck.cpp | 30 +- .../topic/unittest_vehicleDetectionCheck.cpp | 28 +- 134 files changed, 2739 insertions(+), 3109 deletions(-) diff --git a/openvino_param_lib/include/openvino_param_lib/param_manager.hpp b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp index 558d9359..476f3caa 100644 --- a/openvino_param_lib/include/openvino_param_lib/param_manager.hpp +++ b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp @@ -46,7 +46,7 @@ class ParamManager // singleton * The instance will be created when first call. * @return The reference of paramManager class. */ - static ParamManager & getInstance() + static ParamManager& getInstance() { static ParamManager manager_; return manager_; @@ -125,7 +125,7 @@ class ParamManager // singleton * @param[in] name: the name of the pipeline to be retrieved. * @return The pipeline paratmeters, or throw a loginc error. */ - PipelineRawData getPipeline(const std::string & name) const; + PipelineRawData getPipeline(const std::string& name) const; /** * @brief Retrieve common parameters. @@ -140,8 +140,8 @@ class ParamManager // singleton ParamManager() { } - ParamManager(ParamManager const &); - void operator=(ParamManager const &); + ParamManager(ParamManager const&); + void operator=(ParamManager const&); std::vector pipelines_; CommonRawData common_; diff --git a/openvino_param_lib/include/openvino_param_lib/slog.hpp b/openvino_param_lib/include/openvino_param_lib/slog.hpp index bf350394..d1fb8db4 100644 --- a/openvino_param_lib/include/openvino_param_lib/slog.hpp +++ b/openvino_param_lib/include/openvino_param_lib/slog.hpp @@ -27,33 +27,34 @@ namespace slog { #if 1 - enum COLOR { - RESET = 0, - BLUE = 1, - GREEN = 2, - YELLOW = 3, - RED = 4, - }; +enum COLOR +{ + RESET = 0, + BLUE = 1, + GREEN = 2, + YELLOW = 3, + RED = 4, +}; #else -//the following are UBUNTU/LINUX ONLY terminal color codes. -#define RESET "\033[0m" -#define BLACK "\033[30m" /* Black */ -#define RED "\033[31m" /* Red */ -#define GREEN "\033[32m" /* Green */ -#define YELLOW "\033[33m" /* Yellow */ -#define BLUE "\033[34m" /* Blue */ -#define MAGENTA "\033[35m" /* Magenta */ -#define CYAN "\033[36m" /* Cyan */ -#define WHITE "\033[37m" /* White */ -#define BOLDBLACK "\033[1m\033[30m" /* Bold Black */ -#define BOLDRED "\033[1m\033[31m" /* Bold Red */ -#define BOLDGREEN "\033[1m\033[32m" /* Bold Green */ -#define BOLDYELLOW "\033[1m\033[33m" /* Bold Yellow */ -#define BOLDBLUE "\033[1m\033[34m" /* Bold Blue */ -#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */ -#define BOLDCYAN "\033[1m\033[36m" /* Bold Cyan */ -#define BOLDWHITE "\033[1m\033[37m" /* Bold White */ +// the following are UBUNTU/LINUX ONLY terminal color codes. +#define RESET "\033[0m" +#define BLACK "\033[30m" /* Black */ +#define RED "\033[31m" /* Red */ +#define GREEN "\033[32m" /* Green */ +#define YELLOW "\033[33m" /* Yellow */ +#define BLUE "\033[34m" /* Blue */ +#define MAGENTA "\033[35m" /* Magenta */ +#define CYAN "\033[36m" /* Cyan */ +#define WHITE "\033[37m" /* White */ +#define BOLDBLACK "\033[1m\033[30m" /* Bold Black */ +#define BOLDRED "\033[1m\033[31m" /* Bold Red */ +#define BOLDGREEN "\033[1m\033[32m" /* Bold Green */ +#define BOLDYELLOW "\033[1m\033[33m" /* Bold Yellow */ +#define BOLDBLUE "\033[1m\033[34m" /* Bold Blue */ +#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */ +#define BOLDCYAN "\033[1m\033[36m" /* Bold Cyan */ +#define BOLDWHITE "\033[1m\033[37m" /* Bold White */ #endif /** @@ -74,7 +75,7 @@ static constexpr LogStreamEndLine endl; class LogStream { std::string _prefix; - std::ostream * _log_stream; + std::ostream* _log_stream; bool _new_line; int _color_id; @@ -83,9 +84,8 @@ class LogStream * @brief A constructor. Creates an LogStream object * @param prefix The prefix to print */ - LogStream(const std::string & prefix, std::ostream & log_stream, - const int color_id = -1) - : _prefix(prefix), _new_line(true), _color_id(color_id) + LogStream(const std::string& prefix, std::ostream& log_stream, const int color_id = -1) + : _prefix(prefix), _new_line(true), _color_id(color_id) { _log_stream = &log_stream; } @@ -94,12 +94,12 @@ class LogStream * @brief A stream output operator to be used within the logger * @param arg Object for serialization in the logger message */ - template - LogStream & operator<<(const T & arg) + template + LogStream& operator<<(const T& arg) { if (_new_line) { setLineColor(); - (*_log_stream) << "[ " << _prefix << " ] "; + (*_log_stream) << "[ " << _prefix << " ] "; _new_line = false; } @@ -108,7 +108,7 @@ class LogStream } // Specializing for LogStreamEndLine to support slog::endl - LogStream & operator<<(const LogStreamEndLine & arg) + LogStream& operator<<(const LogStreamEndLine& arg) { _new_line = true; resetLineColor(); @@ -118,28 +118,28 @@ class LogStream void setLineColor() { - switch(_color_id){ - case BLUE: - (*_log_stream) << "\033[34m"; - break; - case GREEN: - (*_log_stream) << "\033[32m"; - break; - case YELLOW: - (*_log_stream) << "\033[33m"; - break; - case RED: - (*_log_stream) << "\033[31m"; - break; - default: - break; - } + switch (_color_id) { + case BLUE: + (*_log_stream) << "\033[34m"; + break; + case GREEN: + (*_log_stream) << "\033[32m"; + break; + case YELLOW: + (*_log_stream) << "\033[33m"; + break; + case RED: + (*_log_stream) << "\033[31m"; + break; + default: + break; + } } void resetLineColor() { - if(_color_id > 0){ - (*_log_stream) << "\033[0m"; //RESET + if (_color_id > 0) { + (*_log_stream) << "\033[0m"; // RESET } } }; @@ -147,25 +147,27 @@ class LogStream class NullStream { public: - NullStream(){} + NullStream() + { + } - NullStream(const std::string & prefix, std::ostream & log_stream) + NullStream(const std::string& prefix, std::ostream& log_stream) { (void)prefix; (void)log_stream; } - template - NullStream & operator<<(const T & arg) + template + NullStream& operator<<(const T& arg) { return *this; } }; #ifdef LOG_LEVEL_DEBUG - static LogStream debug("DEBUG", std::cout, GREEN); +static LogStream debug("DEBUG", std::cout, GREEN); #else - static NullStream debug; +static NullStream debug; #endif static LogStream info("INFO", std::cout, BLUE); static LogStream warn("WARNING", std::cout, YELLOW); diff --git a/openvino_param_lib/src/param_manager.cpp b/openvino_param_lib/src/param_manager.cpp index b6286c65..a3ead34b 100644 --- a/openvino_param_lib/src/param_manager.cpp +++ b/openvino_param_lib/src/param_manager.cpp @@ -23,33 +23,28 @@ namespace Params { -void operator>>(const YAML::Node & node, ParamManager::PipelineRawData & pipeline); -void operator>>(const YAML::Node & node, std::vector & list); -void operator>>(const YAML::Node & node, ParamManager::InferenceRawData & infer); -void operator>>(const YAML::Node & node, std::vector & list); -void operator>>(const YAML::Node & node, std::multimap & connect); -void operator>>(const YAML::Node & node, std::vector & filters); -void operator>>(const YAML::Node & node, std::string & str); -void operator>>(const YAML::Node & node, bool & val); -void operator>>(const YAML::Node & node, int & val); -void operator>>(const YAML::Node & node, float & val); -void operator>>(const YAML::Node & node, ParamManager::CommonRawData & common); - -#define YAML_PARSE(node, key, val) \ - try \ - { \ - node[key] >> val; \ - } \ - catch (const YAML::Exception & e) \ - { \ - slog::warn << e.msg << slog::endl; \ - } \ - catch (...) \ - { \ - slog::warn << "Exception occurs when parsing string." << slog::endl; \ +void operator>>(const YAML::Node& node, ParamManager::PipelineRawData& pipeline); +void operator>>(const YAML::Node& node, std::vector& list); +void operator>>(const YAML::Node& node, ParamManager::InferenceRawData& infer); +void operator>>(const YAML::Node& node, std::vector& list); +void operator>>(const YAML::Node& node, std::multimap& connect); +void operator>>(const YAML::Node& node, std::vector& filters); +void operator>>(const YAML::Node& node, std::string& str); +void operator>>(const YAML::Node& node, bool& val); +void operator>>(const YAML::Node& node, int& val); +void operator>>(const YAML::Node& node, float& val); +void operator>>(const YAML::Node& node, ParamManager::CommonRawData& common); + +#define YAML_PARSE(node, key, val) \ + try { \ + node[key] >> val; \ + } catch (const YAML::Exception& e) { \ + slog::warn << e.msg << slog::endl; \ + } catch (...) { \ + slog::warn << "Exception occurs when parsing string." << slog::endl; \ } -void operator>>(const YAML::Node & node, std::vector & list) +void operator>>(const YAML::Node& node, std::vector& list) { slog::info << "Pipeline size: " << node.size() << slog::endl; for (unsigned i = 0; i < node.size(); i++) { @@ -59,7 +54,7 @@ void operator>>(const YAML::Node & node, std::vector>(const YAML::Node & node, ParamManager::CommonRawData & common) +void operator>>(const YAML::Node& node, ParamManager::CommonRawData& common) { YAML_PARSE(node, "camera_topic", common.camera_topic) YAML_PARSE(node, "custom_cpu_library", common.custom_cpu_library) @@ -67,7 +62,7 @@ void operator>>(const YAML::Node & node, ParamManager::CommonRawData & common) YAML_PARSE(node, "enable_performance_count", common.enable_performance_count) } -void operator>>(const YAML::Node & node, ParamManager::PipelineRawData & pipeline) +void operator>>(const YAML::Node& node, ParamManager::PipelineRawData& pipeline) { YAML_PARSE(node, "name", pipeline.name) YAML_PARSE(node, "inputs", pipeline.inputs) @@ -79,7 +74,7 @@ void operator>>(const YAML::Node & node, ParamManager::PipelineRawData & pipelin slog::info << "Pipeline Params:name=" << pipeline.name << slog::endl; } -void operator>>(const YAML::Node & node, std::vector & list) +void operator>>(const YAML::Node& node, std::vector& list) { slog::info << "Inferences size: " << node.size() << slog::endl; for (unsigned i = 0; i < node.size(); i++) { @@ -89,7 +84,7 @@ void operator>>(const YAML::Node & node, std::vector>(const YAML::Node & node, ParamManager::InferenceRawData & infer) +void operator>>(const YAML::Node& node, ParamManager::InferenceRawData& infer) { YAML_PARSE(node, "name", infer.name) YAML_PARSE(node, "model", infer.model) @@ -105,7 +100,7 @@ void operator>>(const YAML::Node & node, ParamManager::InferenceRawData & infer) slog::info << "Inference Params:name=" << infer.name << slog::endl; } -void operator>>(const YAML::Node & node, std::vector & list) +void operator>>(const YAML::Node& node, std::vector& list) { for (unsigned i = 0; i < node.size(); i++) { std::string temp_i; @@ -114,7 +109,7 @@ void operator>>(const YAML::Node & node, std::vector & list) } } -void operator>>(const YAML::Node & node, std::multimap & connect) +void operator>>(const YAML::Node& node, std::multimap& connect) { for (unsigned i = 0; i < node.size(); i++) { std::string left; @@ -127,12 +122,12 @@ void operator>>(const YAML::Node & node, std::multimap } else { rights[i] >> right; } - connect.insert({left, right}); + connect.insert({ left, right }); } } } -void operator>>(const YAML::Node & node, std::vector & filters) +void operator>>(const YAML::Node& node, std::vector& filters) { for (unsigned i = 0; i < node.size(); i++) { std::string left; @@ -150,22 +145,22 @@ void operator>>(const YAML::Node & node, std::vector>(const YAML::Node & node, std::string & str) +void operator>>(const YAML::Node& node, std::string& str) { str = node.as(); } -void operator>>(const YAML::Node & node, bool & val) +void operator>>(const YAML::Node& node, bool& val) { val = node.as(); } -void operator>>(const YAML::Node & node, int & val) +void operator>>(const YAML::Node& node, int& val) { val = node.as(); } -void operator>>(const YAML::Node & node, float & val) +void operator>>(const YAML::Node& node, float& val) { val = node.as(); } @@ -173,23 +168,23 @@ void operator>>(const YAML::Node & node, float & val) void ParamManager::print() const { slog::info << "--------parameters DUMP---------------------" << slog::endl; - for (auto & pipeline : pipelines_) { + for (auto& pipeline : pipelines_) { slog::info << "Pipeline: " << pipeline.name << slog::endl; slog::info << "\tInputs: "; - for (auto & i : pipeline.inputs) { + for (auto& i : pipeline.inputs) { slog::info << i.c_str() << ", "; } slog::info << slog::endl; slog::info << "\tInput_Meta: " << pipeline.input_meta << slog::endl; slog::info << "\tOutputs: "; - for (auto & i : pipeline.outputs) { + for (auto& i : pipeline.outputs) { slog::info << i.c_str() << ", "; } slog::info << slog::endl; slog::info << "\tInferences: " << slog::endl; - for (auto & infer : pipeline.infers) { + for (auto& infer : pipeline.infers) { slog::info << "\t\tName: " << infer.name << slog::endl; slog::info << "\t\tModel: " << infer.model << slog::endl; slog::info << "\t\tModel-Type: " << infer.model_type << slog::endl; @@ -201,7 +196,7 @@ void ParamManager::print() const } slog::info << "\tConnections: " << slog::endl; - for (auto & c : pipeline.connects) { + for (auto& c : pipeline.connects) { slog::info << "\t\t" << c.first << "->" << c.second << slog::endl; } } @@ -230,16 +225,16 @@ void ParamManager::parse(std::string path) std::vector ParamManager::getPipelineNames() const { std::vector names; - for (auto & p : pipelines_) { + for (auto& p : pipelines_) { names.push_back(p.name); } return names; } -ParamManager::PipelineRawData ParamManager::getPipeline(const std::string & name) const +ParamManager::PipelineRawData ParamManager::getPipeline(const std::string& name) const { - for (auto & p : pipelines_) { + for (auto& p : pipelines_) { if (p.name == name) { return p; } diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp index b576af7e..ab5bec85 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine.hpp @@ -35,7 +35,7 @@ namespace Engines class Engine { public: -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) /** * DEPRECATED! instead of using Engine(InferenceEngine::InferRequest::Ptr &) * @brief Create an NetworkEngine instance @@ -47,12 +47,12 @@ class Engine /** * @brief Using an Inference Request to initialize the inference Engine. */ - Engine(ov::InferRequest &); + Engine(ov::InferRequest&); /** * @brief Get the inference request this instance holds. * @return The inference request this instance holds. */ - inline ov::InferRequest & getRequest() + inline ov::InferRequest& getRequest() { return request_; } @@ -61,8 +61,8 @@ class Engine * @param[in] callbackToSet A lambda function as callback function. * The callback function will be called when request is finished. */ - template - void setCompletionCallback(const T & callbackToSet) + template + void setCompletionCallback(const T& callbackToSet) { request_.set_callback(callbackToSet); } diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp index 2583316b..58ccaa76 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/engines/engine_manager.hpp @@ -38,23 +38,19 @@ class EngineManager * @brief Create OpenVINO instance by given Engine Name and Network. * @return The shared pointer of created Engine instance. */ - std::shared_ptr createEngine( - const std::string &, const std::shared_ptr &); + std::shared_ptr createEngine(const std::string&, const std::shared_ptr&); private: -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) std::map plugins_for_devices_; - std::unique_ptr - makePluginByName( - const std::string & device_name, const std::string & custom_cpu_library_message, - const std::string & custom_cldnn_message, bool performance_message); - std::shared_ptr createEngine_beforeV2019R2( - const std::string &, const std::shared_ptr &); + std::unique_ptr makePluginByName(const std::string& device_name, + const std::string& custom_cpu_library_message, + const std::string& custom_cldnn_message, + bool performance_message); + std::shared_ptr createEngine_beforeV2019R2(const std::string&, const std::shared_ptr&); #endif - std::shared_ptr createEngine_V2022( - const std::string &, const std::shared_ptr &); - + std::shared_ptr createEngine_V2022(const std::string&, const std::shared_ptr&); }; } // namespace Engines diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp index 865348f5..9b9cfaeb 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp @@ -43,7 +43,7 @@ namespace openvino_wrapper_lib class AgeGenderResult : public Result { public: - explicit AgeGenderResult(const cv::Rect & location); + explicit AgeGenderResult(const cv::Rect& location); /** * @brief Get the age of the detected person from the result. * @return The predictea age. @@ -89,7 +89,7 @@ class AgeGenderDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat & frame, const cv::Rect &) override; + bool enqueue(const cv::Mat& frame, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -112,7 +112,7 @@ class AgeGenderDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -122,10 +122,9 @@ class AgeGenderDetection : public BaseInference * @brief Show the observed detection result either through image window * or ROS topic. */ - void observeOutput(const std::shared_ptr & output) override; + void observeOutput(const std::shared_ptr& output) override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp index b5aca1f2..e8d04ff1 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_filter.hpp @@ -52,34 +52,34 @@ class BaseFilter * @param[in] Filter conditions. * @return true if some of the conditions are valid, otherwise false. */ - bool isValidFilterConditions(const std::string &); + bool isValidFilterConditions(const std::string&); /** * @brief Accept the filter conditions for filtering. * @param[in] Filter conditions. */ - void acceptFilterConditions(const std::string &); + void acceptFilterConditions(const std::string&); /** * @brief Decide whether the input string is a relational operator or not. * @param[in] A string to be decided. * @return True if the input string is a relational operator, false if not. */ - bool isRelationOperator(const std::string &); + bool isRelationOperator(const std::string&); /** * @brief Decide whether the input string is a logic operator or not. * @param[in] A string to be decided. * @return True if the input string is a logic operator, false if not. */ - bool isLogicOperator(const std::string &); + bool isLogicOperator(const std::string&); /** * @brief Decide whether the an operator has a higher priority than anthor. * @param[in] The two operators. * @return True if the first operator has higher priority, false if not. */ - bool isPriorTo(const std::string &, const std::string &); + bool isPriorTo(const std::string&, const std::string&); /** * @brief Convert the input bool variable to a string type. @@ -93,75 +93,74 @@ class BaseFilter * @param[in] A string type to be converted. * @return A converted bool result. */ - bool strToBool(const std::string &); + bool strToBool(const std::string&); /** * @brief Get the filter conditions in the suffix order. * @return A vector with suffix-order filter conditions. */ - const std::vector & getSuffixConditions() const; + const std::vector& getSuffixConditions() const; /** * @brief Do logic operation with the given bool values and the operator. * @param[in] A bool string, an logic operator, the other bool string. * @return The logic operation result. */ - bool logicOperation(const std::string &, const std::string &, const std::string &); + bool logicOperation(const std::string&, const std::string&, const std::string&); /** * @brief Compare two strings with a given relational operator. * @param[in] A string, an relational operator, the other string. * @return True if valid, false if not. */ - static bool stringCompare(const std::string &, const std::string &, const std::string &); + static bool stringCompare(const std::string&, const std::string&, const std::string&); /** * @brief Compare two floats with a given relational operator. * @param[in] A float number, an relational operator, the other float number. * @return True if valid, false if not. */ - static bool floatCompare(float, const std::string &, float); + static bool floatCompare(float, const std::string&, float); /** * @brief Convert a string into a float number. * @param[in] A string to be converted. * @return The converted float number, 0 if string is invalid. */ - static float stringToFloat(const std::string &); + static float stringToFloat(const std::string&); - /** - * @brief A macro to decide whether a given result satisfies the filter condition. - * @param[in] A key to function mapping, a given result. - * @return True if valid, false if not. - */ - #define ISVALIDRESULT(key_to_function, result) \ - { \ - std::vector suffix_conditons = getSuffixConditions(); \ - std::stack result_stack; \ - for (auto elem : suffix_conditons) { \ - if (!isRelationOperator(elem) && !isLogicOperator(elem)) { \ - result_stack.push(elem); \ - } else { \ - try { \ - std::string str1 = result_stack.top(); \ - result_stack.pop(); \ - std::string str2 = result_stack.top(); \ - result_stack.pop(); \ - if (key_to_function.count(str2)) { \ - result_stack.push(boolToStr(key_to_function[str2](result, elem, str1))); \ - } else { \ - result_stack.push(boolToStr(logicOperation(str1, elem, str2))); \ - } \ - } \ - catch (...) { \ - slog::err << "Invalid filter conditions format!" << slog::endl; \ - } \ - } \ - } \ - if (result_stack.empty()) { \ - return true; \ - } \ - return strToBool(result_stack.top()); \ +/** + * @brief A macro to decide whether a given result satisfies the filter condition. + * @param[in] A key to function mapping, a given result. + * @return True if valid, false if not. + */ +#define ISVALIDRESULT(key_to_function, result) \ + { \ + std::vector suffix_conditons = getSuffixConditions(); \ + std::stack result_stack; \ + for (auto elem : suffix_conditons) { \ + if (!isRelationOperator(elem) && !isLogicOperator(elem)) { \ + result_stack.push(elem); \ + } else { \ + try { \ + std::string str1 = result_stack.top(); \ + result_stack.pop(); \ + std::string str2 = result_stack.top(); \ + result_stack.pop(); \ + if (key_to_function.count(str2)) { \ + result_stack.push(boolToStr(key_to_function[str2](result, elem, str1))); \ + } else { \ + result_stack.push(boolToStr(logicOperation(str1, elem, str2))); \ + } \ + } catch (...) { \ + slog::err << "Invalid filter conditions format!" << slog::endl; \ + } \ + } \ + } \ + if (result_stack.empty()) { \ + return true; \ + } \ + return strToBool(result_stack.top()); \ } private: @@ -170,25 +169,25 @@ class BaseFilter * @param[in] A string form filter conditions. * @return The vector form filter conditions. */ - std::vector split(const std::string & filter_conditions); + std::vector split(const std::string& filter_conditions); /** * @brief Convert the infix expression into suffix expression. * @param[in] The infix form filter conditions. */ - void infixToSuffix(std::vector&infix_conditions); + void infixToSuffix(std::vector& infix_conditions); /** * @brief Strip the extra space in a string. * @param[in] A string to be striped. * @return The striped string. */ - std::string strip(const std::string & str); + std::string strip(const std::string& str); std::string striped_conditions_ = ""; std::vector suffix_conditons_; - std::vector relation_operators_ = {"==", "!=", "<=", ">=", "<", ">"}; - std::vector logic_operators_ = {"&&", "||"}; + std::vector relation_operators_ = { "==", "!=", "<=", ">=", "<", ">" }; + std::vector logic_operators_ = { "&&", "||" }; }; } // namespace openvino_wrapper_lib diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp index 318fbeac..981f4185 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_inference.hpp @@ -39,16 +39,14 @@ class BaseOutput; * @param[in] scale_factor Scale factor for loading. * @param[in] batch_index Indicates the batch index for the frame. */ -template -void matU8ToBlob( - const cv::Mat & orig_image, ov::Tensor & input_tensor, - float scale_factor = 1.0, int batch_index = 0) +template +void matU8ToBlob(const cv::Mat& orig_image, ov::Tensor& input_tensor, float scale_factor = 1.0, int batch_index = 0) { ov::Shape blob_size = input_tensor.get_shape(); const size_t width = blob_size[3]; const size_t height = blob_size[2]; const size_t channels = blob_size[1]; - T * blob_data = input_tensor.data(); + T* blob_data = input_tensor.data(); cv::Mat resized_image(orig_image); if (width != orig_image.size().width || height != orig_image.size().height) { @@ -60,7 +58,7 @@ void matU8ToBlob( for (size_t h = 0; h < height; h++) { for (size_t w = 0; w < width; w++) { blob_data[batchOffset + c * width * height + h * width + w] = - resized_image.at(h, w)[c] * scale_factor; + resized_image.at(h, w)[c] * scale_factor; } } } @@ -76,7 +74,7 @@ class Result { public: friend class BaseInference; - explicit Result(const cv::Rect & location); + explicit Result(const cv::Rect& location); inline const cv::Rect getLocation() const { return location_; @@ -126,7 +124,7 @@ class BaseInference return max_batch_size_; } - inline void setMaxBatchSize(int max) + inline void setMaxBatchSize(int max) { max_batch_size_ = max; } @@ -139,7 +137,7 @@ class BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - virtual bool enqueue(const cv::Mat & frame, const cv::Rect & input_frame_loc) = 0; + virtual bool enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) = 0; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -147,7 +145,7 @@ class BaseInference virtual bool submitRequest(); virtual bool SynchronousRequest(); - virtual void observeOutput(const std::shared_ptr & output) = 0; + virtual void observeOutput(const std::shared_ptr& output) = 0; /** * @brief This function will fetch the results of the previous inference and @@ -165,32 +163,30 @@ class BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - virtual const openvino_wrapper_lib::Result * getLocationResult(int idx) const = 0; + virtual const openvino_wrapper_lib::Result* getLocationResult(int idx) const = 0; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ virtual const std::string getName() const = 0; - virtual const std::vector getFilteredROIs( - const std::string filter_conditions) const = 0; + virtual const std::vector getFilteredROIs(const std::string filter_conditions) const = 0; void addCandidatedModel(std::shared_ptr model); protected: /** - * @brief Enqueue the fram into the input blob of the target calculation - * device. Check OpenVINO document for detailed information. - * @return Whether this operation is successful. - */ - template - bool enqueue( - const cv::Mat & frame, const cv::Rect &, float scale_factor, int batch_index, - const std::string & input_name) + * @brief Enqueue the fram into the input blob of the target calculation + * device. Check OpenVINO document for detailed information. + * @return Whether this operation is successful. + */ + template + bool enqueue(const cv::Mat& frame, const cv::Rect&, float scale_factor, int batch_index, + const std::string& input_name) { if (enqueued_frames_ == max_batch_size_) { - slog::warn << "Number of " << getName() << "input more than maximum(" << max_batch_size_ << - ") processed by inference" << slog::endl; + slog::warn << "Number of " << getName() << "input more than maximum(" << max_batch_size_ + << ") processed by inference" << slog::endl; return false; } ov::Tensor input_tensor = engine_->getRequest().get_tensor(input_name); diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp index 44285be3..8be3c057 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/base_reidentification.hpp @@ -41,7 +41,7 @@ class Tracker * @param[in] feature The new detected track feature. * @return The detected track ID. */ - int processNewTrack(const std::vector & feature); + int processNewTrack(const std::vector& feature); private: /** @@ -50,13 +50,13 @@ class Tracker * @param[in] most similar track's ID to be recorded. * @return similarity with the most similar track. */ - double findMostSimilarTrack(const std::vector & feature, int & most_similar_id); + double findMostSimilarTrack(const std::vector& feature, int& most_similar_id); /** * @brief Update the matched track's feature by the new track. * @param[in] track_id The matched track ID. * @param[in] feature The matched track's feature */ - void updateMatchTrack(int track_id, const std::vector & feature); + void updateMatchTrack(int track_id, const std::vector& feature); /** * @brief Remove the earlest track from the recorded tracks. */ @@ -66,13 +66,12 @@ class Tracker * @param[in] feature A track's feature. * @return new added track's ID. */ - int addNewTrack(const std::vector & feature); + int addNewTrack(const std::vector& feature); /** * @brief Calculate the cosine similarity between two features. * @return The simlarity result. */ - double calcSimilarity( - const std::vector & feature_a, const std::vector & feature_b); + double calcSimilarity(const std::vector& feature_a, const std::vector& feature_b); /** * @brief get the current millisecond count since epoch. * @return millisecond count since epoch. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp index 38d50fbe..130c1dbd 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/emotions_detection.hpp @@ -42,7 +42,7 @@ class EmotionsResult : public Result { public: friend class EmotionsDetection; - explicit EmotionsResult(const cv::Rect & location); + explicit EmotionsResult(const cv::Rect& location); /** * @brief Get the emotion label of the detected person. * @return The predictea emotion label. @@ -79,7 +79,7 @@ class EmotionsDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -102,7 +102,7 @@ class EmotionsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -112,14 +112,13 @@ class EmotionsDetection : public BaseInference * @brief Show the observed detection result either through image window * or ROS topic. */ - void observeOutput(const std::shared_ptr & output) override; + void observeOutput(const std::shared_ptr& output) override; std::vector getResults() { return results_; } - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp index 6c18adbe..c0cec975 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_detection.hpp @@ -43,7 +43,7 @@ namespace openvino_wrapper_lib class FaceDetectionResult : public ObjectDetectionResult { public: - explicit FaceDetectionResult(const cv::Rect & location); + explicit FaceDetectionResult(const cv::Rect& location); }; /** diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp index 7175f3be..93aa98d3 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/face_reidentification.hpp @@ -39,8 +39,11 @@ class FaceReidentificationResult : public Result { public: friend class FaceReidentification; - explicit FaceReidentificationResult(const cv::Rect & location); - std::string getFaceID() const {return face_id_;} + explicit FaceReidentificationResult(const cv::Rect& location); + std::string getFaceID() const + { + return face_id_; + } private: std::string face_id_ = "No.#"; @@ -68,7 +71,7 @@ class FaceReidentification : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -91,19 +94,18 @@ class FaceReidentification : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed reidentification result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp index 1a0ebc4f..7dccf775 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/head_pose_detection.hpp @@ -39,7 +39,7 @@ class HeadPoseResult : public Result { public: friend class HeadPoseDetection; - explicit HeadPoseResult(const cv::Rect & location); + explicit HeadPoseResult(const cv::Rect& location); /** * @brief Get the yawl angle of the headpose. * @return The yawl value. @@ -93,7 +93,7 @@ class HeadPoseDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat & frame, const cv::Rect &) override; + bool enqueue(const cv::Mat& frame, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -116,7 +116,7 @@ class HeadPoseDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. @@ -126,14 +126,13 @@ class HeadPoseDetection : public BaseInference * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output) override; + void observeOutput(const std::shared_ptr& output) override; std::vector getResults() { return results_; } - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp index 1f2c9881..fddc197c 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/inference_manager.hpp @@ -38,22 +38,19 @@ class InferenceManager { public: /** - * @brief Get the singleton instance of InferenceManager class. - * The instance will be created when first call. - * @return The reference of InferenceManager instance. - */ - static InferenceManager & getInstance() + * @brief Get the singleton instance of InferenceManager class. + * The instance will be created when first call. + * @return The reference of InferenceManager instance. + */ + static InferenceManager& getInstance() { static InferenceManager manager_; return manager_; } - std::shared_ptr createPipeline( - const Params::ParamManager::PipelineRawData & params); - void removePipeline(const std::string & name); - InferenceManager & updatePipeline( - const std::string & name, - const Params::ParamManager::PipelineRawData & params); + std::shared_ptr createPipeline(const Params::ParamManager::PipelineRawData& params); + void removePipeline(const std::string& name); + InferenceManager& updatePipeline(const std::string& name, const Params::ParamManager::PipelineRawData& params); void runAll(); void stopAll(); @@ -76,28 +73,30 @@ class InferenceManager }; private: - InferenceManager() {} - InferenceManager(InferenceManager const &); - void operator=(InferenceManager const &); - void threadPipeline(const char * name); + InferenceManager() + { + } + InferenceManager(InferenceManager const&); + void operator=(InferenceManager const&); + void threadPipeline(const char* name); std::map> - parseInputDevice(const Params::ParamManager::PipelineRawData & params); - std::map> parseOutput( - const Params::ParamManager::PipelineRawData & params); + parseInputDevice(const Params::ParamManager::PipelineRawData& params); + std::map> + parseOutput(const Params::ParamManager::PipelineRawData& params); std::map> - parseInference(const Params::ParamManager::PipelineRawData & params); - std::shared_ptr createFaceDetection( - const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createAgeGenderRecognition( - const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createEmotionRecognition( - const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createHeadPoseEstimation( - const Params::ParamManager::InferenceParams & infer); - std::shared_ptr createObjectDetection( - const Params::ParamManager::InferenceParams & infer); + parseInference(const Params::ParamManager::PipelineRawData& params); + std::shared_ptr + createFaceDetection(const Params::ParamManager::InferenceParams& infer); + std::shared_ptr + createAgeGenderRecognition(const Params::ParamManager::InferenceParams& infer); + std::shared_ptr + createEmotionRecognition(const Params::ParamManager::InferenceParams& infer); + std::shared_ptr + createHeadPoseEstimation(const Params::ParamManager::InferenceParams& infer); + std::shared_ptr + createObjectDetection(const Params::ParamManager::InferenceParams& infer); std::map pipelines_; - }; +}; #endif // OPENVINO_WRAPPER_LIB__INFERENCES__INFERENCE_MANAGER_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp index fe7a34e6..e2675fde 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/landmarks_detection.hpp @@ -37,7 +37,7 @@ class LandmarksDetectionResult : public Result { public: friend class LandmarksDetection; - explicit LandmarksDetectionResult(const cv::Rect & location); + explicit LandmarksDetectionResult(const cv::Rect& location); std::vector getLandmarks() const { return landmark_points_; @@ -68,7 +68,7 @@ class LandmarksDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -91,19 +91,18 @@ class LandmarksDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp index 1d9ef900..290fe345 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/license_plate_detection.hpp @@ -37,7 +37,7 @@ class LicensePlateDetectionResult : public Result { public: friend class LicensePlateDetection; - explicit LicensePlateDetectionResult(const cv::Rect & location); + explicit LicensePlateDetectionResult(const cv::Rect& location); std::string getLicense() const { return license_; @@ -68,7 +68,7 @@ class LicensePlateDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Set the sequence input blob */ @@ -95,38 +95,92 @@ class LicensePlateDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; std::vector results_; - const std::vector licenses_ = { - "0", "1", "2", "3", "4", "5", "6", "7", "8", "9", - "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "", - "A", "B", "C", "D", "E", "F", "G", "H", "I", "J", - "K", "L", "M", "N", "O", "P", "Q", "R", "S", "T", - "U", "V", "W", "X", "Y", "Z" - }; + const std::vector licenses_ = { "0", + "1", + "2", + "3", + "4", + "5", + "6", + "7", + "8", + "9", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "", + "A", + "B", + "C", + "D", + "E", + "F", + "G", + "H", + "I", + "J", + "K", + "L", + "M", + "N", + "O", + "P", + "Q", + "R", + "S", + "T", + "U", + "V", + "W", + "X", + "Y", + "Z" }; }; } // namespace openvino_wrapper_lib #endif // OPENVINO_WRAPPER_LIB__INFERENCES__LICENSE_PLATE_DETECTION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp index 47b7cc68..51aaa248 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_detection.hpp @@ -43,13 +43,13 @@ class ObjectDetectionResult : public Result { public: friend class ObjectDetection; - explicit ObjectDetectionResult(const cv::Rect & location); + explicit ObjectDetectionResult(const cv::Rect& location); std::string getLabel() const { return label_; } - void setLabel(const std::string & label) + void setLabel(const std::string& label) { label_ = label; } @@ -62,12 +62,12 @@ class ObjectDetectionResult : public Result return confidence_; } - void setConfidence(const float & con) + void setConfidence(const float& con) { confidence_ = con; } - bool operator<(const ObjectDetectionResult & s2) const + bool operator<(const ObjectDetectionResult& s2) const { return this->confidence_ > s2.confidence_; } @@ -96,7 +96,7 @@ class ObjectDetectionResultFilter : public BaseFilter * @brief Set the object detection results into filter. * @param[in] The object detection results. */ - void acceptResults(const std::vector & results); + void acceptResults(const std::vector& results); /** * @brief Get the filtered results' ROIs. * @return The filtered ROIs. @@ -109,27 +109,22 @@ class ObjectDetectionResultFilter : public BaseFilter * @param[in] Result to be decided, filter operator, target label value. * @return True if valid, false if not. */ - static bool isValidLabel( - const Result & result, - const std::string & op, const std::string & target); + static bool isValidLabel(const Result& result, const std::string& op, const std::string& target); /** * @brief Decide whether a result is valid for confidence filter condition. * @param[in] Result to be decided, filter operator, target confidence value. * @return True if valid, false if not. */ - static bool isValidConfidence( - const Result & result, - const std::string & op, const std::string & target); + static bool isValidConfidence(const Result& result, const std::string& op, const std::string& target); /** * @brief Decide whether a result is valid. * @param[in] Result to be decided. * @return True if valid, false if not. */ - bool isValidResult(const Result & result); + bool isValidResult(const Result& result); - std::map key_to_function_; + std::map key_to_function_; std::vector results_; }; @@ -156,7 +151,7 @@ class ObjectDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief This function will fetch the results of the previous inference and @@ -175,25 +170,24 @@ class ObjectDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const Result * getLocationResult(int idx) const override; + const Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; /** * @brief Calculate the IoU ratio for the given rectangles. * @return IoU Ratio of the given rectangles. */ - static double calcIoU(const cv::Rect & box_1, const cv::Rect & box_2); + static double calcIoU(const cv::Rect& box_1, const cv::Rect& box_2); private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp index a450c567..1a84d2cf 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation.hpp @@ -41,7 +41,7 @@ class ObjectSegmentationResult : public Result { public: friend class ObjectSegmentation; - explicit ObjectSegmentationResult(const cv::Rect & location); + explicit ObjectSegmentationResult(const cv::Rect& location); std::string getLabel() const { return label_; @@ -86,10 +86,10 @@ class ObjectSegmentation : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; - //Deprecated!! - bool enqueue_for_one_input(const cv::Mat &, const cv::Rect &); + // Deprecated!! + bool enqueue_for_one_input(const cv::Mat&, const cv::Rect&); /** * @brief Start inference for all buffered frames. @@ -113,19 +113,18 @@ class ObjectSegmentation : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; @@ -134,13 +133,12 @@ class ObjectSegmentation : public BaseInference int height_ = 0; double show_output_thresh_ = 0; - std::vector colors_ = { - {128, 64, 128}, {232, 35, 244}, {70, 70, 70}, {156, 102, 102}, {153, 153, 190}, - {153, 153, 153}, {30, 170, 250}, {0, 220, 220}, {35, 142, 107}, {152, 251, 152}, - {180, 130, 70}, {60, 20, 220}, {0, 0, 255}, {142, 0, 0}, {70, 0, 0}, - {100, 60, 0}, {90, 0, 0}, {230, 0, 0}, {32, 11, 119}, {0, 74, 111}, - {81, 0, 81} - }; + std::vector colors_ = { { 128, 64, 128 }, { 232, 35, 244 }, { 70, 70, 70 }, { 156, 102, 102 }, + { 153, 153, 190 }, { 153, 153, 153 }, { 30, 170, 250 }, { 0, 220, 220 }, + { 35, 142, 107 }, { 152, 251, 152 }, { 180, 130, 70 }, { 60, 20, 220 }, + { 0, 0, 255 }, { 142, 0, 0 }, { 70, 0, 0 }, { 100, 60, 0 }, + { 90, 0, 0 }, { 230, 0, 0 }, { 32, 11, 119 }, { 0, 74, 111 }, + { 81, 0, 81 } }; }; } // namespace openvino_wrapper_lib #endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp index f1dbc548..42f070c1 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_instance.hpp @@ -37,7 +37,7 @@ class ObjectSegmentationInstanceResult : public Result { public: friend class ObjectSegmentationInstance; - explicit ObjectSegmentationInstanceResult(const cv::Rect & location); + explicit ObjectSegmentationInstanceResult(const cv::Rect& location); inline std::string getLabel() const { return label_; @@ -94,7 +94,7 @@ class ObjectSegmentationInstance : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. @@ -118,19 +118,18 @@ class ObjectSegmentationInstance : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; @@ -139,13 +138,12 @@ class ObjectSegmentationInstance : public BaseInference int height_ = 0; double show_output_thresh_ = 0; - std::vector colors_ = { - {128, 64, 128}, {232, 35, 244}, {70, 70, 70}, {156, 102, 102}, {153, 153, 190}, - {153, 153, 153}, {30, 170, 250}, {0, 220, 220}, {35, 142, 107}, {152, 251, 152}, - {180, 130, 70}, {60, 20, 220}, {0, 0, 255}, {142, 0, 0}, {70, 0, 0}, - {100, 60, 0}, {90, 0, 0}, {230, 0, 0}, {32, 11, 119}, {0, 74, 111}, - {81, 0, 81} - }; + std::vector colors_ = { { 128, 64, 128 }, { 232, 35, 244 }, { 70, 70, 70 }, { 156, 102, 102 }, + { 153, 153, 190 }, { 153, 153, 153 }, { 30, 170, 250 }, { 0, 220, 220 }, + { 35, 142, 107 }, { 152, 251, 152 }, { 180, 130, 70 }, { 60, 20, 220 }, + { 0, 0, 255 }, { 142, 0, 0 }, { 70, 0, 0 }, { 100, 60, 0 }, + { 90, 0, 0 }, { 230, 0, 0 }, { 32, 11, 119 }, { 0, 74, 111 }, + { 81, 0, 81 } }; }; } // namespace openvino_wrapper_lib #endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp index 7954157b..8346bd6f 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/object_segmentation_maskrcnn.hpp @@ -41,7 +41,7 @@ class ObjectSegmentationMaskrcnnResult : public Result { public: friend class ObjectSegmentationMaskrcnn; - explicit ObjectSegmentationMaskrcnnResult(const cv::Rect & location); + explicit ObjectSegmentationMaskrcnnResult(const cv::Rect& location); std::string getLabel() const { return label_; @@ -86,10 +86,10 @@ class ObjectSegmentationMaskrcnn : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; - //Deprecated!! - bool enqueue_for_one_input(const cv::Mat &, const cv::Rect &); + // Deprecated!! + bool enqueue_for_one_input(const cv::Mat&, const cv::Rect&); /** * @brief Start inference for all buffered frames. @@ -113,19 +113,18 @@ class ObjectSegmentationMaskrcnn : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; @@ -134,13 +133,12 @@ class ObjectSegmentationMaskrcnn : public BaseInference int height_ = 0; double show_output_thresh_ = 0; - std::vector colors_ = { - {128, 64, 128}, {232, 35, 244}, {70, 70, 70}, {156, 102, 102}, {153, 153, 190}, - {153, 153, 153}, {30, 170, 250}, {0, 220, 220}, {35, 142, 107}, {152, 251, 152}, - {180, 130, 70}, {60, 20, 220}, {0, 0, 255}, {142, 0, 0}, {70, 0, 0}, - {100, 60, 0}, {90, 0, 0}, {230, 0, 0}, {32, 11, 119}, {0, 74, 111}, - {81, 0, 81} - }; + std::vector colors_ = { { 128, 64, 128 }, { 232, 35, 244 }, { 70, 70, 70 }, { 156, 102, 102 }, + { 153, 153, 190 }, { 153, 153, 153 }, { 30, 170, 250 }, { 0, 220, 220 }, + { 35, 142, 107 }, { 152, 251, 152 }, { 180, 130, 70 }, { 60, 20, 220 }, + { 0, 0, 255 }, { 142, 0, 0 }, { 70, 0, 0 }, { 100, 60, 0 }, + { 90, 0, 0 }, { 230, 0, 0 }, { 32, 11, 119 }, { 0, 74, 111 }, + { 81, 0, 81 } }; }; } // namespace openvino_wrapper_lib #endif // OPENVINO_WRAPPER_LIB__INFERENCES__OBJECT_SEGMENTATION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp index f5a3c100..0d1ce1ce 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_attribs_detection.hpp @@ -38,7 +38,7 @@ class PersonAttribsDetectionResult : public Result { public: friend class PersonAttribsDetection; - explicit PersonAttribsDetectionResult(const cv::Rect & location); + explicit PersonAttribsDetectionResult(const cv::Rect& location); std::string getAttributes() const { @@ -86,7 +86,7 @@ class PersonAttribsDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -109,33 +109,26 @@ class PersonAttribsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; std::vector results_; double attribs_confidence_; - const std::vector net_attributes_ = { - "is male", - "has_bag", - "has_backpack" , - "has hat", - "has longsleeves", - "has longpants", - "has longhair", - "has coat_jacket"}; + const std::vector net_attributes_ = { "is male", "has_bag", "has_backpack", + "has hat", "has longsleeves", "has longpants", + "has longhair", "has coat_jacket" }; }; } // namespace openvino_wrapper_lib #endif // OPENVINO_WRAPPER_LIB__INFERENCES__PERSON_ATTRIBS_DETECTION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp index be6d55f8..96688fae 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/person_reidentification.hpp @@ -38,8 +38,11 @@ class PersonReidentificationResult : public Result { public: friend class PersonReidentification; - explicit PersonReidentificationResult(const cv::Rect & location); - std::string getPersonID() const {return person_id_;} + explicit PersonReidentificationResult(const cv::Rect& location); + std::string getPersonID() const + { + return person_id_; + } private: std::string person_id_ = "No.#"; @@ -66,7 +69,7 @@ class PersonReidentification : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -89,19 +92,18 @@ class PersonReidentification : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp index 575e99d1..95cbcadb 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/vehicle_attribs_detection.hpp @@ -37,7 +37,7 @@ class VehicleAttribsDetectionResult : public Result { public: friend class VehicleAttribsDetection; - explicit VehicleAttribsDetectionResult(const cv::Rect & location); + explicit VehicleAttribsDetectionResult(const cv::Rect& location); std::string getColor() const { return color_; @@ -73,7 +73,7 @@ class VehicleAttribsDetection : public BaseInference * to the frame generated by the input device. * @return Whether this operation is successful. */ - bool enqueue(const cv::Mat &, const cv::Rect &) override; + bool enqueue(const cv::Mat&, const cv::Rect&) override; /** * @brief Start inference for all buffered frames. * @return Whether this operation is successful. @@ -96,27 +96,24 @@ class VehicleAttribsDetection : public BaseInference * to the frame generated by the input device. * @param[in] idx The index of the result. */ - const openvino_wrapper_lib::Result * getLocationResult(int idx) const override; + const openvino_wrapper_lib::Result* getLocationResult(int idx) const override; /** * @brief Show the observed detection result either through image window or ROS topic. */ - void observeOutput(const std::shared_ptr & output); + void observeOutput(const std::shared_ptr& output); /** * @brief Get the name of the Inference instance. * @return The name of the Inference instance. */ const std::string getName() const override; - const std::vector getFilteredROIs( - const std::string filter_conditions) const override; + const std::vector getFilteredROIs(const std::string filter_conditions) const override; private: std::shared_ptr valid_model_; std::vector results_; - const std::vector types_ = { - "car", "van", "truck", "bus"}; - const std::vector colors_ = { - "white", "gray", "yellow", "red", "green", "blue", "black"}; + const std::vector types_ = { "car", "van", "truck", "bus" }; + const std::vector colors_ = { "white", "gray", "yellow", "red", "green", "blue", "black" }; }; } // namespace openvino_wrapper_lib #endif // OPENVINO_WRAPPER_LIB__INFERENCES__VEHICLE_ATTRIBS_DETECTION_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp index 79350653..2420a096 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/base_input.hpp @@ -59,12 +59,14 @@ class BaseInputDevice : public Ros2Handler * @brief Read next frame, and give the value to argument frame. * @return Whether the next frame is successfully read. */ - virtual bool read(cv::Mat * frame) = 0; - virtual bool readService(cv::Mat * frame, std::string config_path) + virtual bool read(cv::Mat* frame) = 0; + virtual bool readService(cv::Mat* frame, std::string config_path) { return true; } - virtual void config(const Config &) {} + virtual void config(const Config&) + { + } virtual ~BaseInputDevice() = default; /** * @brief Get the width of the frame read from input device. @@ -116,8 +118,8 @@ class BaseInputDevice : public Ros2Handler } private: - size_t width_ = 0; // 0 means using the original size - size_t height_ = 0; // 0 means using the original size + size_t width_ = 0; // 0 means using the original size + size_t height_ = 0; // 0 means using the original size bool is_init_ = false; }; } // namespace Input diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp index e1a7b6c9..c7591d23 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_input.hpp @@ -32,7 +32,7 @@ namespace Input class Image : public BaseInputDevice { public: - explicit Image(const std::string &); + explicit Image(const std::string&); /** * @brief Read an image file from the file path. * @param[in] An image file path. @@ -52,9 +52,9 @@ class Image : public BaseInputDevice * @brief Read next frame, and give the value to argument frame. * @return Whether the next frame is successfully read. */ - bool read(cv::Mat * frame) override; + bool read(cv::Mat* frame) override; - void config(const Config &) override; + void config(const Config&) override; private: cv::Mat image_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp index cc5274fd..96df03ca 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/image_topic.hpp @@ -39,7 +39,7 @@ class ImageTopic : public BaseInputDevice ImageTopic(rclcpp::Node::SharedPtr node = nullptr); bool initialize() override; bool initialize(size_t width, size_t height) override; - bool read(cv::Mat * frame) override; + bool read(cv::Mat* frame) override; private: rclcpp::Subscription::SharedPtr sub_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp index c497cf85..03680624 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ip_camera.hpp @@ -33,7 +33,9 @@ namespace Input class IpCamera : public BaseInputDevice { public: - explicit IpCamera(const std::string & ip_uri) : ip_uri_(ip_uri) {} + explicit IpCamera(const std::string& ip_uri) : ip_uri_(ip_uri) + { + } /** * @brief Initialize the input device, * for cameras, it will turn the camera on and get ready to read frames, @@ -50,7 +52,7 @@ class IpCamera : public BaseInputDevice * @brief Read next frame, and give the value to argument frame. * @return Whether the next frame is successfully read. */ - bool read(cv::Mat * frame) override; + bool read(cv::Mat* frame) override; private: cv::VideoCapture cap; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp index 8752289c..d04ed1d0 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/realsense_camera.hpp @@ -48,7 +48,7 @@ class RealSenseCamera : public BaseInputDevice * @brief Read next frame, and give the value to argument frame. * @return Whether the next frame is successfully read. */ - bool read(cv::Mat * frame) override; + bool read(cv::Mat* frame) override; private: void bypassFewFramesOnceInited(); diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp index c2d31778..f9d4a29a 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/ros2_handler.hpp @@ -28,7 +28,7 @@ namespace Input class Ros2Handler { public: - void setHandler(const std::shared_ptr & node) + void setHandler(const std::shared_ptr& node) { node_ = node; } @@ -43,14 +43,14 @@ class Ros2Handler inline void setHeader(std::string frame_id) { header_.frame_id = frame_id; - #if true //directly use RCLCPP api for time stamp generation. +#if true // directly use RCLCPP api for time stamp generation. header_.stamp = rclcpp::Clock(RCL_ROS_TIME).now(); - #else +#else std::chrono::high_resolution_clock::time_point tp = std::chrono::high_resolution_clock::now(); int64 ns = tp.time_since_epoch().count(); header_.stamp.sec = ns / 1000000000; header_.stamp.nanosec = ns % 1000000000; - #endif +#endif } inline void setHeader(std_msgs::msg::Header header) @@ -76,6 +76,7 @@ class Ros2Handler { return locked_header_; } + private: std::shared_ptr node_; std_msgs::msg::Header header_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp index cc2a7195..5e595c1c 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/standard_camera.hpp @@ -22,7 +22,6 @@ #include - #include "openvino_wrapper_lib/inputs/base_input.hpp" #include #include @@ -30,7 +29,6 @@ #include #include - namespace Input { /** @@ -40,7 +38,7 @@ namespace Input class StandardCamera : public BaseInputDevice { public: - StandardCamera(const std::string & camera=""); + StandardCamera(const std::string& camera = ""); /** * @brief Initialize the input device, * for cameras, it will turn the camera on and get ready to read frames, @@ -57,7 +55,7 @@ class StandardCamera : public BaseInputDevice * @brief Read next frame, and give the value to argument frame. * @return Whether the next frame is successfully read. */ - bool read(cv::Mat * frame) override; + bool read(cv::Mat* frame) override; private: int getCameraId(); diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp index c4ee9b10..9b6ef5bc 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/inputs/video_input.hpp @@ -32,7 +32,7 @@ namespace Input class Video : public BaseInputDevice { public: - explicit Video(const std::string &); + explicit Video(const std::string&); /** * @brief Read a video file from the file path. * @param[in] An video file path. @@ -49,7 +49,7 @@ class Video : public BaseInputDevice * @brief Read next frame, and give the value to argument frame. * @return Whether the next frame is successfully read. */ - bool read(cv::Mat * frame) override; + bool read(cv::Mat* frame) override; private: cv::VideoCapture cap; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp index abf8b3aa..b7d04700 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp @@ -39,27 +39,28 @@ class ModelAttribute { public: using Ptr = std::shared_ptr; - const char* DefaultInputName {"input0"}; + const char* DefaultInputName{ "input0" }; const char* DefaultOutputName = "output0"; - struct ModelAttr { - // Input Tensor Size + struct ModelAttr + { + // Input Tensor Size int input_height = 0; int input_width = 0; - //Input/Output Tensor Info - int input_tensor_count = 1; // The number of input tensors - int output_tensor_count = 1; // The number of output tensors - bool has_confidence_output = true; //Yolov5~7 have a float for confidence, while yolov8 hasn't. - bool need_transpose = false; // If the output tensor needs transpose - int max_proposal_count = 0; // The max number of objects in inference output tensor - int object_size = 0; //The size of each object in inference output tensor + // Input/Output Tensor Info + int input_tensor_count = 1; // The number of input tensors + int output_tensor_count = 1; // The number of output tensors + bool has_confidence_output = true; // Yolov5~7 have a float for confidence, while yolov8 hasn't. + bool need_transpose = false; // If the output tensor needs transpose + int max_proposal_count = 0; // The max number of objects in inference output tensor + int object_size = 0; // The size of each object in inference output tensor std::map input_names; std::map output_names; std::string model_name; std::vector labels; }; - + ModelAttribute(const std::string model_name) { attr_.model_name = model_name; @@ -67,8 +68,8 @@ class ModelAttribute inline bool isVerified() { - return (attr_.max_proposal_count > 0 && attr_.object_size > 0 && attr_.input_height > 0 - && attr_.input_width > 0 && attr_.input_names.empty() && attr_.output_names.empty()); + return (attr_.max_proposal_count > 0 && attr_.object_size > 0 && attr_.input_height > 0 && attr_.input_width > 0 && + attr_.input_names.empty() && attr_.output_names.empty()); } inline void printAttribute() { @@ -80,50 +81,50 @@ class ModelAttribute slog::info << "| input_width: " << attr_.input_width << slog::endl; slog::info << "| input_tensor_count: " << attr_.input_tensor_count << slog::endl; slog::info << "| output_tensor_count: " << attr_.output_tensor_count << slog::endl; - slog::info << "| need_transpose (max_proposal_count < object_size): " << std::boolalpha - << attr_.need_transpose << slog::endl; - slog::info << "| has_confidence_output: " << std::boolalpha << attr_.has_confidence_output << - slog::endl; + slog::info << "| need_transpose (max_proposal_count < object_size): " << std::boolalpha << attr_.need_transpose + << slog::endl; + slog::info << "| has_confidence_output: " << std::boolalpha << attr_.has_confidence_output << slog::endl; slog::info << "| input_names: " << slog::endl; - for (auto & item: attr_.input_names) { + for (auto& item : attr_.input_names) { slog::info << "| " << item.first << "-->" << item.second << slog::endl; } slog::info << "| output_names: " << slog::endl; - for (auto & item: attr_.output_names) { + for (auto& item : attr_.output_names) { slog::info << "| " << item.first << "-->" << item.second << slog::endl; } slog::info << "| lables:" << slog::endl; - for (size_t i = 0; i(attr_.input_names.size())){ + if (attr_.input_tensor_count != static_cast(attr_.input_names.size())) { slog::info << "--------" << slog::endl; - slog::warn << "The count of input_tensor(s) is not aligned with input names!" - << slog::endl; + slog::warn << "The count of input_tensor(s) is not aligned with input names!" << slog::endl; } - if( attr_.output_tensor_count != static_cast(attr_.output_names.size())){ + if (attr_.output_tensor_count != static_cast(attr_.output_names.size())) { slog::info << "--------" << slog::endl; - slog::warn << "The count of output_tensor(s) is not aligned with output names!" - << slog::endl; + slog::warn << "The count of output_tensor(s) is not aligned with output names!" << slog::endl; } slog::info << "-------------------- Attributes for Model ----------------------" << slog::endl; } - virtual bool updateLayerProperty( - const std::shared_ptr&) - { return false; } + virtual bool updateLayerProperty(const std::shared_ptr&) + { + return false; + } inline std::string getModelName() const { @@ -138,22 +139,22 @@ class ModelAttribute inline std::string getInputName(std::string name = "input0") const { auto it = attr_.input_names.find(name); - if(it == attr_.input_names.end()){ + if (it == attr_.input_names.end()) { slog::warn << "No input named: " << name << slog::endl; return std::string(""); } - + return it->second; } inline std::string getOutputName(std::string name = "output0") const { auto it = attr_.output_names.find(name); - if(it == attr_.output_names.end()){ + if (it == attr_.output_names.end()) { slog::warn << "No output named: " << name << slog::endl; return std::string(""); } - + return it->second; } @@ -170,7 +171,7 @@ class ModelAttribute inline void loadLabelsFromFile(const std::string file_path) { std::ifstream input_file(file_path); - for(std::string name; std::getline(input_file, name);){ + for (std::string name; std::getline(input_file, name);) { attr_.labels.push_back(name); } } @@ -265,13 +266,13 @@ class ModelAttribute return attr_.need_transpose; } - inline bool _renameMapKeyByValue(std::map& map, - const std::string& value, const std::string& new_key) + inline bool _renameMapKeyByValue(std::map& map, const std::string& value, + const std::string& new_key) { - for (auto& item: map){ + for (auto& item : map) { auto n = item.second.find(value); if (std::string::npos != n) { - //if(item.second.contains(value)){ + // if(item.second.contains(value)){ auto nh = map.extract(item.first); nh.key() = new_key; map.insert(std::move(nh)); @@ -291,6 +292,7 @@ class ModelAttribute { return _renameMapKeyByValue(attr_.input_names, value, new_tag); } + protected: ModelAttr attr_; std::string input_tensor_name_; @@ -304,9 +306,7 @@ class SSDModelAttr : public ModelAttribute public: explicit SSDModelAttr(const std::string model_name = "SSDNet-like"); - bool updateLayerProperty( - const std::shared_ptr&); - + bool updateLayerProperty(const std::shared_ptr&); }; } // namespace Models diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp index fbc84dcb..0ffd717b 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp @@ -35,24 +35,24 @@ namespace Engines { - class Engine; +class Engine; } namespace openvino_wrapper_lib { - class ObjectDetectionResult; +class ObjectDetectionResult; } namespace Models { - /** - * @class BaseModel - * @brief This class represents the network given by .xml and .bin file - */ - class BaseModel : public ModelAttribute - { - public: - using Ptr = std::shared_ptr; +/** + * @class BaseModel + * @brief This class represents the network given by .xml and .bin file + */ +class BaseModel : public ModelAttribute +{ +public: + using Ptr = std::shared_ptr; /** * @brief Initialize the class with given .xml, .bin and .labels file. It will * also check whether the number of input and output are fit. @@ -63,132 +63,133 @@ 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& label_loc, 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. * @return The maximum batch size of the model. */ - inline int getMaxBatchSize() const - { - return max_batch_size_; - } - inline void setMaxBatchSize(int max_batch_size) - { - max_batch_size_ = max_batch_size; - } - - virtual bool enqueue( - const std::shared_ptr &engine, - const cv::Mat &frame, - const cv::Rect &input_frame_loc) { return true; } + inline int getMaxBatchSize() const + { + return max_batch_size_; + } + inline void setMaxBatchSize(int max_batch_size) + { + max_batch_size_ = max_batch_size; + } + + virtual bool enqueue(const std::shared_ptr& engine, const cv::Mat& frame, + const cv::Rect& input_frame_loc) + { + return true; + } /** * @brief Initialize the model. During the process the class will check * the network input, output size, check layer property and * set layer property. */ - void modelInit(); + void modelInit(); /** * @brief Get the name of the model. * @return The name of the model. */ - virtual const std::string getModelCategory() const = 0; - inline ModelAttr getAttribute() { return attr_; } - - inline std::shared_ptr getModel() const - { - return model_; - } - - protected: - /** - * New infterface to check and update Layer Property - * @brief Set the layer property (layer layout, layer precision, etc.). - * @param[in] network_reader The reader of the network to be set. - */ - virtual bool updateLayerProperty(std::shared_ptr& network_reader) = 0; - - virtual bool matToBlob( - const cv::Mat &orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr &engine); - - cv::Mat extendFrameToInputRatio(const cv::Mat); - ov::Core engine; - std::shared_ptr model_; - void setFrameSize(const int &w, const int &h) - { - frame_size_.width = w; - frame_size_.height = h; - } - cv::Size getFrameSize() - { - return frame_size_; - } - - inline void setFrameResizeeRatioWidth(const float r) - { - frame_resize_ratio_width_ = r; - } - - inline void setFrameResizeeRatioHeight(const float r) - { - frame_resize_ratio_height_ = r; - } - - inline float getFrameResizeRatioWidth() const - { - return frame_resize_ratio_width_; - } - - inline float getFrameResizeRatioHeight() const - { - return frame_resize_ratio_height_; - } - - inline void setKeepInputShapeRatio(bool keep) - { - keep_input_shape_ratio_ = keep; - } - - inline bool isKeepInputRatio() const - { - return keep_input_shape_ratio_; - } - - inline void setExpectedFrameSize(cv::Size expect) - { - expected_frame_size_ = expect; - } - - inline cv::Size getExpectedFrameSize() const - { - return expected_frame_size_; - } - - private: - int max_batch_size_; - std::string model_loc_; - std::string label_loc_; - - //Information about Input Data - cv::Size frame_size_; - cv::Size expected_frame_size_ {224, 224}; - float frame_resize_ratio_width_ = 1.0; - float frame_resize_ratio_height_ = 1.0; - bool keep_input_shape_ratio_ = false; - }; - - class ObjectDetectionModel : public BaseModel + virtual const std::string getModelCategory() const = 0; + inline ModelAttr getAttribute() + { + return attr_; + } + + inline std::shared_ptr getModel() const + { + return model_; + } + +protected: + /** + * New infterface to check and update Layer Property + * @brief Set the layer property (layer layout, layer precision, etc.). + * @param[in] network_reader The reader of the network to be set. + */ + virtual bool updateLayerProperty(std::shared_ptr& network_reader) = 0; + + virtual bool matToBlob(const cv::Mat& orig_image, const cv::Rect&, float scale_factor, int batch_index, + const std::shared_ptr& engine); + + cv::Mat extendFrameToInputRatio(const cv::Mat); + ov::Core engine; + std::shared_ptr model_; + void setFrameSize(const int& w, const int& h) + { + frame_size_.width = w; + frame_size_.height = h; + } + cv::Size getFrameSize() { - public: - ObjectDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); - virtual bool fetchResults( - const std::shared_ptr &engine, - std::vector &result, - const float &confidence_thresh = 0.3, - const bool &enable_roi_constraint = false) = 0; - }; - -} // namespace Models - -#endif // OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ + return frame_size_; + } + + inline void setFrameResizeeRatioWidth(const float r) + { + frame_resize_ratio_width_ = r; + } + + inline void setFrameResizeeRatioHeight(const float r) + { + frame_resize_ratio_height_ = r; + } + + inline float getFrameResizeRatioWidth() const + { + return frame_resize_ratio_width_; + } + + inline float getFrameResizeRatioHeight() const + { + return frame_resize_ratio_height_; + } + + inline void setKeepInputShapeRatio(bool keep) + { + keep_input_shape_ratio_ = keep; + } + + inline bool isKeepInputRatio() const + { + return keep_input_shape_ratio_; + } + + inline void setExpectedFrameSize(cv::Size expect) + { + expected_frame_size_ = expect; + } + + inline cv::Size getExpectedFrameSize() const + { + return expected_frame_size_; + } + +private: + int max_batch_size_; + std::string model_loc_; + std::string label_loc_; + + // Information about Input Data + cv::Size frame_size_; + cv::Size expected_frame_size_{ 224, 224 }; + float frame_resize_ratio_width_ = 1.0; + float frame_resize_ratio_height_ = 1.0; + bool keep_input_shape_ratio_ = false; +}; + +class ObjectDetectionModel : public BaseModel +{ +public: + ObjectDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); + virtual bool fetchResults(const std::shared_ptr& engine, + std::vector& result, + const float& confidence_thresh = 0.3, const bool& enable_roi_constraint = false) = 0; +}; + +} // namespace Models + +#endif // OPENVINO_WRAPPER_LIB__MODELS__BASE_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp index 56c73665..98d48016 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/emotion_detection_model.hpp @@ -19,7 +19,7 @@ #ifndef OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ #define OPENVINO_WRAPPER_LIB__MODELS__EMOTION_DETECTION_MODEL_HPP_ - + #include #include "openvino_wrapper_lib/models/base_model.hpp" diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp index c4923a36..0b1b2307 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_detection_model.hpp @@ -32,8 +32,8 @@ namespace Models class FaceDetectionModel : public ObjectDetectionModel { public: - FaceDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); - //void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override; + 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. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp index 4eda2755..caf10b55 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/face_reidentification_model.hpp @@ -30,9 +30,15 @@ namespace Models class FaceReidentificationModel : public BaseModel { public: - 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_;} + 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_; + } /** * @brief Get the name of this detection model. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp index d815f125..663356d8 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/head_pose_detection_model.hpp @@ -32,7 +32,7 @@ namespace Models class HeadPoseDetectionModel : public BaseModel { public: - HeadPoseDetectionModel(const std::string& label_loc, 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. @@ -65,7 +65,6 @@ class HeadPoseDetectionModel : public BaseModel const std::string getModelCategory() const override; bool updateLayerProperty(std::shared_ptr&) override; - private: std::string output_angle_r_ = "angle_r_fc"; std::string output_angle_p_ = "angle_p_fc"; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp index 71a7244f..3b38385a 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/landmarks_detection_model.hpp @@ -29,9 +29,15 @@ namespace Models class LandmarksDetectionModel : public BaseModel { public: - 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_;} + 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_; + } /** * @brief Get the name of this detection model. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp index 76c2deed..7a0084a7 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/license_plate_detection_model.hpp @@ -29,11 +29,23 @@ namespace Models class LicensePlateDetectionModel : public BaseModel { public: - 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_;} - inline int getMaxSequenceSize() const {return max_sequence_size_;} + 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_; + } + inline int getMaxSequenceSize() const + { + return max_sequence_size_; + } /** * @brief Get the name of this detection model. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp index 818414dd..ebe88b1b 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_ssd_model.hpp @@ -32,22 +32,17 @@ class ObjectDetectionSSDModel : public ObjectDetectionModel using Result = openvino_wrapper_lib::ObjectDetectionResult; public: - ObjectDetectionSSDModel(const std::string& label_loc, 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 & engine, - std::vector & results, - const float & confidence_thresh = 0.3, - const bool & enable_roi_constraint = false) override; + bool fetchResults(const std::shared_ptr& engine, + std::vector& results, + const float& confidence_thresh = 0.3, const bool& enable_roi_constraint = false) override; - bool enqueue( - const std::shared_ptr & engine, - const cv::Mat & frame, - const cv::Rect & input_frame_loc) override; + bool enqueue(const std::shared_ptr& engine, const cv::Mat& frame, + const cv::Rect& input_frame_loc) override; - bool matToBlob( - const cv::Mat & orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr & engine) override; + bool matToBlob(const cv::Mat& orig_image, const cv::Rect&, float scale_factor, int batch_index, + const std::shared_ptr& engine) override; /** * @brief Get the name of this detection model. @@ -56,7 +51,6 @@ class ObjectDetectionSSDModel : public ObjectDetectionModel const std::string getModelCategory() const override; bool updateLayerProperty(std::shared_ptr&) override; - }; } // namespace Models #endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_SSD_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp index e5cd757e..603c5f72 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov5_model.hpp @@ -28,11 +28,12 @@ namespace Models * @brief This class generates the face detection model. */ #pragma pack(1) - typedef struct Resize { - cv::Mat resized_image; - int dw{}; - int dh{}; - } Resize_t; +typedef struct Resize +{ + cv::Mat resized_image; + int dw{}; + int dh{}; +} Resize_t; #pragma pack() class ObjectDetectionYolov5Model : public ObjectDetectionModel @@ -40,18 +41,14 @@ class ObjectDetectionYolov5Model : public ObjectDetectionModel using Result = openvino_wrapper_lib::ObjectDetectionResult; public: - ObjectDetectionYolov5Model(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + ObjectDetectionYolov5Model(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); - bool fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh = 0.3, - const bool & enable_roi_constraint = false) override; + bool fetchResults(const std::shared_ptr& engine, + std::vector& results, + const float& confidence_thresh = 0.3, const bool& enable_roi_constraint = false) override; - bool enqueue( - const std::shared_ptr & engine, - const cv::Mat & frame, - const cv::Rect & input_frame_loc) override; + bool enqueue(const std::shared_ptr& engine, const cv::Mat& frame, + const cv::Rect& input_frame_loc) override; /** * @brief Get the name of this detection model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp index c3cdd828..08acc38c 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_detection_yolov8_model.hpp @@ -27,9 +27,7 @@ class ObjectDetectionYolov8Model : public ObjectDetectionYolov5Model using Result = openvino_wrapper_lib::ObjectDetectionResult; public: - explicit ObjectDetectionYolov8Model(const std::string& label_loc, const std::string & model_loc, - int batch_size = 1); - + explicit ObjectDetectionYolov8Model(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); }; } // namespace Models #endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_DETECTION_YOLOV8_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp index 8b32826d..1e74f629 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_maskrcnn_model.hpp @@ -27,17 +27,16 @@ namespace Models class ObjectSegmentationInstanceMaskrcnnModel : public ObjectSegmentationInstanceModel { using Result = openvino_wrapper_lib::ObjectSegmentationInstanceResult; + public: - ObjectSegmentationInstanceMaskrcnnModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + ObjectSegmentationInstanceMaskrcnnModel(const std::string& label_loc, const std::string& model_loc, + int batch_size = 1); - bool fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh = 0.3, - const bool & enable_roi_constraint = false); + bool fetchResults(const std::shared_ptr& engine, + std::vector& results, + const float& confidence_thresh = 0.3, const bool& enable_roi_constraint = false); bool updateLayerProperty(std::shared_ptr&) override; - }; } // namespace Models #endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MASKRCNN_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp index 2a566197..91a6aaea 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp @@ -19,7 +19,7 @@ namespace openvino_wrapper_lib { - class ObjectSegmentationInstanceResult; +class ObjectSegmentationInstanceResult; } namespace Models @@ -32,17 +32,15 @@ namespace Models class ObjectSegmentationInstanceModel : public BaseModel { using Result = openvino_wrapper_lib::ObjectSegmentationInstanceResult; + public: - ObjectSegmentationInstanceModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + ObjectSegmentationInstanceModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); - virtual bool fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh = 0.3, - const bool & enable_roi_constraint = false); + virtual bool fetchResults(const std::shared_ptr& engine, + std::vector& results, + const float& confidence_thresh = 0.3, const bool& enable_roi_constraint = false); - bool enqueue(const std::shared_ptr & ,const cv::Mat &, - const cv::Rect & ) override; + bool enqueue(const std::shared_ptr&, const cv::Mat&, const cv::Rect&) override; /** * @brief Get the name of this segmentation model. @@ -50,7 +48,6 @@ class ObjectSegmentationInstanceModel : public BaseModel */ const std::string getModelCategory() const override; virtual bool updateLayerProperty(std::shared_ptr&) override; - }; } // namespace Models #endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MODEL_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp index 49940225..c16497a1 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_maskrcnn_model.hpp @@ -29,7 +29,7 @@ namespace Models class ObjectSegmentationMaskrcnnModel : public BaseModel { public: - ObjectSegmentationMaskrcnnModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + ObjectSegmentationMaskrcnnModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); inline int getMaxProposalCount() const { return max_proposal_count_; @@ -39,12 +39,9 @@ class ObjectSegmentationMaskrcnnModel : public BaseModel return object_size_; } - bool enqueue(const std::shared_ptr & ,const cv::Mat &, - const cv::Rect & ) override; + bool enqueue(const std::shared_ptr&, const cv::Mat&, const cv::Rect&) override; - bool matToBlob( - const cv::Mat & , const cv::Rect &, float , - int , const std::shared_ptr & ); + bool matToBlob(const cv::Mat&, const cv::Rect&, float, int, const std::shared_ptr&); /** * @brief Get the name of this segmentation model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp index 217ec132..92af6678 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_model.hpp @@ -29,7 +29,7 @@ namespace Models class ObjectSegmentationModel : public BaseModel { public: - ObjectSegmentationModel(const std::string& label_loc, 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_; @@ -39,12 +39,9 @@ class ObjectSegmentationModel : public BaseModel return object_size_; } - bool enqueue(const std::shared_ptr & ,const cv::Mat &, - const cv::Rect & ) override; + bool enqueue(const std::shared_ptr&, const cv::Mat&, const cv::Rect&) override; - bool matToBlob( - const cv::Mat & , const cv::Rect &, float , - int , const std::shared_ptr & ); + bool matToBlob(const cv::Mat&, const cv::Rect&, float, int, const std::shared_ptr&); /** * @brief Get the name of this segmentation model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp index d22e6a2d..236798f5 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_attribs_detection_model.hpp @@ -29,7 +29,7 @@ namespace Models class PersonAttribsDetectionModel : public BaseModel { public: - PersonAttribsDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); + PersonAttribsDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); /** * @brief Get the name of this detection model. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp index 4b2937ff..83683339 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/person_reidentification_model.hpp @@ -29,9 +29,15 @@ namespace Models class PersonReidentificationModel : public BaseModel { public: - 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_;} + 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_; + } /** * @brief Get the name of this detection model. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp index 8012bd68..486a21b1 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp @@ -29,10 +29,19 @@ namespace Models class VehicleAttribsDetectionModel : public BaseModel { public: - VehicleAttribsDetectionModel(const std::string& label_loc, const std::string & model_loc, int batch_size = 1); - inline const std::string getInputName() {return input_tensor_name_;} - inline const std::string getColorOutputName() {return color_output_;} - inline const std::string getTypeOutputName() {return type_output_;} + VehicleAttribsDetectionModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); + inline const std::string getInputName() + { + return input_tensor_name_; + } + inline const std::string getColorOutputName() + { + return color_output_; + } + inline const std::string getTypeOutputName() + { + return type_output_; + } /** * @brief Get the name of this detection model. * @return Name of the model. diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp index 150c0a69..5672f1ce 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp @@ -66,98 +66,99 @@ namespace Outputs class BaseOutput { public: - explicit BaseOutput(std::string output_name) - : output_name_(output_name) {} + explicit BaseOutput(std::string output_name) : output_name_(output_name) + { + } /** * @brief Generate output content according to the license plate detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the vehicle attributes detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the face reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the landmarks detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the person reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the person reidentification result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the object segmentation result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the object segmentation maskrcnn result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the object segmentation result for instance models. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the object detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the face detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the emotion detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the age and gender detection * result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Generate output content according to the headpose detection result. */ - virtual void accept(const std::vector &) + virtual void accept(const std::vector&) { } /** * @brief Calculate the camera matrix of a frame for image window output, no implementation for ros topic output. */ - virtual void feedFrame(const cv::Mat &) + virtual void feedFrame(const cv::Mat&) { } /** @@ -165,26 +166,34 @@ class BaseOutput */ virtual void handleOutput() = 0; - void setPipeline(Pipeline * const pipeline); - virtual void setServiceResponse( - std::shared_ptr response) {} - virtual void setServiceResponseForFace( - std::shared_ptr response) {} - virtual void setServiceResponse( - std::shared_ptr response) {} - virtual void setServiceResponse( - std::shared_ptr response) {} - virtual void setServiceResponse( - std::shared_ptr response) {} - virtual void setServiceResponse( - std::shared_ptr response) {} - Pipeline * getPipeline() const; + void setPipeline(Pipeline* const pipeline); + virtual void setServiceResponse(std::shared_ptr response) + { + } + virtual void setServiceResponseForFace(std::shared_ptr response) + { + } + virtual void setServiceResponse(std::shared_ptr response) + { + } + virtual void setServiceResponse(std::shared_ptr response) + { + } + virtual void setServiceResponse(std::shared_ptr response) + { + } + virtual void setServiceResponse(std::shared_ptr response) + { + } + Pipeline* getPipeline() const; cv::Mat getFrame() const; - virtual void clearData() {} + virtual void clearData() + { + } protected: cv::Mat frame_; - Pipeline * pipeline_; + Pipeline* pipeline_; std::string output_name_; }; } // namespace Outputs diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp index 2ee11789..0cf4b191 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/image_window_output.hpp @@ -13,9 +13,9 @@ // limitations under the License. /** -* @brief A header file with declaration for ImageWindowOutput Class -* @file image_window_output.h -*/ + * @brief A header file with declaration for ImageWindowOutput Class + * @file image_window_output.h + */ #ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ #define OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ @@ -33,14 +33,14 @@ namespace Outputs class ImageWindowOutput : public BaseOutput { public: - explicit ImageWindowOutput(const std::string & output_name, int focal_length = 950); + explicit ImageWindowOutput(const std::string& output_name, int focal_length = 950); /** * @brief Calculate the camera matrix of a frame for image * window output. * @param[in] A frame. */ - void feedFrame(const cv::Mat &) override; + void feedFrame(const cv::Mat&) override; /** * @brief Decorate frame according to detection result @@ -55,94 +55,88 @@ class ImageWindowOutput : public BaseOutput * the license plate detection result. * @param[in] A license plate detection result objetc. */ - void accept( - const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the vehicle attributes detection result. * @param[in] A vehicle attributes detection result objetc. */ - void accept( - const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the face reidentification result. * @param[in] A face reidentification result objetc. */ - void accept( - const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the landmarks detection result. * @param[in] A landmarks detection result objetc. */ - void accept( - const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the person attributes detection result. * @param[in] A person attributes detection result objetc. */ - void accept( - const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the person reidentification result. * @param[in] A person reidentification result objetc. */ - void accept( - const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the object segmentation result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the object segmentation maskrcnn result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the object segmentation instance result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the face detection result. * @param[in] A face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the object detection result. * @param[in] results A bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the emotion detection result. * @param[in] A emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the age and gender detection result. * @param[in] A head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the headpose detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; private: - unsigned findOutput(const cv::Rect &); + unsigned findOutput(const cv::Rect&); /** * @brief Calculate the axises of the coordinates for showing * the image window. @@ -156,35 +150,34 @@ class ImageWindowOutput : public BaseOutput */ cv::Mat getRotationTransform(double yaw, double pitch, double roll); - void mergeMask(const std::vector &); - void mergeMask(const std::vector &); - void mergeMask(const std::vector &); + void mergeMask(const std::vector&); + void mergeMask(const std::vector&); + void mergeMask(const std::vector&); struct OutputData { std::string desc; cv::Rect rect; cv::Scalar scalar; - cv::Point hp_cp; // for headpose, center point - cv::Point hp_x; // for headpose, end point of xAxis - cv::Point hp_y; // for headpose, end point of yAxis - cv::Point hp_zs; // for headpose, start point of zAxis - cv::Point hp_ze; // for headpose, end point of zAxis - cv::Point pa_top; // for person attributes, top position - cv::Point pa_bottom; //for person attributes, bottom position + cv::Point hp_cp; // for headpose, center point + cv::Point hp_x; // for headpose, end point of xAxis + cv::Point hp_y; // for headpose, end point of yAxis + cv::Point hp_zs; // for headpose, start point of zAxis + cv::Point hp_ze; // for headpose, end point of zAxis + cv::Point pa_top; // for person attributes, top position + cv::Point pa_bottom; // for person attributes, bottom position std::vector landmarks; }; std::vector outputs_; float focal_length_; cv::Mat camera_matrix_; - std::vector> colors_ = { - {128, 64, 128}, {232, 35, 244}, {70, 70, 70}, {156, 102, 102}, {153, 153, 190}, - {153, 153, 153}, {30, 170, 250}, {0, 220, 220}, {35, 142, 107}, {152, 251, 152}, - {180, 130, 70}, {60, 20, 220}, {0, 0, 255}, {142, 0, 0}, {70, 0, 0}, - {100, 60, 0}, {90, 0, 0}, {230, 0, 0}, {32, 11, 119}, {0, 74, 111}, - {81, 0, 81} - }; + std::vector> colors_ = { { 128, 64, 128 }, { 232, 35, 244 }, { 70, 70, 70 }, { 156, 102, 102 }, + { 153, 153, 190 }, { 153, 153, 153 }, { 30, 170, 250 }, { 0, 220, 220 }, + { 35, 142, 107 }, { 152, 251, 152 }, { 180, 130, 70 }, { 60, 20, 220 }, + { 0, 0, 255 }, { 142, 0, 0 }, { 70, 0, 0 }, { 100, 60, 0 }, + { 90, 0, 0 }, { 230, 0, 0 }, { 32, 11, 119 }, { 0, 74, 111 }, + { 81, 0, 81 } }; }; } // namespace Outputs #endif // OPENVINO_WRAPPER_LIB__OUTPUTS__IMAGE_WINDOW_OUTPUT_HPP_ diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp index d0558ad2..33a65582 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp @@ -48,14 +48,17 @@ namespace Outputs class RosServiceOutput : public RosTopicOutput { public: - explicit RosServiceOutput(std::string output_name) - : RosTopicOutput(output_name) {} + explicit RosServiceOutput(std::string output_name) : RosTopicOutput(output_name) + { + } /** * @brief Publish all the detected infomations generated by the accept * functions with ros topic. */ - void handleOutput() override {} + void handleOutput() override + { + } void clearData() override; void setServiceResponse(std::shared_ptr response); diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp index ff3dc28d..8a85249c 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp @@ -60,13 +60,12 @@ namespace Outputs class RosTopicOutput : public BaseOutput { public: - explicit RosTopicOutput(std::string output_name_, - const rclcpp::Node::SharedPtr node=nullptr); + explicit RosTopicOutput(std::string output_name_, const rclcpp::Node::SharedPtr node = nullptr); /** * @brief Calculate the camera matrix of a frame. * @param[in] A frame. */ - void feedFrame(const cv::Mat &) override; + void feedFrame(const cv::Mat&) override; /** * @brief Publish all the detected infomations generated by the accept * functions with ros topic. @@ -77,85 +76,85 @@ class RosTopicOutput : public BaseOutput * the license plate detection result. * @param[in] results a bundle of license plate detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the vehicle attributes detection result. * @param[in] results a bundle of vehicle attributes detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the face reidentification result. * @param[in] results a bundle of face reidentification results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the landmarks detection result. * @param[in] results a bundle of landmarks detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the person attributes detection result. * @param[in] results a bundle of person attributes detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the person reidentification result. * @param[in] results a bundle of person reidentification results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the object segmentation result. * @param[in] results a bundle of object segmentation results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the object segmentation result. * @param[in] results a bundle of object segmentation maskrcnn results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the object segmentation result. * @param[in] results a bundle of object segmentation maskrcnn results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the object detection result. * @param[in] results a bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the face detection result. * @param[in] An face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the emotion detection result. * @param[in] An emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the age gender detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate ros topic infomation according to * the headpose detection result. * @param[in] An head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; protected: const std::string topic_name_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp index eca91266..3f59fd4d 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/rviz_output.hpp @@ -13,9 +13,9 @@ // limitations under the License. /** -* @brief A header file with declaration for RvizOutput Class -* @file rviz_output.h -*/ + * @brief A header file with declaration for RvizOutput Class + * @file rviz_output.h + */ #ifndef OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ #define OPENVINO_WRAPPER_LIB__OUTPUTS__RVIZ_OUTPUT_HPP_ @@ -38,12 +38,12 @@ namespace Outputs class RvizOutput : public BaseOutput { public: - explicit RvizOutput(std::string output_name, const rclcpp::Node::SharedPtr node=nullptr); + explicit RvizOutput(std::string output_name, const rclcpp::Node::SharedPtr node = nullptr); /** * @brief Construct frame for rviz * @param[in] A frame. */ - void feedFrame(const cv::Mat &) override; + void feedFrame(const cv::Mat&) override; /** * @brief Show all the contents generated by the accept * functions with rviz. @@ -54,73 +54,73 @@ class RvizOutput : public BaseOutput * the face reidentification result. * @param[in] A face reidentification result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the landmarks detection result. * @param[in] A landmarks detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the person attributes detection result. * @param[in] A person attributes detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the person reidentification result. * @param[in] A person reidentification result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the face detection result. * @param[in] A face detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the object detection result. * @param[in] results A bundle of object detection results. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** - * @brief Generate rviz output content according to - * the object segmentation result. - * @param[in] results A bundle of object segmentation results. - */ - void accept(const std::vector &) override; + * @brief Generate rviz output content according to + * the object segmentation result. + * @param[in] results A bundle of object segmentation results. + */ + void accept(const std::vector&) override; /** - * @brief Generate rviz output content according to - * the object segmentation result. - * @param[in] results A bundle of object segmentation maskrcnn results. - */ - void accept(const std::vector &) override; + * @brief Generate rviz output content according to + * the object segmentation result. + * @param[in] results A bundle of object segmentation maskrcnn results. + */ + void accept(const std::vector&) override; /** * @brief Generate image window output content according to * the object segmentation instance result. * @param[in] An obejct segmentation result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the emotion detection result. * @param[in] A emotion detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the age and gender detection result. * @param[in] A head pose detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; /** * @brief Generate rviz output content according to * the headpose detection result. * @param[in] An age gender detection result objetc. */ - void accept(const std::vector &) override; + void accept(const std::vector&) override; private: std::shared_ptr node_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp index a80c15b3..ebd3e99e 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline.hpp @@ -42,14 +42,14 @@ class Pipeline { public: - explicit Pipeline(const std::string & name = "pipeline"); + explicit Pipeline(const std::string& name = "pipeline"); /** * @brief Add input device to the pipeline. * @param[in] name name of the current input device. * @param[in] input_device the input device instance to be added. * @return whether the add operation is successful */ - bool add(const std::string & name, std::shared_ptr input_device); + bool add(const std::string& name, std::shared_ptr input_device); /** * @brief Add inference network to the pipeline. * @param[in] parent name of the parent device or inference. @@ -57,9 +57,8 @@ class Pipeline * @param[in] inference the inference instance to be added. * @return whether the add operation is successful */ - bool add( - const std::string & parent, const std::string & name, - std::shared_ptr inference); + bool add(const std::string& parent, const std::string& name, + std::shared_ptr inference); /** * @brief Add output device to the pipeline. * @param[in] parent name of the parent inference. @@ -67,31 +66,29 @@ class Pipeline * @param[in] output the output instance to be added. * @return whether the add operation is successful */ - bool add( - const std::string & parent, const std::string & name, - std::shared_ptr output); + bool add(const std::string& parent, const std::string& name, std::shared_ptr output); - bool add(const std::string & name, std::shared_ptr output); - void addConnect(const std::string & parent, const std::string & name); + bool add(const std::string& name, std::shared_ptr output); + void addConnect(const std::string& parent, const std::string& name); // inline void addFilters(const std::vector& filters) // { // filters_.add(filters); // } - bool add(const std::string & name, std::shared_ptr inference); + bool add(const std::string& name, std::shared_ptr inference); /** * @brief Add inference network-output device edge to the pipeline. * @param[in] parent name of the parent inference. * @param[in] name name of the current output device. * @return whether the add operation is successful */ - bool add(const std::string & parent, const std::string & name); + bool add(const std::string& parent, const std::string& name); /** * @brief Do the inference once. * Data flow from input device to inference network, then to output device. */ void runOnce(); - void callback(const std::string & detection_name); + void callback(const std::string& detection_name); /** * @brief Set the inference network to call the callback function as soon as * each inference is @@ -120,14 +117,14 @@ class Pipeline return next_; } /** - * @brief Get real time FPS (frames per second). - */ + * @brief Get real time FPS (frames per second). + */ int getFPS() const { return fps_; } - std::string findFilterConditions(const std::string & input, const std::string & output) + std::string findFilterConditions(const std::string& input, const std::string& output) { return params_->findFilterConditions(input, output); } diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp index b4bef25d..54de6ab5 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_manager.hpp @@ -39,24 +39,21 @@ class PipelineManager { public: /** - * @brief Get the singleton instance of PipelineManager class. - * The instance will be created when first call. - * @return The reference of PipelineManager instance. - */ - static PipelineManager & getInstance() + * @brief Get the singleton instance of PipelineManager class. + * The instance will be created when first call. + * @return The reference of PipelineManager instance. + */ + static PipelineManager& getInstance() { static PipelineManager manager_; return manager_; } - std::shared_ptr createPipeline( - const Params::ParamManager::PipelineRawData & params, - rclcpp::Node::SharedPtr node = nullptr); + std::shared_ptr createPipeline(const Params::ParamManager::PipelineRawData& params, + rclcpp::Node::SharedPtr node = nullptr); - void removePipeline(const std::string & name); - PipelineManager & updatePipeline( - const std::string & name, - const Params::ParamManager::PipelineRawData & params); + void removePipeline(const std::string& name); + PipelineManager& updatePipeline(const std::string& name, const Params::ParamManager::PipelineRawData& params); void runAll(); void stopAll(); @@ -93,7 +90,7 @@ class PipelineManager return pipelines_; } - std::map * getPipelinesPtr() + std::map* getPipelinesPtr() { return &pipelines_; } @@ -102,44 +99,42 @@ class PipelineManager PipelineManager() { } - PipelineManager(PipelineManager const &); - void operator=(PipelineManager const &); - void threadPipeline(const char * name); - void threadSpinNodes(const char * name); - std::map> - parseInputDevice(const PipelineData & params); - std::map> - parseOutput(const PipelineData & pdata); + PipelineManager(PipelineManager const&); + void operator=(PipelineManager const&); + void threadPipeline(const char* name); + void threadSpinNodes(const char* name); + std::map> parseInputDevice(const PipelineData& params); + std::map> parseOutput(const PipelineData& pdata); std::map> - parseInference(const Params::ParamManager::PipelineRawData & params); + parseInference(const Params::ParamManager::PipelineRawData& params); std::shared_ptr - createFaceDetection(const Params::ParamManager::InferenceRawData & infer); + createFaceDetection(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createAgeGenderRecognition(const Params::ParamManager::InferenceRawData & infer); + createAgeGenderRecognition(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createEmotionRecognition(const Params::ParamManager::InferenceRawData & infer); + createEmotionRecognition(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createHeadPoseEstimation(const Params::ParamManager::InferenceRawData & infer); + createHeadPoseEstimation(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createObjectDetection(const Params::ParamManager::InferenceRawData & infer); + createObjectDetection(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer); + createObjectSegmentation(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer); + createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createObjectSegmentationInstance(const Params::ParamManager::InferenceRawData & infer); + createObjectSegmentationInstance(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createPersonReidentification(const Params::ParamManager::InferenceRawData & infer); + createPersonReidentification(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createPersonAttribsDetection(const Params::ParamManager::InferenceRawData & infer); + createPersonAttribsDetection(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createLandmarksDetection(const Params::ParamManager::InferenceRawData & infer); + createLandmarksDetection(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createFaceReidentification(const Params::ParamManager::InferenceRawData & infer); + createFaceReidentification(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createVehicleAttribsDetection(const Params::ParamManager::InferenceRawData & infer); + createVehicleAttribsDetection(const Params::ParamManager::InferenceRawData& infer); std::shared_ptr - createLicensePlateDetection(const Params::ParamManager::InferenceRawData & infer); + createLicensePlateDetection(const Params::ParamManager::InferenceRawData& infer); std::map pipelines_; ServiceData service_; Engines::EngineManager engine_manager_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp index e1cf80a2..f7171e4f 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/pipeline_params.hpp @@ -75,15 +75,15 @@ const char kInferTpye_LicensePlateDetection[] = "LicensePlateDetection"; class PipelineParams { public: - explicit PipelineParams(const std::string & name); - explicit PipelineParams(const Params::ParamManager::PipelineRawData & params); - Params::ParamManager::PipelineRawData getPipeline(const std::string & name); - PipelineParams & operator=(const Params::ParamManager::PipelineRawData & params); + explicit PipelineParams(const std::string& name); + explicit PipelineParams(const Params::ParamManager::PipelineRawData& params); + Params::ParamManager::PipelineRawData getPipeline(const std::string& name); + PipelineParams& operator=(const Params::ParamManager::PipelineRawData& params); void update(); - void update(const Params::ParamManager::PipelineRawData & params); - bool isOutputTo(std::string & name); + void update(const Params::ParamManager::PipelineRawData& params); + bool isOutputTo(std::string& name); bool isGetFps(); - std::string findFilterConditions(const std::string & input, const std::string & output); + std::string findFilterConditions(const std::string& input, const std::string& output); private: Params::ParamManager::PipelineRawData params_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp index 9c361718..9ce75c1f 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp @@ -36,19 +36,15 @@ namespace vino_service { -template +template class FrameProcessingServer : public rclcpp::Node { public: - explicit FrameProcessingServer( - const std::string & service_name, - const std::string & config_path); - void initService(const std::string & config_path); + explicit FrameProcessingServer(const std::string& service_name, const std::string& config_path); + void initService(const std::string& config_path); private: - void cbService( - const std::shared_ptr request, - std::shared_ptr response); + void cbService(const std::shared_ptr request, std::shared_ptr response); // rclcpp::Service::SharedPtr service_; std::shared_ptr> service_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp index ed5e1dc2..3276bd41 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/services/pipeline_processing_server.hpp @@ -27,27 +27,23 @@ namespace vino_service { -template +template class PipelineProcessingServer : public rclcpp::Node { public: - explicit PipelineProcessingServer( - const std::string & service_name); + explicit PipelineProcessingServer(const std::string& service_name); private: void initPipelineService(); - void cbService( - const std::shared_ptr request, - std::shared_ptr response); + void cbService(const std::shared_ptr request, std::shared_ptr response); - void setResponse( - std::shared_ptr response); + void setResponse(std::shared_ptr response); void setPipelineByRequest(std::string pipeline_name, PipelineManager::PipelineState state); std::shared_ptr> service_; - std::map * pipelines_; + std::map* pipelines_; std::string service_name_; }; } // namespace vino_service diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp index bf350394..d1fb8db4 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/slog.hpp @@ -27,33 +27,34 @@ namespace slog { #if 1 - enum COLOR { - RESET = 0, - BLUE = 1, - GREEN = 2, - YELLOW = 3, - RED = 4, - }; +enum COLOR +{ + RESET = 0, + BLUE = 1, + GREEN = 2, + YELLOW = 3, + RED = 4, +}; #else -//the following are UBUNTU/LINUX ONLY terminal color codes. -#define RESET "\033[0m" -#define BLACK "\033[30m" /* Black */ -#define RED "\033[31m" /* Red */ -#define GREEN "\033[32m" /* Green */ -#define YELLOW "\033[33m" /* Yellow */ -#define BLUE "\033[34m" /* Blue */ -#define MAGENTA "\033[35m" /* Magenta */ -#define CYAN "\033[36m" /* Cyan */ -#define WHITE "\033[37m" /* White */ -#define BOLDBLACK "\033[1m\033[30m" /* Bold Black */ -#define BOLDRED "\033[1m\033[31m" /* Bold Red */ -#define BOLDGREEN "\033[1m\033[32m" /* Bold Green */ -#define BOLDYELLOW "\033[1m\033[33m" /* Bold Yellow */ -#define BOLDBLUE "\033[1m\033[34m" /* Bold Blue */ -#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */ -#define BOLDCYAN "\033[1m\033[36m" /* Bold Cyan */ -#define BOLDWHITE "\033[1m\033[37m" /* Bold White */ +// the following are UBUNTU/LINUX ONLY terminal color codes. +#define RESET "\033[0m" +#define BLACK "\033[30m" /* Black */ +#define RED "\033[31m" /* Red */ +#define GREEN "\033[32m" /* Green */ +#define YELLOW "\033[33m" /* Yellow */ +#define BLUE "\033[34m" /* Blue */ +#define MAGENTA "\033[35m" /* Magenta */ +#define CYAN "\033[36m" /* Cyan */ +#define WHITE "\033[37m" /* White */ +#define BOLDBLACK "\033[1m\033[30m" /* Bold Black */ +#define BOLDRED "\033[1m\033[31m" /* Bold Red */ +#define BOLDGREEN "\033[1m\033[32m" /* Bold Green */ +#define BOLDYELLOW "\033[1m\033[33m" /* Bold Yellow */ +#define BOLDBLUE "\033[1m\033[34m" /* Bold Blue */ +#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */ +#define BOLDCYAN "\033[1m\033[36m" /* Bold Cyan */ +#define BOLDWHITE "\033[1m\033[37m" /* Bold White */ #endif /** @@ -74,7 +75,7 @@ static constexpr LogStreamEndLine endl; class LogStream { std::string _prefix; - std::ostream * _log_stream; + std::ostream* _log_stream; bool _new_line; int _color_id; @@ -83,9 +84,8 @@ class LogStream * @brief A constructor. Creates an LogStream object * @param prefix The prefix to print */ - LogStream(const std::string & prefix, std::ostream & log_stream, - const int color_id = -1) - : _prefix(prefix), _new_line(true), _color_id(color_id) + LogStream(const std::string& prefix, std::ostream& log_stream, const int color_id = -1) + : _prefix(prefix), _new_line(true), _color_id(color_id) { _log_stream = &log_stream; } @@ -94,12 +94,12 @@ class LogStream * @brief A stream output operator to be used within the logger * @param arg Object for serialization in the logger message */ - template - LogStream & operator<<(const T & arg) + template + LogStream& operator<<(const T& arg) { if (_new_line) { setLineColor(); - (*_log_stream) << "[ " << _prefix << " ] "; + (*_log_stream) << "[ " << _prefix << " ] "; _new_line = false; } @@ -108,7 +108,7 @@ class LogStream } // Specializing for LogStreamEndLine to support slog::endl - LogStream & operator<<(const LogStreamEndLine & arg) + LogStream& operator<<(const LogStreamEndLine& arg) { _new_line = true; resetLineColor(); @@ -118,28 +118,28 @@ class LogStream void setLineColor() { - switch(_color_id){ - case BLUE: - (*_log_stream) << "\033[34m"; - break; - case GREEN: - (*_log_stream) << "\033[32m"; - break; - case YELLOW: - (*_log_stream) << "\033[33m"; - break; - case RED: - (*_log_stream) << "\033[31m"; - break; - default: - break; - } + switch (_color_id) { + case BLUE: + (*_log_stream) << "\033[34m"; + break; + case GREEN: + (*_log_stream) << "\033[32m"; + break; + case YELLOW: + (*_log_stream) << "\033[33m"; + break; + case RED: + (*_log_stream) << "\033[31m"; + break; + default: + break; + } } void resetLineColor() { - if(_color_id > 0){ - (*_log_stream) << "\033[0m"; //RESET + if (_color_id > 0) { + (*_log_stream) << "\033[0m"; // RESET } } }; @@ -147,25 +147,27 @@ class LogStream class NullStream { public: - NullStream(){} + NullStream() + { + } - NullStream(const std::string & prefix, std::ostream & log_stream) + NullStream(const std::string& prefix, std::ostream& log_stream) { (void)prefix; (void)log_stream; } - template - NullStream & operator<<(const T & arg) + template + NullStream& operator<<(const T& arg) { return *this; } }; #ifdef LOG_LEVEL_DEBUG - static LogStream debug("DEBUG", std::cout, GREEN); +static LogStream debug("DEBUG", std::cout, GREEN); #else - static NullStream debug; +static NullStream debug; #endif static LogStream info("INFO", std::cout, BLUE); static LogStream warn("WARNING", std::cout, YELLOW); diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp index 75877d44..081aa496 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/common.hpp @@ -26,16 +26,17 @@ #include #ifndef UNUSED - #ifdef _WIN32 - #define UNUSED - #else - #define UNUSED __attribute__((unused)) - #endif +#ifdef _WIN32 +#define UNUSED +#else +#define UNUSED __attribute__((unused)) +#endif #endif template -constexpr std::size_t arraySize(const T (&)[N]) noexcept { - return N; +constexpr std::size_t arraySize(const T (&)[N]) noexcept +{ + return N; } // Helpers to print IE version information. @@ -45,341 +46,337 @@ constexpr std::size_t arraySize(const T (&)[N]) noexcept { // We need ADL to work in order to print these objects using slog. // So instead, we define wrapper classes and operator<< for those classes. -class PrintableIeVersion { +class PrintableIeVersion +{ public: - using ref_type = const InferenceEngine::Version &; + using ref_type = const InferenceEngine::Version&; - PrintableIeVersion(ref_type version) : version(version) {} + PrintableIeVersion(ref_type version) : version(version) + { + } - friend std::ostream &operator<<(std::ostream &os, const PrintableIeVersion &p) { - ref_type version = p.version; + friend std::ostream& operator<<(std::ostream& os, const PrintableIeVersion& p) + { + ref_type version = p.version; - return os << "\t" << version.description << " version ......... " - << IE_VERSION_MAJOR << "." << IE_VERSION_MINOR - << "\n\tBuild ........... " << IE_VERSION_PATCH; - } + return os << "\t" << version.description << " version ......... " << IE_VERSION_MAJOR << "." << IE_VERSION_MINOR + << "\n\tBuild ........... " << IE_VERSION_PATCH; + } private: - ref_type version; + ref_type version; }; -inline PrintableIeVersion printable(PrintableIeVersion::ref_type version) { - return { version }; +inline PrintableIeVersion printable(PrintableIeVersion::ref_type version) +{ + return { version }; } -class PrintableIeVersionMap { +class PrintableIeVersionMap +{ public: - using ref_type = const std::map &; + using ref_type = const std::map&; - PrintableIeVersionMap(ref_type versions) : versions(versions) {} + PrintableIeVersionMap(ref_type versions) : versions(versions) + { + } - friend std::ostream &operator<<(std::ostream &os, const PrintableIeVersionMap &p) { - ref_type versions = p.versions; + friend std::ostream& operator<<(std::ostream& os, const PrintableIeVersionMap& p) + { + ref_type versions = p.versions; - for (const auto &version : versions) { - os << "\t" << version.first << std::endl - << printable(version.second) << std::endl; - } - - return os; + for (const auto& version : versions) { + os << "\t" << version.first << std::endl << printable(version.second) << std::endl; } + return os; + } + private: - ref_type versions; + ref_type versions; }; -inline PrintableIeVersionMap printable(PrintableIeVersionMap::ref_type versions) { - return { versions }; +inline PrintableIeVersionMap printable(PrintableIeVersionMap::ref_type versions) +{ + return { versions }; } /** * @class Color * @brief A Color class stores channels of a given color */ -class Color { +class Color +{ private: - unsigned char _r; - unsigned char _g; - unsigned char _b; + unsigned char _r; + unsigned char _g; + unsigned char _b; public: - /** - * A default constructor. - * @param r - value for red channel - * @param g - value for green channel - * @param b - value for blue channel - */ - Color(unsigned char r, - unsigned char g, - unsigned char b) : _r(r), _g(g), _b(b) {} - - inline unsigned char red() const { - return _r; - } - - inline unsigned char blue() const { - return _b; - } - - inline unsigned char green() const { - return _g; - } + /** + * A default constructor. + * @param r - value for red channel + * @param g - value for green channel + * @param b - value for blue channel + */ + Color(unsigned char r, unsigned char g, unsigned char b) : _r(r), _g(g), _b(b) + { + } + + inline unsigned char red() const + { + return _r; + } + + inline unsigned char blue() const + { + return _b; + } + + inline unsigned char green() const + { + return _g; + } }; // Known colors for training classes from the Cityscapes dataset static UNUSED const Color CITYSCAPES_COLORS[] = { - { 128, 64, 128 }, - { 232, 35, 244 }, - { 70, 70, 70 }, - { 156, 102, 102 }, - { 153, 153, 190 }, - { 153, 153, 153 }, - { 30, 170, 250 }, - { 0, 220, 220 }, - { 35, 142, 107 }, - { 152, 251, 152 }, - { 180, 130, 70 }, - { 60, 20, 220 }, - { 0, 0, 255 }, - { 142, 0, 0 }, - { 70, 0, 0 }, - { 100, 60, 0 }, - { 90, 0, 0 }, - { 230, 0, 0 }, - { 32, 11, 119 }, - { 0, 74, 111 }, - { 81, 0, 81 } + { 128, 64, 128 }, { 232, 35, 244 }, { 70, 70, 70 }, { 156, 102, 102 }, { 153, 153, 190 }, { 153, 153, 153 }, + { 30, 170, 250 }, { 0, 220, 220 }, { 35, 142, 107 }, { 152, 251, 152 }, { 180, 130, 70 }, { 60, 20, 220 }, + { 0, 0, 255 }, { 142, 0, 0 }, { 70, 0, 0 }, { 100, 60, 0 }, { 90, 0, 0 }, { 230, 0, 0 }, + { 32, 11, 119 }, { 0, 74, 111 }, { 81, 0, 81 } }; static std::vector> -perfCountersSorted(std::map perfMap) { - using perfItem = std::pair; - std::vector sorted; - for (auto &kvp : perfMap) sorted.push_back(kvp); - - std::stable_sort(sorted.begin(), sorted.end(), - [](const perfItem& l, const perfItem& r) { - return l.second.execution_index < r.second.execution_index; - }); - - return sorted; +perfCountersSorted(std::map perfMap) +{ + using perfItem = std::pair; + std::vector sorted; + for (auto& kvp : perfMap) + sorted.push_back(kvp); + + std::stable_sort(sorted.begin(), sorted.end(), [](const perfItem& l, const perfItem& r) { + return l.second.execution_index < r.second.execution_index; + }); + + return sorted; } -static UNUSED void printPerformanceCounts(const std::map& performanceMap, - std::ostream &stream, const std::string &deviceName, - bool bshowHeader = true) { - long long totalTime = 0; - // Print performance counts - if (bshowHeader) { - stream << std::endl << "performance counts:" << std::endl << std::endl; +static UNUSED void +printPerformanceCounts(const std::map& performanceMap, + std::ostream& stream, const std::string& deviceName, bool bshowHeader = true) +{ + long long totalTime = 0; + // Print performance counts + if (bshowHeader) { + stream << std::endl << "performance counts:" << std::endl << std::endl; + } + + auto performanceMapSorted = perfCountersSorted(performanceMap); + + for (const auto& it : performanceMapSorted) { + std::string toPrint(it.first); + const int maxLayerName = 30; + + if (it.first.length() >= maxLayerName) { + toPrint = it.first.substr(0, maxLayerName - 4); + toPrint += "..."; } - auto performanceMapSorted = perfCountersSorted(performanceMap); - - for (const auto & it : performanceMapSorted) { - std::string toPrint(it.first); - const int maxLayerName = 30; - - if (it.first.length() >= maxLayerName) { - toPrint = it.first.substr(0, maxLayerName - 4); - toPrint += "..."; - } - - - stream << std::setw(maxLayerName) << std::left << toPrint; - switch (it.second.status) { - case InferenceEngine::InferenceEngineProfileInfo::EXECUTED: - stream << std::setw(15) << std::left << "EXECUTED"; - break; - case InferenceEngine::InferenceEngineProfileInfo::NOT_RUN: - stream << std::setw(15) << std::left << "NOT_RUN"; - break; - case InferenceEngine::InferenceEngineProfileInfo::OPTIMIZED_OUT: - stream << std::setw(15) << std::left << "OPTIMIZED_OUT"; - break; - } - stream << std::setw(30) << std::left << "layerType: " + std::string(it.second.layer_type) + " "; - stream << std::setw(20) << std::left << "realTime: " + std::to_string(it.second.realTime_uSec); - stream << std::setw(20) << std::left << "cpu: " + std::to_string(it.second.cpu_uSec); - stream << " execType: " << it.second.exec_type << std::endl; - if (it.second.realTime_uSec > 0) { - totalTime += it.second.realTime_uSec; - } + stream << std::setw(maxLayerName) << std::left << toPrint; + switch (it.second.status) { + case InferenceEngine::InferenceEngineProfileInfo::EXECUTED: + stream << std::setw(15) << std::left << "EXECUTED"; + break; + case InferenceEngine::InferenceEngineProfileInfo::NOT_RUN: + stream << std::setw(15) << std::left << "NOT_RUN"; + break; + case InferenceEngine::InferenceEngineProfileInfo::OPTIMIZED_OUT: + stream << std::setw(15) << std::left << "OPTIMIZED_OUT"; + break; } - stream << std::setw(20) << std::left << "Total time: " + std::to_string(totalTime) << " microseconds" << std::endl; - std::cout << std::endl; - std::cout << "Full device name: " << deviceName << std::endl; - std::cout << std::endl; + stream << std::setw(30) << std::left << "layerType: " + std::string(it.second.layer_type) + " "; + stream << std::setw(20) << std::left << "realTime: " + std::to_string(it.second.realTime_uSec); + stream << std::setw(20) << std::left << "cpu: " + std::to_string(it.second.cpu_uSec); + stream << " execType: " << it.second.exec_type << std::endl; + if (it.second.realTime_uSec > 0) { + totalTime += it.second.realTime_uSec; + } + } + stream << std::setw(20) << std::left << "Total time: " + std::to_string(totalTime) << " microseconds" << std::endl; + std::cout << std::endl; + std::cout << "Full device name: " << deviceName << std::endl; + std::cout << std::endl; } -static UNUSED void printPerformanceCounts(InferenceEngine::InferRequest request, std::ostream &stream, std::string deviceName, bool bshowHeader = true) { - auto performanceMap = request.GetPerformanceCounts(); - printPerformanceCounts(performanceMap, stream, deviceName, bshowHeader); +static UNUSED void printPerformanceCounts(InferenceEngine::InferRequest request, std::ostream& stream, + std::string deviceName, bool bshowHeader = true) +{ + auto performanceMap = request.GetPerformanceCounts(); + printPerformanceCounts(performanceMap, stream, deviceName, bshowHeader); } -inline std::map getMapFullDevicesNames(InferenceEngine::Core& ie, std::vector devices) { - std::map devicesMap; - InferenceEngine::Parameter p; - for (std::string& deviceName : devices) { - if (deviceName != "") { - try { - p = ie.GetMetric(deviceName, METRIC_KEY(FULL_DEVICE_NAME)); - devicesMap.insert(std::pair(deviceName, p.as())); - } - catch (InferenceEngine::Exception &) { - } - } +inline std::map getMapFullDevicesNames(InferenceEngine::Core& ie, + std::vector devices) +{ + std::map devicesMap; + InferenceEngine::Parameter p; + for (std::string& deviceName : devices) { + if (deviceName != "") { + try { + p = ie.GetMetric(deviceName, METRIC_KEY(FULL_DEVICE_NAME)); + devicesMap.insert(std::pair(deviceName, p.as())); + } catch (InferenceEngine::Exception&) { + } } - return devicesMap; + } + return devicesMap; } -inline std::string getFullDeviceName(std::map& devicesMap, std::string device) { - std::map::iterator it = devicesMap.find(device); - if (it != devicesMap.end()) { - return it->second; - } else { - return ""; - } +inline std::string getFullDeviceName(std::map& devicesMap, std::string device) +{ + std::map::iterator it = devicesMap.find(device); + if (it != devicesMap.end()) { + return it->second; + } else { + return ""; + } } -inline std::string getFullDeviceName(InferenceEngine::Core& ie, std::string device) { - InferenceEngine::Parameter p; - try { - p = ie.GetMetric(device, METRIC_KEY(FULL_DEVICE_NAME)); - return p.as(); - } - catch (InferenceEngine::Exception &) { - return ""; - } +inline std::string getFullDeviceName(InferenceEngine::Core& ie, std::string device) +{ + InferenceEngine::Parameter p; + try { + p = ie.GetMetric(device, METRIC_KEY(FULL_DEVICE_NAME)); + return p.as(); + } catch (InferenceEngine::Exception&) { + return ""; + } } -inline std::size_t getTensorWidth(const InferenceEngine::TensorDesc& desc) { - const auto& layout = desc.getLayout(); - const auto& dims = desc.getDims(); - const auto& size = dims.size(); - if ((size >= 2) && - (layout == InferenceEngine::Layout::NCHW || - layout == InferenceEngine::Layout::NHWC || - layout == InferenceEngine::Layout::NCDHW || - layout == InferenceEngine::Layout::NDHWC || - layout == InferenceEngine::Layout::OIHW || - layout == InferenceEngine::Layout::CHW || - layout == InferenceEngine::Layout::HW)) { - // Regardless of layout, dimensions are stored in fixed order - return dims.back(); - } else { - throw std::runtime_error("Tensor does not have width dimension"); - } - return 0; +inline std::size_t getTensorWidth(const InferenceEngine::TensorDesc& desc) +{ + const auto& layout = desc.getLayout(); + const auto& dims = desc.getDims(); + const auto& size = dims.size(); + if ((size >= 2) && (layout == InferenceEngine::Layout::NCHW || layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::OIHW || layout == InferenceEngine::Layout::CHW || + layout == InferenceEngine::Layout::HW)) { + // Regardless of layout, dimensions are stored in fixed order + return dims.back(); + } else { + throw std::runtime_error("Tensor does not have width dimension"); + } + return 0; } -inline std::size_t getTensorHeight(const InferenceEngine::TensorDesc& desc) { - const auto& layout = desc.getLayout(); - const auto& dims = desc.getDims(); - const auto& size = dims.size(); - if ((size >= 2) && - (layout == InferenceEngine::Layout::NCHW || - layout == InferenceEngine::Layout::NHWC || - layout == InferenceEngine::Layout::NCDHW || - layout == InferenceEngine::Layout::NDHWC || - layout == InferenceEngine::Layout::OIHW || - layout == InferenceEngine::Layout::CHW || - layout == InferenceEngine::Layout::HW)) { - // Regardless of layout, dimensions are stored in fixed order - return dims.at(size - 2); - } else { - throw std::runtime_error("Tensor does not have height dimension"); - } - return 0; +inline std::size_t getTensorHeight(const InferenceEngine::TensorDesc& desc) +{ + const auto& layout = desc.getLayout(); + const auto& dims = desc.getDims(); + const auto& size = dims.size(); + if ((size >= 2) && (layout == InferenceEngine::Layout::NCHW || layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::OIHW || layout == InferenceEngine::Layout::CHW || + layout == InferenceEngine::Layout::HW)) { + // Regardless of layout, dimensions are stored in fixed order + return dims.at(size - 2); + } else { + throw std::runtime_error("Tensor does not have height dimension"); + } + return 0; } -inline std::size_t getTensorChannels(const InferenceEngine::TensorDesc& desc) { - const auto& layout = desc.getLayout(); - if (layout == InferenceEngine::Layout::NCHW || - layout == InferenceEngine::Layout::NHWC || - layout == InferenceEngine::Layout::NCDHW || - layout == InferenceEngine::Layout::NDHWC || - layout == InferenceEngine::Layout::C || - layout == InferenceEngine::Layout::CHW || - layout == InferenceEngine::Layout::NC || - layout == InferenceEngine::Layout::CN) { - // Regardless of layout, dimensions are stored in fixed order - const auto& dims = desc.getDims(); - switch (desc.getLayoutByDims(dims)) { - case InferenceEngine::Layout::C: return dims.at(0); - case InferenceEngine::Layout::NC: return dims.at(1); - case InferenceEngine::Layout::CHW: return dims.at(0); - case InferenceEngine::Layout::NCHW: return dims.at(1); - case InferenceEngine::Layout::NCDHW: return dims.at(1); - case InferenceEngine::Layout::SCALAR: // [[fallthrough]] - case InferenceEngine::Layout::BLOCKED: // [[fallthrough]] - default: - throw std::runtime_error("Tensor does not have channels dimension"); - } - } else { +inline std::size_t getTensorChannels(const InferenceEngine::TensorDesc& desc) +{ + const auto& layout = desc.getLayout(); + if (layout == InferenceEngine::Layout::NCHW || layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::C || layout == InferenceEngine::Layout::CHW || + layout == InferenceEngine::Layout::NC || layout == InferenceEngine::Layout::CN) { + // Regardless of layout, dimensions are stored in fixed order + const auto& dims = desc.getDims(); + switch (desc.getLayoutByDims(dims)) { + case InferenceEngine::Layout::C: + return dims.at(0); + case InferenceEngine::Layout::NC: + return dims.at(1); + case InferenceEngine::Layout::CHW: + return dims.at(0); + case InferenceEngine::Layout::NCHW: + return dims.at(1); + case InferenceEngine::Layout::NCDHW: + return dims.at(1); + case InferenceEngine::Layout::SCALAR: // [[fallthrough]] + case InferenceEngine::Layout::BLOCKED: // [[fallthrough]] + default: throw std::runtime_error("Tensor does not have channels dimension"); } - return 0; + } else { + throw std::runtime_error("Tensor does not have channels dimension"); + } + return 0; } -inline std::size_t getTensorBatch(const InferenceEngine::TensorDesc& desc) { - const auto& layout = desc.getLayout(); - if (layout == InferenceEngine::Layout::NCHW || - layout == InferenceEngine::Layout::NHWC || - layout == InferenceEngine::Layout::NCDHW || - layout == InferenceEngine::Layout::NDHWC || - layout == InferenceEngine::Layout::NC || - layout == InferenceEngine::Layout::CN) { - // Regardless of layout, dimensions are stored in fixed order - const auto& dims = desc.getDims(); - switch (desc.getLayoutByDims(dims)) { - case InferenceEngine::Layout::NC: return dims.at(0); - case InferenceEngine::Layout::NCHW: return dims.at(0); - case InferenceEngine::Layout::NCDHW: return dims.at(0); - case InferenceEngine::Layout::CHW: // [[fallthrough]] - case InferenceEngine::Layout::C: // [[fallthrough]] - case InferenceEngine::Layout::SCALAR: // [[fallthrough]] - case InferenceEngine::Layout::BLOCKED: // [[fallthrough]] - default: - throw std::runtime_error("Tensor does not have channels dimension"); - } - } else { +inline std::size_t getTensorBatch(const InferenceEngine::TensorDesc& desc) +{ + const auto& layout = desc.getLayout(); + if (layout == InferenceEngine::Layout::NCHW || layout == InferenceEngine::Layout::NHWC || + layout == InferenceEngine::Layout::NCDHW || layout == InferenceEngine::Layout::NDHWC || + layout == InferenceEngine::Layout::NC || layout == InferenceEngine::Layout::CN) { + // Regardless of layout, dimensions are stored in fixed order + const auto& dims = desc.getDims(); + switch (desc.getLayoutByDims(dims)) { + case InferenceEngine::Layout::NC: + return dims.at(0); + case InferenceEngine::Layout::NCHW: + return dims.at(0); + case InferenceEngine::Layout::NCDHW: + return dims.at(0); + case InferenceEngine::Layout::CHW: // [[fallthrough]] + case InferenceEngine::Layout::C: // [[fallthrough]] + case InferenceEngine::Layout::SCALAR: // [[fallthrough]] + case InferenceEngine::Layout::BLOCKED: // [[fallthrough]] + default: throw std::runtime_error("Tensor does not have channels dimension"); } - return 0; + } else { + throw std::runtime_error("Tensor does not have channels dimension"); + } + return 0; } -inline void showAvailableDevices() { - InferenceEngine::Core ie; - std::vector devices = ie.GetAvailableDevices(); - - std::cout << std::endl; - std::cout << "Available target devices:"; - for (const auto& device : devices) { - std::cout << " " << device; - } - std::cout << std::endl; +inline void showAvailableDevices() +{ + InferenceEngine::Core ie; + std::vector devices = ie.GetAvailableDevices(); + + std::cout << std::endl; + std::cout << "Available target devices:"; + for (const auto& device : devices) { + std::cout << " " << device; + } + std::cout << std::endl; } -inline std::string fileNameNoExt(const std::string &filepath) { - auto pos = filepath.rfind('.'); - if (pos == std::string::npos) return filepath; - return filepath.substr(0, pos); +inline std::string fileNameNoExt(const std::string& filepath) +{ + auto pos = filepath.rfind('.'); + if (pos == std::string::npos) + return filepath; + return filepath.substr(0, pos); } -static inline ov::Layout getLayoutFromShape(const ov::Shape& shape) { - if (shape.size() == 2) { - return "NC"; - } - else if (shape.size() == 3) { - return (shape[0] >= 1 && shape[0] <= 4) ? "CHW" : - "HWC"; - } - else if (shape.size() == 4) { - return (shape[1] >= 1 && shape[1] <= 4) ? "NCHW" : - "NHWC"; - } - else { - throw std::runtime_error("Usupported " + std::to_string(shape.size()) + "D shape"); - } +static inline ov::Layout getLayoutFromShape(const ov::Shape& shape) +{ + if (shape.size() == 2) { + return "NC"; + } else if (shape.size() == 3) { + return (shape[0] >= 1 && shape[0] <= 4) ? "CHW" : "HWC"; + } else if (shape.size() == 4) { + return (shape[1] >= 1 && shape[1] <= 4) ? "NCHW" : "NHWC"; + } else { + throw std::runtime_error("Usupported " + std::to_string(shape.size()) + "D shape"); + } } diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp index fa3f32e1..d9408994 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp @@ -20,7 +20,7 @@ #ifndef OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ #define OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) #include #endif #include @@ -42,29 +42,26 @@ * @param s - string to trim * @return trimmed string */ -inline std::string & trim(std::string & s) +inline std::string& trim(std::string& s) { - s.erase(s.begin(), - std::find_if(s.begin(), s.end(), std::not1(std::ptr_fun(std::isspace)))); - s.erase( - std::find_if(s.rbegin(), s.rend(), std::not1(std::ptr_fun(std::isspace))).base(), - s.end()); + s.erase(s.begin(), std::find_if(s.begin(), s.end(), std::not1(std::ptr_fun(std::isspace)))); + s.erase(std::find_if(s.rbegin(), s.rend(), std::not1(std::ptr_fun(std::isspace))).base(), s.end()); return s; } -static std::ostream & operator<<(std::ostream & os, const ov::Version& version) +static std::ostream& operator<<(std::ostream& os, const ov::Version& version) { os << "\n\tAPI version ............ "; os << OPENVINO_VERSION_MAJOR << "." << OPENVINO_VERSION_MINOR << "." << OPENVINO_VERSION_PATCH; - os << "\n\t" << - "Build .................. " << version.buildNumber; - os << "\n\t" << - "Description ............ " << version.description; + os << "\n\t" + << "Build .................. " << version.buildNumber; + os << "\n\t" + << "Description ............ " << version.description; return os; } -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) /** * @class PluginVersion * @brief A PluginVersion class stores plugin version and initialization status @@ -73,7 +70,7 @@ struct PluginVersion : public InferenceEngine::Version { bool initialized = false; - explicit PluginVersion(const InferenceEngine::Version * ver) + explicit PluginVersion(const InferenceEngine::Version* ver) { if (nullptr == ver) { return; @@ -88,7 +85,7 @@ struct PluginVersion : public InferenceEngine::Version } }; -static UNUSED std::ostream & operator<<(std::ostream & os, const PluginVersion & version) +static UNUSED std::ostream& operator<<(std::ostream& os, const PluginVersion& version) { os << "\tPlugin version ......... "; if (!version) { @@ -114,12 +111,12 @@ static UNUSED std::ostream & operator<<(std::ostream & os, const PluginVersion & return os; } -inline void printPluginVersion(InferenceEngine::InferenceEnginePluginPtr ptr, std::ostream & stream) +inline void printPluginVersion(InferenceEngine::InferenceEnginePluginPtr ptr, std::ostream& stream) { - const PluginVersion * pluginVersion = nullptr; - ptr->GetVersion((const InferenceEngine::Version * &)pluginVersion); + const PluginVersion* pluginVersion = nullptr; + ptr->GetVersion((const InferenceEngine::Version*&)pluginVersion); stream << pluginVersion << std::endl; } -#endif // (defined(USE_OLD_E_PLUGIN_API)) +#endif // (defined(USE_OLD_E_PLUGIN_API)) #endif // OPENVINO_WRAPPER_LIB__UTILS__VERSION_INFO_HPP_ diff --git a/openvino_wrapper_lib/src/engines/engine.cpp b/openvino_wrapper_lib/src/engines/engine.cpp index ab8704d4..e3f3865a 100644 --- a/openvino_wrapper_lib/src/engines/engine.cpp +++ b/openvino_wrapper_lib/src/engines/engine.cpp @@ -19,17 +19,14 @@ #include "openvino_wrapper_lib/engines/engine.hpp" #include "openvino_wrapper_lib/slog.hpp" -#if(defined(USE_OLD_E_PLUGIN_API)) -Engines::Engine::Engine( - InferenceEngine::InferencePlugin plg, - const Models::BaseModel::Ptr base_model) +#if (defined(USE_OLD_E_PLUGIN_API)) +Engines::Engine::Engine(InferenceEngine::InferencePlugin plg, const Models::BaseModel::Ptr base_model) { request_ = (plg.LoadNetwork(base_model->getModel()->getNetwork(), {})).CreateInferRequestPtr(); } #endif -Engines::Engine::Engine( - ov::InferRequest & request) +Engines::Engine::Engine(ov::InferRequest& request) { request_ = request; } diff --git a/openvino_wrapper_lib/src/engines/engine_manager.cpp b/openvino_wrapper_lib/src/engines/engine_manager.cpp index f3906838..c55d8553 100644 --- a/openvino_wrapper_lib/src/engines/engine_manager.cpp +++ b/openvino_wrapper_lib/src/engines/engine_manager.cpp @@ -23,22 +23,22 @@ #include "openvino_wrapper_lib/utils/version_info.hpp" #include #include -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) #include #endif -std::shared_ptr Engines::EngineManager::createEngine( - const std::string & device, const std::shared_ptr & model) +std::shared_ptr Engines::EngineManager::createEngine(const std::string& device, + const std::shared_ptr& model) { -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) return createEngine_beforeV2019R2(device, model); #else return createEngine_V2022(device, model); #endif } -std::shared_ptr Engines::EngineManager::createEngine_V2022( - const std::string & device, const std::shared_ptr & model) +std::shared_ptr +Engines::EngineManager::createEngine_V2022(const std::string& device, const std::shared_ptr& model) { ov::Core core; ov::CompiledModel executable_network = core.compile_model(model->getModel(), device); @@ -47,34 +47,31 @@ std::shared_ptr Engines::EngineManager::createEngine_V2022( return std::make_shared(infer_request); } -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) std::shared_ptr Engines::EngineManager::createEngine_beforeV2019R2( - const std::string & device, const std::shared_ptr & model) + const std::string& device, const std::shared_ptr& model) { - if(plugins_for_devices_.find(device) == plugins_for_devices_.end()) { - auto pcommon = Params::ParamManager::getInstance().getCommon(); - plugins_for_devices_[device] = *makePluginByName(device, pcommon.custom_cpu_library, - pcommon.custom_cldnn_library, pcommon.enable_performance_count); - slog::info << "Created plugin for " << device << slog::endl; + if (plugins_for_devices_.find(device) == plugins_for_devices_.end()) { + auto pcommon = Params::ParamManager::getInstance().getCommon(); + plugins_for_devices_[device] = *makePluginByName(device, pcommon.custom_cpu_library, pcommon.custom_cldnn_library, + pcommon.enable_performance_count); + slog::info << "Created plugin for " << device << slog::endl; } - auto executeable_network = - plugins_for_devices_[device].LoadNetwork(model->getModel()->getNetwork(), {}); + auto executeable_network = plugins_for_devices_[device].LoadNetwork(model->getModel()->getNetwork(), {}); auto request = executeable_network.CreateInferRequestPtr(); return std::make_shared(request); } std::unique_ptr -Engines::EngineManager::makePluginByName( - const std::string & device_name, const std::string & custom_cpu_library_message, - const std::string & custom_cldnn_message, bool performance_message) +Engines::EngineManager::makePluginByName(const std::string& device_name, const std::string& custom_cpu_library_message, + const std::string& custom_cldnn_message, bool performance_message) { slog::info << "Creating plugin for " << device_name << slog::endl; InferenceEngine::InferencePlugin plugin = - InferenceEngine::PluginDispatcher({"../../../lib/intel64", ""}) - .getPluginByDevice(device_name); + InferenceEngine::PluginDispatcher({ "../../../lib/intel64", "" }).getPluginByDevice(device_name); /** Printing plugin version **/ printPluginVersion(plugin, std::cout); @@ -83,28 +80,25 @@ Engines::EngineManager::makePluginByName( if ((device_name.find("CPU") != std::string::npos)) { plugin.AddExtension(std::make_shared()); if (!custom_cpu_library_message.empty()) { - slog::info << "custom cpu library is not empty, tyring to use this extension:" - << custom_cpu_library_message << slog::endl; + slog::info << "custom cpu library is not empty, tyring to use this extension:" << custom_cpu_library_message + << slog::endl; // CPU(MKLDNN) extensions are loaded as a shared library and passed as a // pointer to base // extension - auto extension_ptr = - InferenceEngine::make_so_pointer(custom_cpu_library_message); + auto extension_ptr = InferenceEngine::make_so_pointer(custom_cpu_library_message); plugin.AddExtension(extension_ptr); } } else if (!custom_cldnn_message.empty()) { - slog::info << "custom cldnn library is not empty, tyring to use this extension:" - << custom_cldnn_message << slog::endl; + slog::info << "custom cldnn library is not empty, tyring to use this extension:" << custom_cldnn_message + << slog::endl; // Load Extensions for other plugins not CPU - plugin.SetConfig( - {{InferenceEngine::PluginConfigParams::KEY_CONFIG_FILE, custom_cldnn_message}}); + plugin.SetConfig({ { InferenceEngine::PluginConfigParams::KEY_CONFIG_FILE, custom_cldnn_message } }); } if (performance_message) { - plugin.SetConfig({{InferenceEngine::PluginConfigParams::KEY_PERF_COUNT, - InferenceEngine::PluginConfigParams::YES}}); + plugin.SetConfig( + { { InferenceEngine::PluginConfigParams::KEY_PERF_COUNT, InferenceEngine::PluginConfigParams::YES } }); } - return std::make_unique( - InferenceEngine::InferenceEnginePluginPtr(plugin)); + return std::make_unique(InferenceEngine::InferenceEnginePluginPtr(plugin)); } #endif diff --git a/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp b/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp index 59138e3a..0598df48 100644 --- a/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/age_gender_detection.cpp @@ -25,35 +25,30 @@ #include "openvino_wrapper_lib/outputs/base_output.hpp" // AgeGenderResult -openvino_wrapper_lib::AgeGenderResult::AgeGenderResult(const cv::Rect & location) -: Result(location) +openvino_wrapper_lib::AgeGenderResult::AgeGenderResult(const cv::Rect& location) : Result(location) { } // AgeGender Detection -openvino_wrapper_lib::AgeGenderDetection::AgeGenderDetection() -: openvino_wrapper_lib::BaseInference() +openvino_wrapper_lib::AgeGenderDetection::AgeGenderDetection() : openvino_wrapper_lib::BaseInference() { } openvino_wrapper_lib::AgeGenderDetection::~AgeGenderDetection() = default; -void openvino_wrapper_lib::AgeGenderDetection::loadNetwork( - std::shared_ptr network) +void openvino_wrapper_lib::AgeGenderDetection::loadNetwork(std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::AgeGenderDetection::enqueue( - const cv::Mat & frame, - const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::AgeGenderDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); + bool succeed = openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, getResultsLength(), + valid_model_->getInputName()); if (!succeed) { return false; } @@ -89,8 +84,7 @@ int openvino_wrapper_lib::AgeGenderDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::AgeGenderDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::AgeGenderDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -100,20 +94,19 @@ const std::string openvino_wrapper_lib::AgeGenderDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::AgeGenderDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::AgeGenderDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::AgeGenderDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::AgeGenderDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Age gender detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Age gender detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/base_filter.cpp b/openvino_wrapper_lib/src/inferences/base_filter.cpp index 5b4d381a..ac81271b 100644 --- a/openvino_wrapper_lib/src/inferences/base_filter.cpp +++ b/openvino_wrapper_lib/src/inferences/base_filter.cpp @@ -22,44 +22,39 @@ #include #include -openvino_wrapper_lib::BaseFilter::BaseFilter() {} +openvino_wrapper_lib::BaseFilter::BaseFilter() +{ +} -bool openvino_wrapper_lib::BaseFilter::isValidFilterConditions( - const std::string & filter_conditions) +bool openvino_wrapper_lib::BaseFilter::isValidFilterConditions(const std::string& filter_conditions) { return strip(filter_conditions) != ""; } -void openvino_wrapper_lib::BaseFilter::acceptFilterConditions( - const std::string & filter_conditions) +void openvino_wrapper_lib::BaseFilter::acceptFilterConditions(const std::string& filter_conditions) { striped_conditions_ = strip(filter_conditions); std::vector infix_conditions = split(striped_conditions_); infixToSuffix(infix_conditions); } -bool openvino_wrapper_lib::BaseFilter::isRelationOperator(const std::string & str) +bool openvino_wrapper_lib::BaseFilter::isRelationOperator(const std::string& str) { - if (std::find(relation_operators_.begin(), relation_operators_.end(), str) != - relation_operators_.end()) - { + if (std::find(relation_operators_.begin(), relation_operators_.end(), str) != relation_operators_.end()) { return true; } return false; } -bool openvino_wrapper_lib::BaseFilter::isLogicOperator(const std::string & str) +bool openvino_wrapper_lib::BaseFilter::isLogicOperator(const std::string& str) { - if (std::find(logic_operators_.begin(), logic_operators_.end(), str) != - logic_operators_.end()) - { + if (std::find(logic_operators_.begin(), logic_operators_.end(), str) != logic_operators_.end()) { return true; } return false; } -bool openvino_wrapper_lib::BaseFilter::isPriorTo( - const std::string & operator1, const std::string & operator2) +bool openvino_wrapper_lib::BaseFilter::isPriorTo(const std::string& operator1, const std::string& operator2) { if (isRelationOperator(operator1) && isLogicOperator(operator2)) { return true; @@ -69,13 +64,17 @@ bool openvino_wrapper_lib::BaseFilter::isPriorTo( std::string openvino_wrapper_lib::BaseFilter::boolToStr(bool value) { - if (value) {return "true";} + if (value) { + return "true"; + } return "false"; } -bool openvino_wrapper_lib::BaseFilter::strToBool(const std::string & value) +bool openvino_wrapper_lib::BaseFilter::strToBool(const std::string& value) { - if (!value.compare("true")) {return true;} else if (!value.compare("false")) { + if (!value.compare("true")) { + return true; + } else if (!value.compare("false")) { return false; } else { slog::err << "Invalid string: " << value << " for bool conversion!" << slog::endl; @@ -83,14 +82,13 @@ bool openvino_wrapper_lib::BaseFilter::strToBool(const std::string & value) return false; } -const std::vector & -openvino_wrapper_lib::BaseFilter::getSuffixConditions() const +const std::vector& openvino_wrapper_lib::BaseFilter::getSuffixConditions() const { return suffix_conditons_; } -bool openvino_wrapper_lib::BaseFilter::logicOperation( - const std::string & logic1, const std::string & op, const std::string & logic2) +bool openvino_wrapper_lib::BaseFilter::logicOperation(const std::string& logic1, const std::string& op, + const std::string& logic2) { if (!op.compare("&&")) { return strToBool(logic1) && strToBool(logic2); @@ -102,8 +100,8 @@ bool openvino_wrapper_lib::BaseFilter::logicOperation( } } -bool openvino_wrapper_lib::BaseFilter::stringCompare( - const std::string & candidate, const std::string & op, const std::string & target) +bool openvino_wrapper_lib::BaseFilter::stringCompare(const std::string& candidate, const std::string& op, + const std::string& target) { if (!op.compare("==")) { return !target.compare(candidate); @@ -115,8 +113,7 @@ bool openvino_wrapper_lib::BaseFilter::stringCompare( } } -bool openvino_wrapper_lib::BaseFilter::floatCompare( - float candidate, const std::string & op, float target) +bool openvino_wrapper_lib::BaseFilter::floatCompare(float candidate, const std::string& op, float target) { if (!op.compare("<=")) { return candidate <= target; @@ -132,7 +129,7 @@ bool openvino_wrapper_lib::BaseFilter::floatCompare( } } -float openvino_wrapper_lib::BaseFilter::stringToFloat(const std::string & candidate) +float openvino_wrapper_lib::BaseFilter::stringToFloat(const std::string& candidate) { float result = 0; try { @@ -143,8 +140,7 @@ float openvino_wrapper_lib::BaseFilter::stringToFloat(const std::string & candid return result; } -std::vector openvino_wrapper_lib::BaseFilter::split( - const std::string & filter_conditions) +std::vector openvino_wrapper_lib::BaseFilter::split(const std::string& filter_conditions) { std::vector seperators; seperators.insert(seperators.end(), relation_operators_.begin(), relation_operators_.end()); @@ -174,8 +170,7 @@ std::vector openvino_wrapper_lib::BaseFilter::split( return infix_conditions; } -void openvino_wrapper_lib::BaseFilter::infixToSuffix( - std::vector & infix_conditions) +void openvino_wrapper_lib::BaseFilter::infixToSuffix(std::vector& infix_conditions) { std::stack operator_stack; for (auto elem : infix_conditions) { @@ -206,7 +201,7 @@ void openvino_wrapper_lib::BaseFilter::infixToSuffix( } } -std::string openvino_wrapper_lib::BaseFilter::strip(const std::string & str) +std::string openvino_wrapper_lib::BaseFilter::strip(const std::string& str) { std::string stripped_string = ""; for (auto character : str) { diff --git a/openvino_wrapper_lib/src/inferences/base_inference.cpp b/openvino_wrapper_lib/src/inferences/base_inference.cpp index 52138e5c..b2fca8b1 100644 --- a/openvino_wrapper_lib/src/inferences/base_inference.cpp +++ b/openvino_wrapper_lib/src/inferences/base_inference.cpp @@ -22,8 +22,8 @@ #include "openvino_wrapper_lib/inferences/base_inference.hpp" #include "openvino_wrapper_lib/models/base_model.hpp" - // Result -openvino_wrapper_lib::Result::Result(const cv::Rect & location) +// Result +openvino_wrapper_lib::Result::Result(const cv::Rect& location) { location_ = location; } diff --git a/openvino_wrapper_lib/src/inferences/base_reidentification.cpp b/openvino_wrapper_lib/src/inferences/base_reidentification.cpp index 559565cc..0d0d7c3a 100644 --- a/openvino_wrapper_lib/src/inferences/base_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/base_reidentification.cpp @@ -27,13 +27,12 @@ #include "openvino_wrapper_lib/slog.hpp" // Tracker -openvino_wrapper_lib::Tracker::Tracker( - int max_record_size, double same_track_thresh, double new_track_thresh) -: max_record_size_(max_record_size), - same_track_thresh_(same_track_thresh), - new_track_thresh_(new_track_thresh) {} +openvino_wrapper_lib::Tracker::Tracker(int max_record_size, double same_track_thresh, double new_track_thresh) + : max_record_size_(max_record_size), same_track_thresh_(same_track_thresh), new_track_thresh_(new_track_thresh) +{ +} -int openvino_wrapper_lib::Tracker::processNewTrack(const std::vector & feature) +int openvino_wrapper_lib::Tracker::processNewTrack(const std::vector& feature) { int most_similar_id; double similarity = findMostSimilarTrack(feature, most_similar_id); @@ -45,8 +44,7 @@ int openvino_wrapper_lib::Tracker::processNewTrack(const std::vector & fe return most_similar_id; } -double openvino_wrapper_lib::Tracker::findMostSimilarTrack( - const std::vector & feature, int & most_similar_id) +double openvino_wrapper_lib::Tracker::findMostSimilarTrack(const std::vector& feature, int& most_similar_id) { double max_similarity = 0; most_similar_id = -1; @@ -60,13 +58,13 @@ double openvino_wrapper_lib::Tracker::findMostSimilarTrack( return max_similarity; } -double openvino_wrapper_lib::Tracker::calcSimilarity( - const std::vector & feature_a, const std::vector & feature_b) +double openvino_wrapper_lib::Tracker::calcSimilarity(const std::vector& feature_a, + const std::vector& feature_b) { if (feature_a.size() != feature_b.size()) { - slog::err << "cosine similarity can't be called for vectors of different lengths: " << - "feature_a size = " << std::to_string(feature_a.size()) << - "feature_b size = " << std::to_string(feature_b.size()) << slog::endl; + slog::err << "cosine similarity can't be called for vectors of different lengths: " + << "feature_a size = " << std::to_string(feature_a.size()) + << "feature_b size = " << std::to_string(feature_b.size()) << slog::endl; } float mul_sum, denom_a, denom_b, value_a, value_b; mul_sum = denom_a = denom_b = value_a = value_b = 0; @@ -79,13 +77,13 @@ double openvino_wrapper_lib::Tracker::calcSimilarity( } if (denom_a == 0 || denom_b == 0) { slog::err << "cosine similarity is not defined whenever one or both " - "input vectors are zero-vectors." << slog::endl; + "input vectors are zero-vectors." + << slog::endl; } return mul_sum / (sqrt(denom_a) * sqrt(denom_b)); } -void openvino_wrapper_lib::Tracker::updateMatchTrack( - int track_id, const std::vector & feature) +void openvino_wrapper_lib::Tracker::updateMatchTrack(int track_id, const std::vector& feature) { if (recorded_tracks_.find(track_id) != recorded_tracks_.end()) { recorded_tracks_[track_id].feature.assign(feature.begin(), feature.end()); @@ -109,8 +107,7 @@ void openvino_wrapper_lib::Tracker::removeEarlestTrack() recorded_tracks_.erase(remove_iter); } - -int openvino_wrapper_lib::Tracker::addNewTrack(const std::vector & feature) +int openvino_wrapper_lib::Tracker::addNewTrack(const std::vector& feature) { if (recorded_tracks_.size() >= max_record_size_) { std::thread remove_thread(std::bind(&Tracker::removeEarlestTrack, this)); @@ -127,8 +124,7 @@ int openvino_wrapper_lib::Tracker::addNewTrack(const std::vector & featur int64_t openvino_wrapper_lib::Tracker::getCurrentTime() { - auto tp = std::chrono::time_point_cast( - std::chrono::system_clock::now()); + auto tp = std::chrono::time_point_cast(std::chrono::system_clock::now()); return static_cast(tp.time_since_epoch().count()); } @@ -140,8 +136,7 @@ bool openvino_wrapper_lib::Tracker::saveTracksToFile(std::string filepath) return false; } for (auto record : recorded_tracks_) { - outfile << record.first << " " << - record.second.lastest_update_time << " "; + outfile << record.first << " " << record.second.lastest_update_time << " "; for (auto elem : record.second.feature) { outfile << elem << " "; } diff --git a/openvino_wrapper_lib/src/inferences/emotions_detection.cpp b/openvino_wrapper_lib/src/inferences/emotions_detection.cpp index e239c228..f43aa6b2 100644 --- a/openvino_wrapper_lib/src/inferences/emotions_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/emotions_detection.cpp @@ -18,7 +18,7 @@ * @file emotions_recognition.cpp */ -#include +#include #include #include #include @@ -27,35 +27,30 @@ #include "openvino_wrapper_lib/slog.hpp" // EmotionsResult -openvino_wrapper_lib::EmotionsResult::EmotionsResult(const cv::Rect & location) -: Result(location) +openvino_wrapper_lib::EmotionsResult::EmotionsResult(const cv::Rect& location) : Result(location) { } // Emotions Detection -openvino_wrapper_lib::EmotionsDetection::EmotionsDetection() -: openvino_wrapper_lib::BaseInference() +openvino_wrapper_lib::EmotionsDetection::EmotionsDetection() : openvino_wrapper_lib::BaseInference() { } openvino_wrapper_lib::EmotionsDetection::~EmotionsDetection() = default; -void openvino_wrapper_lib::EmotionsDetection::loadNetwork( - const std::shared_ptr network) +void openvino_wrapper_lib::EmotionsDetection::loadNetwork(const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::EmotionsDetection::enqueue( - const cv::Mat & frame, - const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::EmotionsDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); + bool succeed = openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, getResultsLength(), + valid_model_->getInputName()); if (!succeed) { slog::err << "Failed enqueue Emotion frame." << slog::endl; // TODO(weizhi): throw an error here @@ -86,13 +81,12 @@ bool openvino_wrapper_lib::EmotionsDetection::fetchResults() ov::Shape shape = emotions_tensor.get_shape(); int64 num_of_channels = shape[1]; if (num_of_channels != label_length) { - slog::err << "Output size (" << num_of_channels << - ") of the Emotions Recognition network is not equal " << - "to used emotions vector size (" << label_length << ")" << slog::endl; + slog::err << "Output size (" << num_of_channels << ") of the Emotions Recognition network is not equal " + << "to used emotions vector size (" << label_length << ")" << slog::endl; throw std::logic_error("Output size (" + std::to_string(num_of_channels) + - ") of the Emotions Recognition network is not equal " - "to used emotions vector size (" + - std::to_string(label_length) + ")"); + ") of the Emotions Recognition network is not equal " + "to used emotions vector size (" + + std::to_string(label_length) + ")"); } /** we identify an index of the most probable emotion in output array @@ -100,8 +94,7 @@ bool openvino_wrapper_lib::EmotionsDetection::fetchResults() auto emotions_values = emotions_tensor.data(); for (int idx = 0; idx < results_.size(); ++idx) { auto output_idx_pos = emotions_values + label_length * idx; - int64 max_prob_emotion_idx = - std::max_element(output_idx_pos, output_idx_pos + label_length) - output_idx_pos; + int64 max_prob_emotion_idx = std::max_element(output_idx_pos, output_idx_pos + label_length) - output_idx_pos; results_[idx].label_ = valid_model_->getLabels()[max_prob_emotion_idx]; } @@ -113,8 +106,7 @@ int openvino_wrapper_lib::EmotionsDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::EmotionsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::EmotionsDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -124,20 +116,19 @@ const std::string openvino_wrapper_lib::EmotionsDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::EmotionsDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::EmotionsDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::EmotionsDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::EmotionsDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Emotion detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Emotion detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/face_detection.cpp b/openvino_wrapper_lib/src/inferences/face_detection.cpp index 0037bea3..cab124dc 100644 --- a/openvino_wrapper_lib/src/inferences/face_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/face_detection.cpp @@ -27,15 +27,13 @@ #include "openvino_wrapper_lib/slog.hpp" // FaceDetectionResult -openvino_wrapper_lib::FaceDetectionResult::FaceDetectionResult(const cv::Rect & location) -: ObjectDetectionResult(location) +openvino_wrapper_lib::FaceDetectionResult::FaceDetectionResult(const cv::Rect& location) + : ObjectDetectionResult(location) { } // FaceDetection -openvino_wrapper_lib::FaceDetection::FaceDetection( - bool enable_roi_constraint, - double show_output_thresh) -: ObjectDetection(enable_roi_constraint, show_output_thresh) +openvino_wrapper_lib::FaceDetection::FaceDetection(bool enable_roi_constraint, double show_output_thresh) + : ObjectDetection(enable_roi_constraint, show_output_thresh) { } diff --git a/openvino_wrapper_lib/src/inferences/face_reidentification.cpp b/openvino_wrapper_lib/src/inferences/face_reidentification.cpp index 392d4d62..c308d3d9 100644 --- a/openvino_wrapper_lib/src/inferences/face_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/face_reidentification.cpp @@ -25,34 +25,33 @@ #include "openvino_wrapper_lib/slog.hpp" // FaceReidentificationResult -openvino_wrapper_lib::FaceReidentificationResult::FaceReidentificationResult( - const cv::Rect & location) -: Result(location) {} +openvino_wrapper_lib::FaceReidentificationResult::FaceReidentificationResult(const cv::Rect& location) + : Result(location) +{ +} // FaceReidentification openvino_wrapper_lib::FaceReidentification::FaceReidentification(double match_thresh) -: openvino_wrapper_lib::BaseInference() + : openvino_wrapper_lib::BaseInference() { face_tracker_ = std::make_shared(1000, match_thresh, 0.3); } openvino_wrapper_lib::FaceReidentification::~FaceReidentification() = default; void openvino_wrapper_lib::FaceReidentification::loadNetwork( - const std::shared_ptr network) + const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::FaceReidentification::enqueue( - const cv::Mat & frame, const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::FaceReidentification::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, 0, valid_model_->getInputName())) - { + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -68,20 +67,24 @@ bool openvino_wrapper_lib::FaceReidentification::submitRequest() bool openvino_wrapper_lib::FaceReidentification::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) {return false;} + if (!can_fetch) { + return false; + } bool found_result = false; InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); std::string output = valid_model_->getOutputName(); - const float * output_values = request->GetBlob(output)->buffer().as(); + const float* output_values = request->GetBlob(output)->buffer().as(); int result_length = request->GetBlob(output)->getTensorDesc().getDims()[1]; for (int i = 0; i < getResultsLength(); i++) { - std::vector new_face = std::vector( - output_values + result_length * i, output_values + result_length * (i + 1)); + std::vector new_face = + std::vector(output_values + result_length * i, output_values + result_length * (i + 1)); std::string face_id = "No." + std::to_string(face_tracker_->processNewTrack(new_face)); results_[i].face_id_ = face_id; found_result = true; } - if (!found_result) {results_.clear();} + if (!found_result) { + results_.clear(); + } return true; } @@ -90,8 +93,7 @@ int openvino_wrapper_lib::FaceReidentification::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::FaceReidentification::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::FaceReidentification::getLocationResult(int idx) const { return &(results_[idx]); } @@ -101,20 +103,19 @@ const std::string openvino_wrapper_lib::FaceReidentification::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::FaceReidentification::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::FaceReidentification::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::FaceReidentification::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::FaceReidentification::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Face reidentification does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Face reidentification does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp b/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp index 591c6fdd..4ccde0c9 100644 --- a/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/head_pose_detection.cpp @@ -25,35 +25,30 @@ #include "openvino_wrapper_lib/outputs/base_output.hpp" // HeadPoseResult -openvino_wrapper_lib::HeadPoseResult::HeadPoseResult(const cv::Rect & location) -: Result(location) +openvino_wrapper_lib::HeadPoseResult::HeadPoseResult(const cv::Rect& location) : Result(location) { } // Head Pose Detection -openvino_wrapper_lib::HeadPoseDetection::HeadPoseDetection() -: openvino_wrapper_lib::BaseInference() +openvino_wrapper_lib::HeadPoseDetection::HeadPoseDetection() : openvino_wrapper_lib::BaseInference() { } openvino_wrapper_lib::HeadPoseDetection::~HeadPoseDetection() = default; -void openvino_wrapper_lib::HeadPoseDetection::loadNetwork( - std::shared_ptr network) +void openvino_wrapper_lib::HeadPoseDetection::loadNetwork(std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::HeadPoseDetection::enqueue( - const cv::Mat & frame, - const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::HeadPoseDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - bool succeed = openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, getResultsLength(), valid_model_->getInputName()); + bool succeed = openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, getResultsLength(), + valid_model_->getInputName()); if (!succeed) { return false; } @@ -91,8 +86,7 @@ int openvino_wrapper_lib::HeadPoseDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::HeadPoseDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::HeadPoseDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -102,20 +96,19 @@ const std::string openvino_wrapper_lib::HeadPoseDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::HeadPoseDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::HeadPoseDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::HeadPoseDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::HeadPoseDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Headpose detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Headpose detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp b/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp index f3e468c8..ff1e4c12 100644 --- a/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/landmarks_detection.cpp @@ -25,31 +25,30 @@ #include "openvino_wrapper_lib/slog.hpp" // LandmarksDetectionResult -openvino_wrapper_lib::LandmarksDetectionResult::LandmarksDetectionResult( - const cv::Rect & location) -: Result(location) {} +openvino_wrapper_lib::LandmarksDetectionResult::LandmarksDetectionResult(const cv::Rect& location) : Result(location) +{ +} // LandmarksDetection -openvino_wrapper_lib::LandmarksDetection::LandmarksDetection() -: openvino_wrapper_lib::BaseInference() {} +openvino_wrapper_lib::LandmarksDetection::LandmarksDetection() : openvino_wrapper_lib::BaseInference() +{ +} openvino_wrapper_lib::LandmarksDetection::~LandmarksDetection() = default; void openvino_wrapper_lib::LandmarksDetection::loadNetwork( - const std::shared_ptr network) + const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::LandmarksDetection::enqueue( - const cv::Mat & frame, const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::LandmarksDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, 0, valid_model_->getInputName())) - { + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -65,15 +64,17 @@ bool openvino_wrapper_lib::LandmarksDetection::submitRequest() bool openvino_wrapper_lib::LandmarksDetection::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) {return false;} + if (!can_fetch) { + return false; + } bool found_result = false; InferenceEngine::InferRequest::Ptr request = getEngine()->getRequest(); std::string output = valid_model_->getOutputName(); - const float * output_values = request->GetBlob(output)->buffer().as(); + const float* output_values = request->GetBlob(output)->buffer().as(); int result_length = request->GetBlob(output)->getTensorDesc().getDims()[1]; for (int i = 0; i < getResultsLength(); i++) { - std::vector coordinates = std::vector( - output_values + result_length * i, output_values + result_length * (i + 1)); + std::vector coordinates = + std::vector(output_values + result_length * i, output_values + result_length * (i + 1)); for (int j = 0; j < result_length; j += 2) { cv::Rect rect = results_[i].getLocation(); int col = static_cast(coordinates[j] * rect.width); @@ -83,7 +84,9 @@ bool openvino_wrapper_lib::LandmarksDetection::fetchResults() } found_result = true; } - if (!found_result) {results_.clear();} + if (!found_result) { + results_.clear(); + } return true; } @@ -92,8 +95,7 @@ int openvino_wrapper_lib::LandmarksDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::LandmarksDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::LandmarksDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -103,20 +105,19 @@ const std::string openvino_wrapper_lib::LandmarksDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::LandmarksDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::LandmarksDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::LandmarksDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::LandmarksDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Landmarks detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Landmarks detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp b/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp index aa0f8c1d..b4b2f04e 100644 --- a/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/license_plate_detection.cpp @@ -25,17 +25,19 @@ #include "openvino_wrapper_lib/slog.hpp" // LicensePlateDetectionResult -openvino_wrapper_lib::LicensePlateDetectionResult::LicensePlateDetectionResult( - const cv::Rect & location) -: Result(location) {} +openvino_wrapper_lib::LicensePlateDetectionResult::LicensePlateDetectionResult(const cv::Rect& location) + : Result(location) +{ +} // LicensePlateDetection -openvino_wrapper_lib::LicensePlateDetection::LicensePlateDetection() -: openvino_wrapper_lib::BaseInference() {} +openvino_wrapper_lib::LicensePlateDetection::LicensePlateDetection() : openvino_wrapper_lib::BaseInference() +{ +} openvino_wrapper_lib::LicensePlateDetection::~LicensePlateDetection() = default; void openvino_wrapper_lib::LicensePlateDetection::loadNetwork( - const std::shared_ptr network) + const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); @@ -43,24 +45,21 @@ void openvino_wrapper_lib::LicensePlateDetection::loadNetwork( void openvino_wrapper_lib::LicensePlateDetection::fillSeqBlob() { - ov::Tensor seq_tensor = getEngine()->getRequest().get_tensor( - valid_model_->getSeqInputName()); + ov::Tensor seq_tensor = getEngine()->getRequest().get_tensor(valid_model_->getSeqInputName()); int max_sequence_size = seq_tensor.get_shape()[0]; // second input is sequence, which is some relic from the training // it should have the leading 0.0f and rest 1.0f - float * tensor_data = seq_tensor.data(); + float* tensor_data = seq_tensor.data(); std::fill(tensor_data, tensor_data + max_sequence_size, 1.0f); } -bool openvino_wrapper_lib::LicensePlateDetection::enqueue( - const cv::Mat & frame, const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::LicensePlateDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, 0, valid_model_->getInputName())) - { + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) { return false; } fillSeqBlob(); @@ -77,11 +76,13 @@ bool openvino_wrapper_lib::LicensePlateDetection::submitRequest() bool openvino_wrapper_lib::LicensePlateDetection::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) {return false;} + if (!can_fetch) { + return false; + } bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); std::string output = valid_model_->getOutputName(); - const float * output_values = request.get_tensor(output).data(); + const float* output_values = request.get_tensor(output).data(); for (int i = 0; i < getResultsLength(); i++) { std::string license = ""; int max_size = valid_model_->getMaxSequenceSize(); @@ -94,7 +95,9 @@ bool openvino_wrapper_lib::LicensePlateDetection::fetchResults() results_[i].license_ = license; found_result = true; } - if (!found_result) {results_.clear();} + if (!found_result) { + results_.clear(); + } return true; } @@ -103,8 +106,7 @@ int openvino_wrapper_lib::LicensePlateDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::LicensePlateDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::LicensePlateDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -114,20 +116,19 @@ const std::string openvino_wrapper_lib::LicensePlateDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::LicensePlateDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::LicensePlateDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::LicensePlateDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::LicensePlateDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "License plate detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "License plate detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/object_detection.cpp b/openvino_wrapper_lib/src/inferences/object_detection.cpp index 8470a103..8a79c521 100644 --- a/openvino_wrapper_lib/src/inferences/object_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/object_detection.cpp @@ -27,17 +27,15 @@ #include "openvino_wrapper_lib/slog.hpp" // ObjectDetectionResult -openvino_wrapper_lib::ObjectDetectionResult::ObjectDetectionResult(const cv::Rect & location) -: Result(location) +openvino_wrapper_lib::ObjectDetectionResult::ObjectDetectionResult(const cv::Rect& location) : Result(location) { } // ObjectDetection -openvino_wrapper_lib::ObjectDetection::ObjectDetection( - bool enable_roi_constraint, - double show_output_thresh) -: show_output_thresh_(show_output_thresh), - enable_roi_constraint_(enable_roi_constraint), openvino_wrapper_lib::BaseInference() +openvino_wrapper_lib::ObjectDetection::ObjectDetection(bool enable_roi_constraint, double show_output_thresh) + : show_output_thresh_(show_output_thresh) + , enable_roi_constraint_(enable_roi_constraint) + , openvino_wrapper_lib::BaseInference() { result_filter_ = std::make_shared(); result_filter_->init(); @@ -45,24 +43,21 @@ openvino_wrapper_lib::ObjectDetection::ObjectDetection( openvino_wrapper_lib::ObjectDetection::~ObjectDetection() = default; -void openvino_wrapper_lib::ObjectDetection::loadNetwork( - std::shared_ptr network) +void openvino_wrapper_lib::ObjectDetection::loadNetwork(std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::ObjectDetection::enqueue( - const cv::Mat & frame, - const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::ObjectDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (valid_model_ == nullptr || getEngine() == nullptr) { return false; } if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) { - slog::warn << "Number of " << getName() << "input more than maximum(" << - max_batch_size_ << ") processed by inference" << slog::endl; + slog::warn << "Number of " << getName() << "input more than maximum(" << max_batch_size_ + << ") processed by inference" << slog::endl; return false; } @@ -83,8 +78,8 @@ bool openvino_wrapper_lib::ObjectDetection::fetchResults() results_.clear(); - return (valid_model_ != nullptr) && valid_model_->fetchResults( - getEngine(), results_, show_output_thresh_, enable_roi_constraint_); + return (valid_model_ != nullptr) && + valid_model_->fetchResults(getEngine(), results_, show_output_thresh_, enable_roi_constraint_); } int openvino_wrapper_lib::ObjectDetection::getResultsLength() const @@ -92,7 +87,7 @@ int openvino_wrapper_lib::ObjectDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::ObjectDetection::Result * +const openvino_wrapper_lib::ObjectDetection::Result* openvino_wrapper_lib::ObjectDetection::getLocationResult(int idx) const { return &(results_[idx]); @@ -103,16 +98,15 @@ const std::string openvino_wrapper_lib::ObjectDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::ObjectDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::ObjectDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::ObjectDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::ObjectDetection::getFilteredROIs(const std::string filter_conditions) const { if (!result_filter_->isValidFilterConditions(filter_conditions)) { std::vector filtered_rois; @@ -126,9 +120,10 @@ const std::vector openvino_wrapper_lib::ObjectDetection::getFilteredRO return result_filter_->getFilteredLocations(); } - // ObjectDetectionResultFilter -openvino_wrapper_lib::ObjectDetectionResultFilter::ObjectDetectionResultFilter() {} +openvino_wrapper_lib::ObjectDetectionResultFilter::ObjectDetectionResultFilter() +{ +} void openvino_wrapper_lib::ObjectDetectionResultFilter::init() { @@ -136,14 +131,12 @@ void openvino_wrapper_lib::ObjectDetectionResultFilter::init() key_to_function_.insert(std::make_pair("confidence", isValidConfidence)); } -void openvino_wrapper_lib::ObjectDetectionResultFilter::acceptResults( - const std::vector & results) +void openvino_wrapper_lib::ObjectDetectionResultFilter::acceptResults(const std::vector& results) { results_ = results; } -std::vector -openvino_wrapper_lib::ObjectDetectionResultFilter::getFilteredLocations() +std::vector openvino_wrapper_lib::ObjectDetectionResultFilter::getFilteredLocations() { std::vector locations; for (auto result : results_) { @@ -154,27 +147,24 @@ openvino_wrapper_lib::ObjectDetectionResultFilter::getFilteredLocations() return locations; } -bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidLabel( - const Result & result, const std::string & op, const std::string & target) +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidLabel(const Result& result, const std::string& op, + const std::string& target) { return stringCompare(result.getLabel(), op, target); } -bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidConfidence( - const Result & result, const std::string & op, const std::string & target) +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidConfidence(const Result& result, const std::string& op, + const std::string& target) { return floatCompare(result.getConfidence(), op, stringToFloat(target)); } -bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidResult( - const Result & result) +bool openvino_wrapper_lib::ObjectDetectionResultFilter::isValidResult(const Result& result) { ISVALIDRESULT(key_to_function_, result); } -double openvino_wrapper_lib::ObjectDetection::calcIoU( - const cv::Rect & box_1, - const cv::Rect & box_2) +double openvino_wrapper_lib::ObjectDetection::calcIoU(const cv::Rect& box_1, const cv::Rect& box_2) { cv::Rect i = box_1 & box_2; cv::Rect u = box_1 | box_2; diff --git a/openvino_wrapper_lib/src/inferences/object_segmentation.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation.cpp index 699731e3..fa035a6c 100644 --- a/openvino_wrapper_lib/src/inferences/object_segmentation.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation.cpp @@ -29,14 +29,13 @@ #include "openvino_wrapper_lib/slog.hpp" // ObjectSegmentationResult -openvino_wrapper_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect &location) - : Result(location) +openvino_wrapper_lib::ObjectSegmentationResult::ObjectSegmentationResult(const cv::Rect& location) : Result(location) { } // ObjectSegmentation openvino_wrapper_lib::ObjectSegmentation::ObjectSegmentation(double show_output_thresh) - : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } @@ -54,18 +53,15 @@ void openvino_wrapper_lib::ObjectSegmentation::loadNetwork( * Deprecated! * This function only support OpenVINO version <=2018R5 */ -bool openvino_wrapper_lib::ObjectSegmentation::enqueue_for_one_input( - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool openvino_wrapper_lib::ObjectSegmentation::enqueue_for_one_input(const cv::Mat& frame, + const cv::Rect& input_frame_loc) { - if (width_ == 0 && height_ == 0) - { + if (width_ == 0 && height_ == 0) { width_ = frame.cols; height_ = frame.rows; } if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, - valid_model_->getInputName())) - { + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -74,31 +70,25 @@ bool openvino_wrapper_lib::ObjectSegmentation::enqueue_for_one_input( return true; } -bool openvino_wrapper_lib::ObjectSegmentation::enqueue( - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool openvino_wrapper_lib::ObjectSegmentation::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { - if (width_ == 0 && height_ == 0) - { + if (width_ == 0 && height_ == 0) { width_ = frame.cols; height_ = frame.rows; } - if (valid_model_ == nullptr || getEngine() == nullptr) - { + if (valid_model_ == nullptr || getEngine() == nullptr) { throw std::logic_error("Model or Engine is not set correctly!"); return false; } - if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) - { - slog::warn << "Number of " << getName() << "input more than maximum(" << - max_batch_size_ << ") processed by inference" << slog::endl; + if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) { + slog::warn << "Number of " << getName() << "input more than maximum(" << max_batch_size_ + << ") processed by inference" << slog::endl; return false; } - if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) - { + if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) { return false; } @@ -114,8 +104,7 @@ bool openvino_wrapper_lib::ObjectSegmentation::submitRequest() bool openvino_wrapper_lib::ObjectSegmentation::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) - { + if (!can_fetch) { return false; } bool found_result = false; @@ -138,56 +127,51 @@ bool openvino_wrapper_lib::ObjectSegmentation::fetchResults() output_des = out_shape[1]; output_extra = out_shape[0]; } else { - slog::warn << "unexpected output shape: " <(); - std::vector &labels = valid_model_->getLabels(); - slog::debug << "label size " <(); + std::vector& labels = valid_model_->getLabels(); + slog::debug << "label size " << labels.size() << slog::endl; cv::Mat inImg, resImg, maskImg(output_h, output_w, CV_8UC3); cv::Mat colored_mask(output_h, output_w, CV_8UC3); cv::Rect roi = cv::Rect(0, 0, output_w, output_h); - for (int rowId = 0; rowId < output_h; ++rowId) - { - for (int colId = 0; colId < output_w; ++colId) - { + for (int rowId = 0; rowId < output_h; ++rowId) { + for (int colId = 0; colId < output_w; ++colId) { std::size_t classId = 0; float maxProb = -1.0f; if (output_des < 2) { // assume the output is already ArgMax'ed classId = static_cast(detections[rowId * output_w + colId]); - for (int ch = 0; ch < colored_mask.channels();++ch){ + for (int ch = 0; ch < colored_mask.channels(); ++ch) { colored_mask.at(rowId, colId)[ch] = colors_[classId][ch]; } } else { - for (int chId = 0; chId < output_des; ++chId) - { - float prob = detections[chId * output_h * output_w + rowId * output_w+ colId]; - if (prob > maxProb) - { + for (int chId = 0; chId < output_des; ++chId) { + float prob = detections[chId * output_h * output_w + rowId * output_w + colId]; + if (prob > maxProb) { classId = chId; maxProb = prob; } } - while (classId >= colors_.size()) - { + while (classId >= colors_.size()) { static std::mt19937 rng(classId); std::uniform_int_distribution distr(0, 255); cv::Vec3b color(distr(rng), distr(rng), distr(rng)); colors_.push_back(color); } - if(maxProb > 0.5){ - for (int ch = 0; ch < colored_mask.channels();++ch){ - colored_mask.at(rowId, colId)[ch] = colors_[classId][ch]; + if (maxProb > 0.5) { + for (int ch = 0; ch < colored_mask.channels(); ++ch) { + colored_mask.at(rowId, colId)[ch] = colors_[classId][ch]; + } } - } } } } @@ -204,8 +188,7 @@ int openvino_wrapper_lib::ObjectSegmentation::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::ObjectSegmentation::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::ObjectSegmentation::getLocationResult(int idx) const { return &(results_[idx]); } @@ -215,20 +198,17 @@ const std::string openvino_wrapper_lib::ObjectSegmentation::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::ObjectSegmentation::observeOutput( - const std::shared_ptr &output) +void openvino_wrapper_lib::ObjectSegmentation::observeOutput(const std::shared_ptr& output) { - if (output != nullptr) - { + if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::ObjectSegmentation::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::ObjectSegmentation::getFilteredROIs(const std::string filter_conditions) const { - if (!filter_conditions.empty()) - { + if (!filter_conditions.empty()) { slog::err << "Object segmentation does not support filtering now! " << "Filter conditions: " << filter_conditions << slog::endl; } diff --git a/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp index 2355519f..c833ad98 100644 --- a/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation_instance.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - + #include #include #include @@ -22,13 +22,13 @@ #include "openvino_wrapper_lib/outputs/base_output.hpp" #include "openvino_wrapper_lib/slog.hpp" -openvino_wrapper_lib::ObjectSegmentationInstanceResult::ObjectSegmentationInstanceResult(const cv::Rect &location) - : Result(location) +openvino_wrapper_lib::ObjectSegmentationInstanceResult::ObjectSegmentationInstanceResult(const cv::Rect& location) + : Result(location) { } openvino_wrapper_lib::ObjectSegmentationInstance::ObjectSegmentationInstance(double show_output_thresh) - : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } @@ -42,31 +42,25 @@ void openvino_wrapper_lib::ObjectSegmentationInstance::loadNetwork( setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::ObjectSegmentationInstance::enqueue( - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool openvino_wrapper_lib::ObjectSegmentationInstance::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { - if (width_ == 0 && height_ == 0) - { + if (width_ == 0 && height_ == 0) { width_ = frame.cols; height_ = frame.rows; } - if (valid_model_ == nullptr || getEngine() == nullptr) - { + if (valid_model_ == nullptr || getEngine() == nullptr) { throw std::logic_error("Model or Engine is not set correctly!"); return false; } - if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) - { - slog::warn << "Number of " << getName() << "input more than maximum(" << - max_batch_size_ << ") processed by inference" << slog::endl; + if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) { + slog::warn << "Number of " << getName() << "input more than maximum(" << max_batch_size_ + << ") processed by inference" << slog::endl; return false; } - if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) - { + if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) { return false; } @@ -81,16 +75,13 @@ bool openvino_wrapper_lib::ObjectSegmentationInstance::submitRequest() bool openvino_wrapper_lib::ObjectSegmentationInstance::fetchResults() { - bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) - { + if (!can_fetch) { return false; } results_.clear(); - return (valid_model_ != nullptr) && valid_model_->fetchResults( - getEngine(), results_, show_output_thresh_); + return (valid_model_ != nullptr) && valid_model_->fetchResults(getEngine(), results_, show_output_thresh_); } int openvino_wrapper_lib::ObjectSegmentationInstance::getResultsLength() const @@ -98,8 +89,7 @@ int openvino_wrapper_lib::ObjectSegmentationInstance::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::ObjectSegmentationInstance::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::ObjectSegmentationInstance::getLocationResult(int idx) const { return &(results_[idx]); } @@ -109,26 +99,22 @@ const std::string openvino_wrapper_lib::ObjectSegmentationInstance::getName() co return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::ObjectSegmentationInstance::observeOutput( - const std::shared_ptr &output) +void openvino_wrapper_lib::ObjectSegmentationInstance::observeOutput(const std::shared_ptr& output) { - if (output != nullptr) - { + if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::ObjectSegmentationInstance::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::ObjectSegmentationInstance::getFilteredROIs(const std::string filter_conditions) const { - if (!filter_conditions.empty()) - { + if (!filter_conditions.empty()) { slog::err << "Object segmentation does not support filtering now! " << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; - for (auto res : results_) - { + for (auto res : results_) { filtered_rois.push_back(res.getLocation()); } return filtered_rois; diff --git a/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp b/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp index 7c35fc55..7e1dc28e 100644 --- a/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp +++ b/openvino_wrapper_lib/src/inferences/object_segmentation_maskrcnn.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - + /** * @brief a header file with declaration of ObjectSegmentation class and * ObjectSegmentationResult class @@ -29,14 +29,14 @@ #include "openvino_wrapper_lib/slog.hpp" // ObjectSegmentationResult -openvino_wrapper_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect &location) - : Result(location) +openvino_wrapper_lib::ObjectSegmentationMaskrcnnResult::ObjectSegmentationMaskrcnnResult(const cv::Rect& location) + : Result(location) { } // ObjectSegmentation openvino_wrapper_lib::ObjectSegmentationMaskrcnn::ObjectSegmentationMaskrcnn(double show_output_thresh) - : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() + : show_output_thresh_(show_output_thresh), openvino_wrapper_lib::BaseInference() { } @@ -54,18 +54,15 @@ void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::loadNetwork( * Deprecated! * This function only support OpenVINO version <=2018R5 */ -bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input(const cv::Mat& frame, + const cv::Rect& input_frame_loc) { - if (width_ == 0 && height_ == 0) - { + if (width_ == 0 && height_ == 0) { width_ = frame.cols; height_ = frame.rows; } if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, - valid_model_->getInputName())) - { + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -74,31 +71,25 @@ bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue_for_one_input( return true; } -bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue( - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { - if (width_ == 0 && height_ == 0) - { + if (width_ == 0 && height_ == 0) { width_ = frame.cols; height_ = frame.rows; } - if (valid_model_ == nullptr || getEngine() == nullptr) - { + if (valid_model_ == nullptr || getEngine() == nullptr) { throw std::logic_error("Model or Engine is not set correctly!"); return false; } - if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) - { - slog::warn << "Number of " << getName() << "input more than maximum(" << - max_batch_size_ << ") processed by inference" << slog::endl; + if (enqueued_frames_ >= valid_model_->getMaxBatchSize()) { + slog::warn << "Number of " << getName() << "input more than maximum(" << max_batch_size_ + << ") processed by inference" << slog::endl; return false; } - if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) - { + if (!valid_model_->enqueue(getEngine(), frame, input_frame_loc)) { return false; } @@ -113,10 +104,8 @@ bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::submitRequest() bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::fetchResults() { - bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) - { + if (!can_fetch) { return false; } bool found_result = false; @@ -126,12 +115,12 @@ bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::fetchResults() std::string detection_output = valid_model_->getOutputName("detection"); std::string mask_output = valid_model_->getOutputName("masks"); slog::debug << "Detection_output=" << detection_output << ", Mask_output=" << mask_output << slog::endl; - - //get detection data + + // get detection data ov::Tensor do_tensor = infer_request.get_tensor(detection_output.c_str()); const auto do_data = do_tensor.data(); ov::Shape do_shape = do_tensor.get_shape(); - slog::debug << "Detection Blob getDims = " <(); @@ -146,18 +135,18 @@ bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::fetchResults() size_t W = mask_shape[3]; size_t box_stride = W * H * C; slog::debug << "box_description is:" << box_description_size << slog::endl; - slog::debug << "box_num is:" << box_num<< slog::endl; + slog::debug << "box_num is:" << box_num << slog::endl; slog::debug << "C is:" << C << slog::endl; slog::debug << "H is:" << H << slog::endl; slog::debug << "W is:" << W << slog::endl; for (size_t box = 0; box < box_num; ++box) { // box description: batch, label, prob, x1, y1, x2, y2 - float * box_info = do_data + box * box_description_size; + float* box_info = do_data + box * box_description_size; auto batch = static_cast(box_info[0]); slog::debug << "batch =" << batch << slog::endl; if (batch < 0) { - slog::warn << "Batch size should be greater than 0. [batch=" << batch <<"]." << slog::endl; + slog::warn << "Batch size should be greater than 0. [batch=" << batch << "]." << slog::endl; break; } float prob = box_info[2]; @@ -169,20 +158,20 @@ bool openvino_wrapper_lib::ObjectSegmentationMaskrcnn::fetchResults() int box_width = static_cast(x2 - x1); int box_height = static_cast(y2 - y1); slog::debug << "Box[" << box_width << "x" << box_height << "]" << slog::endl; - if (box_width <= 0 || box_height <=0) break; + if (box_width <= 0 || box_height <= 0) + break; int class_id = static_cast(box_info[1] + 1e-6f); - float * mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); - slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch - << ": [" << x1 << ", " << y1 << "], [" << x2 << ", " << y2 << "]" << slog::endl; + float* mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); + slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch << ": [" + << x1 << ", " << y1 << "], [" << x2 << ", " << y2 << "]" << slog::endl; cv::Mat mask_mat(H, W, CV_32FC1, mask_arr); cv::Rect roi = cv::Rect(static_cast(x1), static_cast(y1), box_width, box_height); cv::Mat resized_mask_mat(box_height, box_width, CV_32FC1); cv::resize(mask_mat, resized_mask_mat, cv::Size(box_width, box_height)); Result result(roi); result.confidence_ = prob; - std::vector & labels = valid_model_->getLabels(); - result.label_ = class_id < labels.size() ? labels[class_id] : - std::string("label #") + std::to_string(class_id); + std::vector& labels = valid_model_->getLabels(); + result.label_ = class_id < labels.size() ? labels[class_id] : std::string("label #") + std::to_string(class_id); result.mask_ = resized_mask_mat; found_result = true; slog::debug << "adding one segmentation Box ..." << slog::endl; @@ -201,8 +190,7 @@ int openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getLocationResult(int idx) const { return &(results_[idx]); } @@ -212,26 +200,22 @@ const std::string openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getName() co return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::observeOutput( - const std::shared_ptr &output) +void openvino_wrapper_lib::ObjectSegmentationMaskrcnn::observeOutput(const std::shared_ptr& output) { - if (output != nullptr) - { + if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::ObjectSegmentationMaskrcnn::getFilteredROIs(const std::string filter_conditions) const { - if (!filter_conditions.empty()) - { + if (!filter_conditions.empty()) { slog::err << "Object segmentation does not support filtering now! " << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; - for (auto res : results_) - { + for (auto res : results_) { filtered_rois.push_back(res.getLocation()); } return filtered_rois; diff --git a/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp b/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp index 79b5c446..1a26952b 100644 --- a/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/person_attribs_detection.cpp @@ -26,31 +26,32 @@ #include "openvino_wrapper_lib/slog.hpp" // PersonAttribsDetectionResult -openvino_wrapper_lib::PersonAttribsDetectionResult::PersonAttribsDetectionResult( - const cv::Rect & location) -: Result(location) {} +openvino_wrapper_lib::PersonAttribsDetectionResult::PersonAttribsDetectionResult(const cv::Rect& location) + : Result(location) +{ +} // PersonAttribsDetection openvino_wrapper_lib::PersonAttribsDetection::PersonAttribsDetection(double attribs_confidence) -: attribs_confidence_(attribs_confidence), openvino_wrapper_lib::BaseInference() {} + : attribs_confidence_(attribs_confidence), openvino_wrapper_lib::BaseInference() +{ +} openvino_wrapper_lib::PersonAttribsDetection::~PersonAttribsDetection() = default; void openvino_wrapper_lib::PersonAttribsDetection::loadNetwork( - const std::shared_ptr network) + const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::PersonAttribsDetection::enqueue( - const cv::Mat & frame, const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::PersonAttribsDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, 0, valid_model_->getInputName())) - { + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -66,7 +67,9 @@ bool openvino_wrapper_lib::PersonAttribsDetection::submitRequest() bool openvino_wrapper_lib::PersonAttribsDetection::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) {return false;} + if (!can_fetch) { + return false; + } bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); slog::debug << "Analyzing Attributes Detection results..." << slog::endl; @@ -86,19 +89,20 @@ bool openvino_wrapper_lib::PersonAttribsDetection::fetchResults() for (int i = 0; i < getResultsLength(); i++) { results_[i].male_probability_ = attri_values[i * net_attrib_length]; results_[i].top_point_.x = top_values[i]; - results_[i].top_point_.y = top_values[i+1]; + results_[i].top_point_.y = top_values[i + 1]; results_[i].bottom_point_.x = bottom_values[i]; - results_[i].bottom_point_.y = bottom_values[i+1]; + results_[i].bottom_point_.y = bottom_values[i + 1]; std::string attrib = ""; for (int j = 1; j < net_attrib_length; j++) { - attrib += (attri_values[i * net_attrib_length + j] > attribs_confidence_) ? - net_attributes_[j] + ", " : ""; + attrib += (attri_values[i * net_attrib_length + j] > attribs_confidence_) ? net_attributes_[j] + ", " : ""; } - results_[i].attributes_ = attrib; + results_[i].attributes_ = attrib; found_result = true; - } - if (!found_result) {results_.clear();} + } + if (!found_result) { + results_.clear(); + } return true; } @@ -107,8 +111,7 @@ int openvino_wrapper_lib::PersonAttribsDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::PersonAttribsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::PersonAttribsDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -118,20 +121,19 @@ const std::string openvino_wrapper_lib::PersonAttribsDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::PersonAttribsDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::PersonAttribsDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::PersonAttribsDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::PersonAttribsDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Person attributes detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Person attributes detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/person_reidentification.cpp b/openvino_wrapper_lib/src/inferences/person_reidentification.cpp index 9d4d891a..2c9d1ccb 100644 --- a/openvino_wrapper_lib/src/inferences/person_reidentification.cpp +++ b/openvino_wrapper_lib/src/inferences/person_reidentification.cpp @@ -25,34 +25,33 @@ #include "openvino_wrapper_lib/slog.hpp" // PersonReidentificationResult -openvino_wrapper_lib::PersonReidentificationResult::PersonReidentificationResult( - const cv::Rect & location) -: Result(location) {} +openvino_wrapper_lib::PersonReidentificationResult::PersonReidentificationResult(const cv::Rect& location) + : Result(location) +{ +} // PersonReidentification openvino_wrapper_lib::PersonReidentification::PersonReidentification(double match_thresh) -: openvino_wrapper_lib::BaseInference() + : openvino_wrapper_lib::BaseInference() { person_tracker_ = std::make_shared(1000, match_thresh, 0.3); } openvino_wrapper_lib::PersonReidentification::~PersonReidentification() = default; void openvino_wrapper_lib::PersonReidentification::loadNetwork( - const std::shared_ptr network) + const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::PersonReidentification::enqueue( - const cv::Mat & frame, const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::PersonReidentification::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, 0, valid_model_->getInputName())) - { + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -68,20 +67,22 @@ bool openvino_wrapper_lib::PersonReidentification::submitRequest() bool openvino_wrapper_lib::PersonReidentification::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) {return false;} + if (!can_fetch) { + return false; + } bool found_result = false; ov::InferRequest request = getEngine()->getRequest(); std::string output = valid_model_->getOutputName(); - const float * output_values = request.get_tensor(output).data(); + const float* output_values = request.get_tensor(output).data(); for (int i = 0; i < getResultsLength(); i++) { - std::vector new_person = std::vector( - output_values + 256 * i, output_values + 256 * i + 256); - std::string person_id = "No." + std::to_string( - person_tracker_->processNewTrack(new_person)); + std::vector new_person = std::vector(output_values + 256 * i, output_values + 256 * i + 256); + std::string person_id = "No." + std::to_string(person_tracker_->processNewTrack(new_person)); results_[i].person_id_ = person_id; found_result = true; } - if (!found_result) {results_.clear();} + if (!found_result) { + results_.clear(); + } return true; } @@ -90,8 +91,7 @@ int openvino_wrapper_lib::PersonReidentification::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::PersonReidentification::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::PersonReidentification::getLocationResult(int idx) const { return &(results_[idx]); } @@ -101,20 +101,19 @@ const std::string openvino_wrapper_lib::PersonReidentification::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::PersonReidentification::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::PersonReidentification::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::PersonReidentification::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::PersonReidentification::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Person reidentification does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Person reidentification does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp b/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp index 232d73ea..f8440e34 100644 --- a/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp +++ b/openvino_wrapper_lib/src/inferences/vehicle_attribs_detection.cpp @@ -25,31 +25,31 @@ #include "openvino_wrapper_lib/slog.hpp" // VehicleAttribsDetectionResult -openvino_wrapper_lib::VehicleAttribsDetectionResult::VehicleAttribsDetectionResult( - const cv::Rect & location) -: Result(location) {} +openvino_wrapper_lib::VehicleAttribsDetectionResult::VehicleAttribsDetectionResult(const cv::Rect& location) + : Result(location) +{ +} // VehicleAttribsDetection -openvino_wrapper_lib::VehicleAttribsDetection::VehicleAttribsDetection() -: openvino_wrapper_lib::BaseInference() {} +openvino_wrapper_lib::VehicleAttribsDetection::VehicleAttribsDetection() : openvino_wrapper_lib::BaseInference() +{ +} openvino_wrapper_lib::VehicleAttribsDetection::~VehicleAttribsDetection() = default; void openvino_wrapper_lib::VehicleAttribsDetection::loadNetwork( - const std::shared_ptr network) + const std::shared_ptr network) { valid_model_ = network; setMaxBatchSize(network->getMaxBatchSize()); } -bool openvino_wrapper_lib::VehicleAttribsDetection::enqueue( - const cv::Mat & frame, const cv::Rect & input_frame_loc) +bool openvino_wrapper_lib::VehicleAttribsDetection::enqueue(const cv::Mat& frame, const cv::Rect& input_frame_loc) { if (getEnqueuedNum() == 0) { results_.clear(); } - if (!openvino_wrapper_lib::BaseInference::enqueue( - frame, input_frame_loc, 1, 0, valid_model_->getInputName())) - { + if (!openvino_wrapper_lib::BaseInference::enqueue(frame, input_frame_loc, 1, 0, + valid_model_->getInputName())) { return false; } Result r(input_frame_loc); @@ -65,14 +65,16 @@ bool openvino_wrapper_lib::VehicleAttribsDetection::submitRequest() bool openvino_wrapper_lib::VehicleAttribsDetection::fetchResults() { bool can_fetch = openvino_wrapper_lib::BaseInference::fetchResults(); - if (!can_fetch) {return false;} + if (!can_fetch) { + return false; + } bool found_result = false; ov::InferRequest infer_request = getEngine()->getRequest(); std::string color_name = valid_model_->getOutputName("color_output_"); std::string type_name = valid_model_->getOutputName("type_output_"); - const float * color_values = infer_request.get_tensor(color_name).data(); - const float * type_values = infer_request.get_tensor(type_name).data(); + const float* color_values = infer_request.get_tensor(color_name).data(); + const float* type_values = infer_request.get_tensor(type_name).data(); for (int i = 0; i < getResultsLength(); i++) { auto color_id = std::max_element(color_values, color_values + 7) - color_values; @@ -83,7 +85,9 @@ bool openvino_wrapper_lib::VehicleAttribsDetection::fetchResults() results_[i].type_ = types_[type_id]; found_result = true; } - if (!found_result) {results_.clear();} + if (!found_result) { + results_.clear(); + } return true; } @@ -92,8 +96,7 @@ int openvino_wrapper_lib::VehicleAttribsDetection::getResultsLength() const return static_cast(results_.size()); } -const openvino_wrapper_lib::Result * -openvino_wrapper_lib::VehicleAttribsDetection::getLocationResult(int idx) const +const openvino_wrapper_lib::Result* openvino_wrapper_lib::VehicleAttribsDetection::getLocationResult(int idx) const { return &(results_[idx]); } @@ -103,20 +106,19 @@ const std::string openvino_wrapper_lib::VehicleAttribsDetection::getName() const return valid_model_->getModelCategory(); } -void openvino_wrapper_lib::VehicleAttribsDetection::observeOutput( - const std::shared_ptr & output) +void openvino_wrapper_lib::VehicleAttribsDetection::observeOutput(const std::shared_ptr& output) { if (output != nullptr) { output->accept(results_); } } -const std::vector openvino_wrapper_lib::VehicleAttribsDetection::getFilteredROIs( - const std::string filter_conditions) const +const std::vector +openvino_wrapper_lib::VehicleAttribsDetection::getFilteredROIs(const std::string filter_conditions) const { if (!filter_conditions.empty()) { - slog::err << "Vehicle attributes detection does not support filtering now! " << - "Filter conditions: " << filter_conditions << slog::endl; + slog::err << "Vehicle attributes detection does not support filtering now! " + << "Filter conditions: " << filter_conditions << slog::endl; } std::vector filtered_rois; for (auto res : results_) { diff --git a/openvino_wrapper_lib/src/inputs/image_input.cpp b/openvino_wrapper_lib/src/inputs/image_input.cpp index 4c6bdf6f..99743e86 100644 --- a/openvino_wrapper_lib/src/inputs/image_input.cpp +++ b/openvino_wrapper_lib/src/inputs/image_input.cpp @@ -21,7 +21,7 @@ #include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino_wrapper_lib/slog.hpp" -Input::Image::Image(const std::string & file) +Input::Image::Image(const std::string& file) { file_.assign(file); } @@ -39,7 +39,7 @@ bool Input::Image::initialize() return isInit(); } -bool Input::Image::read(cv::Mat * frame) +bool Input::Image::read(cv::Mat* frame) { if (!isInit()) { return false; @@ -49,12 +49,11 @@ bool Input::Image::read(cv::Mat * frame) return true; } -void Input::Image::config(const Input::Config & config) +void Input::Image::config(const Input::Config& config) { if (config.path != "") { file_.assign(config.path); initialize(); - slog::info << "Image Input device was reinitialized with new file:" << - config.path.c_str() << slog::endl; + slog::info << "Image Input device was reinitialized with new file:" << config.path.c_str() << slog::endl; } } diff --git a/openvino_wrapper_lib/src/inputs/image_topic.cpp b/openvino_wrapper_lib/src/inputs/image_topic.cpp index a716e2fe..0fe6a6ed 100644 --- a/openvino_wrapper_lib/src/inputs/image_topic.cpp +++ b/openvino_wrapper_lib/src/inputs/image_topic.cpp @@ -24,9 +24,7 @@ #define INPUT_TOPIC "/openvino_toolkit/image_raw" - -Input::ImageTopic::ImageTopic(rclcpp::Node::SharedPtr node) -: node_(node) +Input::ImageTopic::ImageTopic(rclcpp::Node::SharedPtr node) : node_(node) { } @@ -34,24 +32,23 @@ bool Input::ImageTopic::initialize() { slog::debug << "before Image Topic init" << slog::endl; - if(node_ == nullptr){ + if (node_ == nullptr) { throw std::runtime_error("Image Topic is not instancialized because of no parent node."); return false; } auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).best_effort(); - sub_ = node_->create_subscription( - INPUT_TOPIC, qos, - std::bind(&ImageTopic::cb, this, std::placeholders::_1)); + sub_ = node_->create_subscription(INPUT_TOPIC, qos, + std::bind(&ImageTopic::cb, this, std::placeholders::_1)); return true; } - bool Input::ImageTopic::initialize(size_t width, size_t height) - { - slog::warn << "BE CAREFUL: nothing for resolution is done when calling initialize(width, height)" - << " for Image Topic" << slog::endl; - return initialize(); - } +bool Input::ImageTopic::initialize(size_t width, size_t height) +{ + slog::warn << "BE CAREFUL: nothing for resolution is done when calling initialize(width, height)" + << " for Image Topic" << slog::endl; + return initialize(); +} void Input::ImageTopic::cb(const sensor_msgs::msg::Image::SharedPtr image_msg) { @@ -62,7 +59,7 @@ void Input::ImageTopic::cb(const sensor_msgs::msg::Image::SharedPtr image_msg) image_count_.increaseCounter(); } -bool Input::ImageTopic::read(cv::Mat * frame) +bool Input::ImageTopic::read(cv::Mat* frame) { if (image_count_.get() < 0 || image_.empty()) { slog::debug << "No data received in CameraTopic instance" << slog::endl; diff --git a/openvino_wrapper_lib/src/inputs/ip_camera.cpp b/openvino_wrapper_lib/src/inputs/ip_camera.cpp index e579ba54..fc6c69d1 100644 --- a/openvino_wrapper_lib/src/inputs/ip_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/ip_camera.cpp @@ -18,7 +18,6 @@ */ #include "openvino_wrapper_lib/inputs/ip_camera.hpp" - bool Input::IpCamera::initialize() { // Initialize width and height to reasonable dimensions @@ -35,7 +34,7 @@ bool Input::IpCamera::initialize(size_t width, size_t height) return isInit(); } -bool Input::IpCamera::read(cv::Mat * frame) +bool Input::IpCamera::read(cv::Mat* frame) { if (!isInit()) { return false; diff --git a/openvino_wrapper_lib/src/inputs/realsense_camera.cpp b/openvino_wrapper_lib/src/inputs/realsense_camera.cpp index f9aa759d..3686e42c 100644 --- a/openvino_wrapper_lib/src/inputs/realsense_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/realsense_camera.cpp @@ -37,33 +37,32 @@ bool Input::RealSenseCamera::initialize(size_t width, size_t height) slog::info << "RealSense Serial number : " << devSerialNumber << slog::endl; cfg_.enable_device(devSerialNumber); - cfg_.enable_stream(RS2_STREAM_COLOR, static_cast(width), static_cast(height), - RS2_FORMAT_BGR8, 30); + cfg_.enable_stream(RS2_STREAM_COLOR, static_cast(width), static_cast(height), RS2_FORMAT_BGR8, 30); setInitStatus(pipe_.start(cfg_)); setWidth(width); setHeight(height); - //bypass RealSense's bug: several captured frames after HW is inited are with wrong data. + // bypass RealSense's bug: several captured frames after HW is inited are with wrong data. bypassFewFramesOnceInited(); return isInit(); } -bool Input::RealSenseCamera::read(cv::Mat * frame) +bool Input::RealSenseCamera::read(cv::Mat* frame) { if (!isInit()) { return false; } - try { + try { rs2::frameset data = pipe_.wait_for_frames(); // Wait for next set of frames from the camera rs2::frame color_frame; color_frame = data.get_color_frame(); cv::Mat(cv::Size(static_cast(getWidth()), static_cast(getHeight())), CV_8UC3, - const_cast(color_frame.get_data()), cv::Mat::AUTO_STEP) - .copyTo(*frame); + const_cast(color_frame.get_data()), cv::Mat::AUTO_STEP) + .copyTo(*frame); } catch (...) { return false; } @@ -88,7 +87,7 @@ std::string Input::RealSenseCamera::getCameraSN() void Input::RealSenseCamera::bypassFewFramesOnceInited() { - if(!isInit() || !first_read_){ + if (!isInit() || !first_read_) { return; } diff --git a/openvino_wrapper_lib/src/inputs/standard_camera.cpp b/openvino_wrapper_lib/src/inputs/standard_camera.cpp index 8579294b..17a498af 100644 --- a/openvino_wrapper_lib/src/inputs/standard_camera.cpp +++ b/openvino_wrapper_lib/src/inputs/standard_camera.cpp @@ -18,8 +18,7 @@ */ #include "openvino_wrapper_lib/inputs/standard_camera.hpp" -Input::StandardCamera::StandardCamera(const std::string & camera) -: device_path_(camera) +Input::StandardCamera::StandardCamera(const std::string& camera) : device_path_(camera) { } @@ -31,15 +30,15 @@ bool Input::StandardCamera::initialize() bool Input::StandardCamera::initialize(size_t width, size_t height) { bool init = false; - if(!device_path_.empty()){ + if (!device_path_.empty()) { init = cap.open(device_path_); } - if (init == false){ + if (init == false) { auto id = getCameraId(); init = cap.open(id); } - if(init){ + if (init) { cap.set(cv::CAP_PROP_FRAME_WIDTH, width); cap.set(cv::CAP_PROP_FRAME_HEIGHT, height); setWidth(width); @@ -49,7 +48,7 @@ bool Input::StandardCamera::initialize(size_t width, size_t height) return init; } -bool Input::StandardCamera::read(cv::Mat * frame) +bool Input::StandardCamera::read(cv::Mat* frame) { if (!isInit()) { return false; @@ -62,24 +61,23 @@ bool Input::StandardCamera::read(cv::Mat * frame) int Input::StandardCamera::getCameraId() { // In case this function is invoked more than once. - if (camera_id_ >= 0){ + if (camera_id_ >= 0) { return camera_id_; } static int STANDARD_CAMERA_COUNT = -1; - int fd; // A file descriptor to the video device + int fd; // A file descriptor to the video device struct v4l2_capability cap; char file[32]; - //if it is a realsense camera then skip it until we meet a standard camera - do - { - STANDARD_CAMERA_COUNT ++; - sprintf(file,"/dev/video%d",STANDARD_CAMERA_COUNT);//format filename - fd = open(file,O_RDWR); + // if it is a realsense camera then skip it until we meet a standard camera + do { + STANDARD_CAMERA_COUNT++; + sprintf(file, "/dev/video%d", STANDARD_CAMERA_COUNT); // format filename + fd = open(file, O_RDWR); ioctl(fd, VIDIOC_QUERYCAP, &cap); close(fd); - std::cout << "!!camera: "<< cap.card << std::endl; - }while(!strcmp((char*)cap.card,"Intel(R) RealSense(TM) Depth Ca")); + std::cout << "!!camera: " << cap.card << std::endl; + } while (!strcmp((char*)cap.card, "Intel(R) RealSense(TM) Depth Ca")); camera_id_ = STANDARD_CAMERA_COUNT; return STANDARD_CAMERA_COUNT; diff --git a/openvino_wrapper_lib/src/inputs/video_input.cpp b/openvino_wrapper_lib/src/inputs/video_input.cpp index 4c4e2a80..775559a0 100644 --- a/openvino_wrapper_lib/src/inputs/video_input.cpp +++ b/openvino_wrapper_lib/src/inputs/video_input.cpp @@ -22,7 +22,7 @@ #include "openvino_wrapper_lib/inputs/video_input.hpp" // Video -Input::Video::Video(const std::string & video) +Input::Video::Video(const std::string& video) { video_.assign(video); } @@ -47,7 +47,7 @@ bool Input::Video::initialize(size_t width, size_t height) return isInit(); } -bool Input::Video::read(cv::Mat * frame) +bool Input::Video::read(cv::Mat* frame) { if (!isInit()) { return false; diff --git a/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp index c15eda7f..74f5c07f 100644 --- a/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/age_gender_detection_model.cpp @@ -23,15 +23,12 @@ #include "openvino_wrapper_lib/slog.hpp" // Validated Age Gender Classification Network -Models::AgeGenderDetectionModel::AgeGenderDetectionModel( - const std::string & label_loc, - const std::string & model_loc, - int max_batch_size) -: BaseModel(label_loc,model_loc, max_batch_size) +Models::AgeGenderDetectionModel::AgeGenderDetectionModel(const std::string& label_loc, const std::string& model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) { } -bool Models::AgeGenderDetectionModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::AgeGenderDetectionModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; // set input property @@ -43,60 +40,45 @@ bool Models::AgeGenderDetectionModel::updateLayerProperty( ov::Shape input_tensor_shape = model->input().get_shape(); if (inputs_info_.size() != 1) { slog::warn << "This model seems not Age-Gender-like, which should have only one input, but we got" - << std::to_string(input_tensor_shape.size()) << "inputs" - << slog::endl; + << std::to_string(input_tensor_shape.size()) << "inputs" << slog::endl; return false; } addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); - const ov::Layout tensor_layout{"NCHW"}; - input_info.tensor(). - set_element_type(ov::element::f32). - set_layout(tensor_layout); + const ov::Layout tensor_layout{ "NCHW" }; + input_info.tensor().set_element_type(ov::element::f32).set_layout(tensor_layout); // set output property outputs_info_ = model->outputs(); if (outputs_info_.size() != 2) { slog::warn << "This model seems not Age-Gender-like, which should have and only have 2 outputs, but we got" - << std::to_string(outputs_info_.size()) << "outputs" - << slog::endl; + << std::to_string(outputs_info_.size()) << "outputs" << slog::endl; return false; } -#if(0) /// - //Check More Configuration: +#if (0) /// + // Check More Configuration: if (gender_output_ptr->getCreatorLayer().lock()->type == "Convolution") { std::swap(age_output_ptr, gender_output_ptr); } if (age_output_ptr->getCreatorLayer().lock()->type != "Convolution") { - slog::err << "In Age Gender network, age layer (" - << age_output_ptr->getCreatorLayer().lock()->name - << ") should be a Convolution, but was: " - << age_output_ptr->getCreatorLayer().lock()->type << slog::endl; + slog::err << "In Age Gender network, age layer (" << age_output_ptr->getCreatorLayer().lock()->name + << ") should be a Convolution, but was: " << age_output_ptr->getCreatorLayer().lock()->type << slog::endl; return false; } if (gender_output_ptr->getCreatorLayer().lock()->type != "SoftMax") { - slog::err <<"In Age Gender network, gender layer (" - << gender_output_ptr->getCreatorLayer().lock()->name - << ") should be a SoftMax, but was: " - << gender_output_ptr->getCreatorLayer().lock()->type - << slog::endl; + slog::err << "In Age Gender network, gender layer (" << gender_output_ptr->getCreatorLayer().lock()->name + << ") should be a SoftMax, but was: " << gender_output_ptr->getCreatorLayer().lock()->type << slog::endl; return false; } slog::info << "Age layer: " << age_output_ptr->getCreatorLayer().lock()->name << slog::endl; slog::info << "Gender layer: " << gender_output_ptr->getCreatorLayer().lock()->name << slog::endl; #endif - auto age_output_info = outputs_info_[1]; - ppp.output(age_output_info.get_any_name()). - tensor(). - set_element_type(ov::element::f32). - set_layout(tensor_layout); + auto age_output_info = outputs_info_[1]; + ppp.output(age_output_info.get_any_name()).tensor().set_element_type(ov::element::f32).set_layout(tensor_layout); auto gender_output_info = outputs_info_[0]; - ppp.output(gender_output_info.get_any_name()). - tensor(). - set_element_type(ov::element::f32). - set_layout(tensor_layout); + ppp.output(gender_output_info.get_any_name()).tensor().set_element_type(ov::element::f32).set_layout(tensor_layout); model = ppp.build(); ov::set_batch(model, getMaxBatchSize()); diff --git a/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp index f79b5d07..16948322 100644 --- a/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp +++ b/openvino_wrapper_lib/src/models/attributes/ssd_model_attr.cpp @@ -18,28 +18,25 @@ */ #include - + #include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Face Detection Network -Models::SSDModelAttr::SSDModelAttr( - const std::string model_name) -: ModelAttribute(model_name) +Models::SSDModelAttr::SSDModelAttr(const std::string model_name) : ModelAttribute(model_name) { } -bool Models::SSDModelAttr::updateLayerProperty( - const std::shared_ptr& model) +bool Models::SSDModelAttr::updateLayerProperty(const std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { slog::warn << "This model seems not SSDNet-like, SSDnet has only one input, but we got " - << std::to_string(input_info_map.size()) << "inputs" << slog::endl; + << std::to_string(input_info_map.size()) << "inputs" << slog::endl; return false; } - + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_tensor_name_ = model->input().get_any_name(); ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); @@ -51,30 +48,28 @@ bool Models::SSDModelAttr::updateLayerProperty( setInputWidth(input_dims[3]); slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl; - auto outputs_info = model->outputs(); + auto outputs_info = model->outputs(); if (outputs_info.size() != 1) { - slog::warn << "This model seems not SSDNet-like! We got " - << std::to_string(outputs_info.size()) << "outputs, but SSDnet has only one." - << slog::endl; + slog::warn << "This model seems not SSDNet-like! We got " << std::to_string(outputs_info.size()) + << "outputs, but SSDnet has only one." << slog::endl; return false; } ov::preprocess::OutputInfo& output_info = ppp.output(); addOutputInfo(ModelAttribute::DefaultOutputName, model->output().get_any_name()); - slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() - << slog::endl; + slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; output_info.tensor().set_element_type(ov::element::f32); -///TODO: double check this part: BEGIN -#if(0) /// +/// TODO: double check this part: BEGIN +#if (0) /// const InferenceEngine::CNNLayerPtr output_layer = - model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); + model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); // output layer should have attribute called num_classes slog::info << "Checking Object Detection num_classes" << slog::endl; if (output_layer->params.find("num_classes") == output_layer->params.end()) { slog::warn << "This model's output layer (" << output_info_map.begin()->first - << ") should have num_classes integer attribute" << slog::endl; + << ") should have num_classes integer attribute" << slog::endl; return false; } // class number should be equal to size of label vector @@ -91,11 +86,11 @@ bool Models::SSDModelAttr::updateLayerProperty( } } #endif - ///TODO: double check this part: END + /// TODO: double check this part: END // last dimension of output layer should be 7 auto outputsDataMap = model->outputs(); - auto & data = outputsDataMap[0]; + auto& data = outputsDataMap[0]; ov::Shape output_dims = data.get_shape(); setMaxProposalCount(static_cast(output_dims[2])); slog::info << "max proposal count is: " << getMaxProposalCount() << slog::endl; @@ -103,15 +98,14 @@ bool Models::SSDModelAttr::updateLayerProperty( auto object_size = static_cast(output_dims[3]); if (object_size != 7) { slog::warn << "This model is NOT SSDNet-like, whose output data for each detected object" - << "should have 7 dimensions, but was " << std::to_string(object_size) - << slog::endl; + << "should have 7 dimensions, but was " << std::to_string(object_size) << slog::endl; return false; } setObjectSize(object_size); if (output_dims.size() != 4) { slog::warn << "This model is not SSDNet-like, output dimensions shoulld be 4, but was" - << std::to_string(output_dims.size()) << slog::endl; + << std::to_string(output_dims.size()) << slog::endl; return false; } diff --git a/openvino_wrapper_lib/src/models/base_model.cpp b/openvino_wrapper_lib/src/models/base_model.cpp index e7746504..6d9f543a 100644 --- a/openvino_wrapper_lib/src/models/base_model.cpp +++ b/openvino_wrapper_lib/src/models/base_model.cpp @@ -31,32 +31,27 @@ #include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Base Network -Models::BaseModel::BaseModel( - 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) +Models::BaseModel::BaseModel(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) { if (model_loc.empty()) { throw std::logic_error("model file name is empty!"); } - } void Models::BaseModel::modelInit() { slog::info << "Loading network files" << model_loc_ << slog::endl; slog::info << label_loc_ << slog::endl; - + // Read network model model_ = engine.read_model(model_loc_); - + // Extract model name and load it's weights // remove extension size_t last_index = model_loc_.find_last_of("."); std::string raw_name = model_loc_.substr(0, last_index); - + // Read labels (if any) std::string label_file_name = label_loc_.substr(0, last_index); loadLabelsFromFile(label_loc_); @@ -66,18 +61,16 @@ void Models::BaseModel::modelInit() updateLayerProperty(model_); } -Models::ObjectDetectionModel::ObjectDetectionModel( - const std::string& label_loc, - const std::string& model_loc, - int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::ObjectDetectionModel::ObjectDetectionModel(const std::string& label_loc, const std::string& model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} -bool Models::BaseModel::matToBlob( - const cv::Mat & orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr & engine) +bool Models::BaseModel::matToBlob(const cv::Mat& orig_image, const cv::Rect&, float scale_factor, int batch_index, + const std::shared_ptr& engine) { - if (engine == nullptr) - { + if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } @@ -88,21 +81,21 @@ bool Models::BaseModel::matToBlob( OPENVINO_ASSERT(input_shape.size() == 4); const auto layout = getLayoutFromShape(input_shape); - const size_t width = input_shape[ov::layout::width_idx(layout)]; //input_shape[2]; - const size_t height = input_shape[ov::layout::height_idx(layout)]; //input_shape[1]; - const size_t channels = input_shape[ov::layout::channels_idx(layout)]; //input_shape[3]; + const size_t width = input_shape[ov::layout::width_idx(layout)]; // input_shape[2]; + const size_t height = input_shape[ov::layout::height_idx(layout)]; // input_shape[1]; + const size_t channels = input_shape[ov::layout::channels_idx(layout)]; // input_shape[3]; - slog::debug <<"width is:"<< width << slog::endl; - slog::debug <<"height is:"<< height << slog::endl; - slog::debug <<"channels is:"<< channels << slog::endl; - slog::debug <<"origin channels is:"<< orig_image.channels() << slog::endl; - slog::debug <<"input shape is:"<< input_shape << slog::endl; + slog::debug << "width is:" << width << slog::endl; + slog::debug << "height is:" << height << slog::endl; + slog::debug << "channels is:" << channels << slog::endl; + slog::debug << "origin channels is:" << orig_image.channels() << slog::endl; + slog::debug << "input shape is:" << input_shape << slog::endl; unsigned char* data = input_tensor.data(); - cv::Size size = {(int)width, (int)height}; + cv::Size size = { (int)width, (int)height }; cv::Mat resized_image(size, CV_8UC3, data); - if ( isKeepInputRatio()){ + if (isKeepInputRatio()) { slog::debug << "keep Input Shape Ratio is ENABLED!" << slog::endl; cv::Mat extend_image = extendFrameToInputRatio(orig_image); cv::resize(extend_image, resized_image, size); @@ -126,11 +119,11 @@ cv::Mat Models::BaseModel::extendFrameToInputRatio(const cv::Mat orig) const float orig_ratio = static_cast(orig_width) / orig_height; const float target_ratio = static_cast(target_width) / target_height; - slog::debug << "extend Ratio: orit_ratio:"<< orig_ratio << ", target_ratio:" << target_ratio << - ", orig_width:" << orig_width << ", orig_height:" << orig_height << slog::endl; - if (orig_ratio < target_ratio){ + slog::debug << "extend Ratio: orit_ratio:" << orig_ratio << ", target_ratio:" << target_ratio + << ", orig_width:" << orig_width << ", orig_height:" << orig_height << slog::endl; + if (orig_ratio < target_ratio) { orig_width = (int)(orig_height * target_ratio); - }else{ + } else { orig_height = (int)(orig_width * target_ratio); } @@ -141,41 +134,38 @@ cv::Mat Models::BaseModel::extendFrameToInputRatio(const cv::Mat orig) return result; } -bool Models::BaseModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::BaseModel::updateLayerProperty(std::shared_ptr& model) { - slog::info<< "Checking INPUTS & OUTPUTS for Model " <inputs(); - slog::debug <<"input size="<outputs(); - slog::debug <<"output size="<& model) +bool Models::EmotionDetectionModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; // set input property @@ -42,25 +40,21 @@ bool Models::EmotionDetectionModel::updateLayerProperty ov::Shape input_tensor_shape = model->input().get_shape(); if (inputs_info_.size() != 1) { slog::warn << "This model seems not Emotion-detection-model-like, which should have only one input, but we got" - << std::to_string(input_tensor_shape.size()) << "inputs" - << slog::endl; + << std::to_string(input_tensor_shape.size()) << "inputs" << slog::endl; return false; } addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); - const ov::Layout tensor_layout{"NHWC"}; - input_info.tensor(). - set_element_type(ov::element::f32). - set_layout(tensor_layout); + const ov::Layout tensor_layout{ "NHWC" }; + input_info.tensor().set_element_type(ov::element::f32).set_layout(tensor_layout); // set output property outputs_info_ = model->outputs(); output_tensor_name_ = model->output().get_any_name(); ov::preprocess::OutputInfo& output_info = ppp.output(output_tensor_name_); if (outputs_info_.size() != 1) { - slog::warn << "This model should have and only have 1 output, but we got " - << std::to_string(outputs_info_.size()) << "outputs" - << slog::endl; + slog::warn << "This model should have and only have 1 output, but we got " << std::to_string(outputs_info_.size()) + << "outputs" << slog::endl; return false; } @@ -69,7 +63,7 @@ bool Models::EmotionDetectionModel::updateLayerProperty addOutputInfo(ModelAttribute::DefaultOutputName, output_tensor_name_); printAttribute(); - return true; + return true; } const std::string Models::EmotionDetectionModel::getModelCategory() const diff --git a/openvino_wrapper_lib/src/models/face_detection_model.cpp b/openvino_wrapper_lib/src/models/face_detection_model.cpp index ced9982e..397f5c6a 100644 --- a/openvino_wrapper_lib/src/models/face_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/face_detection_model.cpp @@ -23,9 +23,9 @@ #include "openvino_wrapper_lib/slog.hpp" // Validated Face Detection Network -Models::FaceDetectionModel::FaceDetectionModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: ObjectDetectionModel(label_loc, model_loc, max_batch_size) +Models::FaceDetectionModel::FaceDetectionModel(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/openvino_wrapper_lib/src/models/face_reidentification_model.cpp b/openvino_wrapper_lib/src/models/face_reidentification_model.cpp index d8deb8f5..d546f17b 100644 --- a/openvino_wrapper_lib/src/models/face_reidentification_model.cpp +++ b/openvino_wrapper_lib/src/models/face_reidentification_model.cpp @@ -20,23 +20,22 @@ #include "openvino_wrapper_lib/models/face_reidentification_model.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Face Reidentification Network -Models::FaceReidentificationModel::FaceReidentificationModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::FaceReidentificationModel::FaceReidentificationModel(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& model) +void Models::FaceReidentificationModel::setLayerProperty(InferenceEngine::CNNNetwork& model) { // set input property - InferenceEngine::InputsDataMap input_info_map( - model.getInputsInfo()); + InferenceEngine::InputsDataMap input_info_map(model.getInputsInfo()); InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; input_info->setPrecision(InferenceEngine::Precision::U8); input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); // set output property - InferenceEngine::OutputsDataMap output_info_map( - model.getOutputsInfo()); - InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; + InferenceEngine::OutputsDataMap output_info_map(model.getOutputsInfo()); + InferenceEngine::DataPtr& output_data_ptr = output_info_map.begin()->second; output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); output_data_ptr->setLayout(InferenceEngine::Layout::NCHW); // set input and output layer name @@ -44,8 +43,9 @@ void Models::FaceReidentificationModel::setLayerProperty( output_ = output_info_map.begin()->first; } -void Models::FaceReidentificationModel::checkLayerProperty( - const InferenceEngine::CNNNetwork & model) {} +void Models::FaceReidentificationModel::checkLayerProperty(const InferenceEngine::CNNNetwork& model) +{ +} const std::string Models::FaceReidentificationModel::getModelCategory() const { diff --git a/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp b/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp index 7e2138fa..8be7d6af 100644 --- a/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/head_pose_detection_model.cpp @@ -24,51 +24,44 @@ #include "openvino_wrapper_lib/slog.hpp" // Validated Head Pose Network -Models::HeadPoseDetectionModel::HeadPoseDetectionModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) +Models::HeadPoseDetectionModel::HeadPoseDetectionModel(const std::string& label_loc, const std::string& model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) { } -bool Models::HeadPoseDetectionModel::updateLayerProperty -(std::shared_ptr& model) +bool Models::HeadPoseDetectionModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; // set input property auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { - slog::warn << "This model should have only one input, but we got" - << std::to_string(input_info_map.size()) << "inputs" - << slog::endl; + slog::warn << "This model should have only one input, but we got" << std::to_string(input_info_map.size()) + << "inputs" << slog::endl; return false; } ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_tensor_name_ = model->input().get_any_name(); ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); - const ov::Layout input_tensor_layout{"NCHW"}; - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(input_tensor_layout); + const ov::Layout input_tensor_layout{ "NCHW" }; + input_info.tensor().set_element_type(ov::element::u8).set_layout(input_tensor_layout); addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); // set output property auto output_info_map = model->outputs(); std::vector outputs_name; - for (auto & output_item : output_info_map) { + for (auto& output_item : output_info_map) { std::string output_tensor_name_ = output_item.get_any_name(); - const ov::Layout output_tensor_layout{"NC"}; - ppp.output(output_tensor_name_). - tensor(). - set_element_type(ov::element::f32). - set_layout(output_tensor_layout); + const ov::Layout output_tensor_layout{ "NC" }; + ppp.output(output_tensor_name_).tensor().set_element_type(ov::element::f32).set_layout(output_tensor_layout); outputs_name.push_back(output_tensor_name_); } model = ppp.build(); ov::set_batch(model, getMaxBatchSize()); - for (const std::string& outName : {output_angle_r_, output_angle_p_, output_angle_y_}) { + for (const std::string& outName : { output_angle_r_, output_angle_p_, output_angle_y_ }) { if (find(outputs_name.begin(), outputs_name.end(), outName) == outputs_name.end()) { throw std::logic_error("There is no " + outName + " output in Head Pose Estimation network"); } else { diff --git a/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp b/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp index 3c261c5b..34e05d7d 100644 --- a/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/landmarks_detection_model.cpp @@ -20,23 +20,22 @@ #include "openvino_wrapper_lib/models/landmarks_detection_model.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Landmarks Detection Network -Models::LandmarksDetectionModel::LandmarksDetectionModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::LandmarksDetectionModel::LandmarksDetectionModel(const std::string& label_loc, const std::string& model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} -void Models::LandmarksDetectionModel::setLayerProperty( - InferenceEngine::CNNNetwork& model) +void Models::LandmarksDetectionModel::setLayerProperty(InferenceEngine::CNNNetwork& model) { // set input property - InferenceEngine::InputsDataMap input_info_map( - model.getInputsInfo()); + InferenceEngine::InputsDataMap input_info_map(model.getInputsInfo()); InferenceEngine::InputInfo::Ptr input_info = input_info_map.begin()->second; input_info->setPrecision(InferenceEngine::Precision::U8); input_info->getInputData()->setLayout(InferenceEngine::Layout::NCHW); // set output property - InferenceEngine::OutputsDataMap output_info_map( - model.getOutputsInfo()); - InferenceEngine::DataPtr & output_data_ptr = output_info_map.begin()->second; + InferenceEngine::OutputsDataMap output_info_map(model.getOutputsInfo()); + InferenceEngine::DataPtr& output_data_ptr = output_info_map.begin()->second; output_data_ptr->setPrecision(InferenceEngine::Precision::FP32); output_data_ptr->setLayout(InferenceEngine::Layout::NCHW); // set input and output layer name @@ -44,16 +43,13 @@ void Models::LandmarksDetectionModel::setLayerProperty( output_ = output_info_map.begin()->first; } -void Models::LandmarksDetectionModel::checkLayerProperty( - const InferenceEngine::CNNNetReader::Ptr & model) +void Models::LandmarksDetectionModel::checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr& model) { - InferenceEngine::InputsDataMap input_info_map( - model->getNetwork().getInputsInfo()); + InferenceEngine::InputsDataMap input_info_map(model->getNetwork().getInputsInfo()); if (input_info_map.size() != 1) { throw std::logic_error("Landmarks Detection topology should have only one input"); } - InferenceEngine::OutputsDataMap output_info_map( - model->getNetwork().getOutputsInfo()); + InferenceEngine::OutputsDataMap output_info_map(model->getNetwork().getOutputsInfo()); if (output_info_map.size() != 1) { throw std::logic_error("Landmarks Detection Network expects networks having one output"); } diff --git a/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp b/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp index bfdf4ce5..7ca145bb 100644 --- a/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/license_plate_detection_model.cpp @@ -20,12 +20,13 @@ #include "openvino_wrapper_lib/models/license_plate_detection_model.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Vehicle Attributes Detection Network -Models::LicensePlateDetectionModel::LicensePlateDetectionModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::LicensePlateDetectionModel::LicensePlateDetectionModel(const std::string& label_loc, + const std::string& model_loc, int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} -bool Models::LicensePlateDetectionModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::LicensePlateDetectionModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; auto input_info_map = model->inputs(); @@ -45,11 +46,8 @@ bool Models::LicensePlateDetectionModel::updateLayerProperty( ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_tensor_name_ = input_info_map[0].get_any_name(); - const ov::Layout tensor_layout{"NCHW"}; - ppp.input(input_tensor_name_). - tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout); + const ov::Layout tensor_layout{ "NCHW" }; + ppp.input(input_tensor_name_).tensor().set_element_type(ov::element::u8).set_layout(tensor_layout); model = ppp.build(); input_ = input_tensor_name_; diff --git a/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp index f9cb5448..f5471c56 100644 --- a/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_ssd_model.cpp @@ -26,9 +26,9 @@ #include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" // Validated Object Detection Network -Models::ObjectDetectionSSDModel::ObjectDetectionSSDModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: ObjectDetectionModel(label_loc, model_loc, max_batch_size) +Models::ObjectDetectionSSDModel::ObjectDetectionSSDModel(const std::string& label_loc, const std::string& model_loc, + int max_batch_size) + : ObjectDetectionModel(label_loc, model_loc, max_batch_size) { slog::debug << "TESTING: in ObjectDetectionSSDModel" << slog::endl; } @@ -38,10 +38,8 @@ const std::string Models::ObjectDetectionSSDModel::getModelCategory() const return "Object Detection SSD"; } -bool Models::ObjectDetectionSSDModel::enqueue( - const std::shared_ptr & engine, - const cv::Mat & frame, - const cv::Rect & input_frame_loc) +bool Models::ObjectDetectionSSDModel::enqueue(const std::shared_ptr& engine, const cv::Mat& frame, + const cv::Rect& input_frame_loc) { if (!this->matToBlob(frame, input_frame_loc, 1, 0, engine)) { return false; @@ -51,9 +49,8 @@ bool Models::ObjectDetectionSSDModel::enqueue( return true; } -bool Models::ObjectDetectionSSDModel::matToBlob( - const cv::Mat & orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr & engine) +bool Models::ObjectDetectionSSDModel::matToBlob(const cv::Mat& orig_image, const cv::Rect&, float scale_factor, + int batch_index, const std::shared_ptr& engine) { if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; @@ -70,7 +67,7 @@ bool Models::ObjectDetectionSSDModel::matToBlob( const int height = in_shape[2]; const int channels = in_shape[1]; - u_int8_t * blob_data = (u_int8_t *)in_tensor.data(); + u_int8_t* blob_data = (u_int8_t*)in_tensor.data(); cv::Mat resized_image(orig_image); if (width != orig_image.size().width || height != orig_image.size().height) { @@ -82,7 +79,7 @@ bool Models::ObjectDetectionSSDModel::matToBlob( for (int h = 0; h < height; h++) { for (int w = 0; w < width; w++) { blob_data[batchOffset + c * width * height + h * width + w] = - resized_image.at(h, w)[c] * scale_factor; + resized_image.at(h, w)[c] * scale_factor; } } } @@ -91,11 +88,9 @@ bool Models::ObjectDetectionSSDModel::matToBlob( return true; } -bool Models::ObjectDetectionSSDModel::fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh, - const bool & enable_roi_constraint) +bool Models::ObjectDetectionSSDModel::fetchResults(const std::shared_ptr& engine, + std::vector& results, + const float& confidence_thresh, const bool& enable_roi_constraint) { slog::debug << "fetching Infer Resulsts from the given SSD model" << slog::endl; if (engine == nullptr) { @@ -106,13 +101,12 @@ bool Models::ObjectDetectionSSDModel::fetchResults( slog::debug << "Fetching Detection Results ..." << slog::endl; ov::InferRequest request = engine->getRequest(); std::string output = getOutputName(); - const float * detections = (float * )request.get_tensor(output).data(); + const float* detections = (float*)request.get_tensor(output).data(); slog::debug << "Analyzing Detection results..." << slog::endl; auto max_proposal_count = getMaxProposalCount(); auto object_size = getObjectSize(); - slog::debug << "MaxProprosalCount=" << max_proposal_count - << ", ObjectSize=" << object_size << slog::endl; + slog::debug << "MaxProprosalCount=" << max_proposal_count << ", ObjectSize=" << object_size << slog::endl; for (int i = 0; i < max_proposal_count; i++) { float image_id = detections[i * object_size + 0]; if (image_id < 0) { @@ -121,21 +115,23 @@ bool Models::ObjectDetectionSSDModel::fetchResults( cv::Rect r; auto label_num = static_cast(detections[i * object_size + 1]); - std::vector & labels = getLabels(); + std::vector& labels = getLabels(); auto frame_size = getFrameSize(); r.x = static_cast(detections[i * object_size + 3] * frame_size.width); r.y = static_cast(detections[i * object_size + 4] * frame_size.height); r.width = static_cast(detections[i * object_size + 5] * frame_size.width - r.x); r.height = static_cast(detections[i * object_size + 6] * frame_size.height - r.y); - if (enable_roi_constraint) {r &= cv::Rect(0, 0, frame_size.width, frame_size.height);} + if (enable_roi_constraint) { + r &= cv::Rect(0, 0, frame_size.width, frame_size.height); + } openvino_wrapper_lib::ObjectDetectionResult result(r); - std::string label = label_num < labels.size() ? labels[label_num] : - std::string("label #") + std::to_string(label_num); + std::string label = + label_num < labels.size() ? labels[label_num] : std::string("label #") + std::to_string(label_num); result.setLabel(label); float confidence = detections[i * object_size + 2]; - if (confidence <= confidence_thresh ) { + if (confidence <= confidence_thresh) { continue; } result.setConfidence(confidence); @@ -146,21 +142,20 @@ bool Models::ObjectDetectionSSDModel::fetchResults( return true; } -bool Models::ObjectDetectionSSDModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::ObjectDetectionSSDModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { slog::warn << "This model seems not SSDNet-like, SSDnet has only one input, but we got " - << std::to_string(input_info_map.size()) << "inputs" << slog::endl; + << std::to_string(input_info_map.size()) << "inputs" << slog::endl; return false; } ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_tensor_name_ = model->input().get_any_name(); ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); - + input_info.tensor().set_element_type(ov::element::u8); addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); @@ -177,38 +172,32 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty( else slog::warn << "unexpect input shape " << input_dims << slog::endl; - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout); - input_info.preprocess(). - convert_layout(expect_layout). - resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); + input_info.tensor().set_element_type(ov::element::u8).set_layout(tensor_layout); + input_info.preprocess().convert_layout(expect_layout).resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl; auto outputs_info = model->outputs(); if (outputs_info.size() != 1) { - slog::warn << "This model seems not SSDNet-like! We got " - << std::to_string(outputs_info.size()) << "outputs, but SSDnet has only one." - << slog::endl; + slog::warn << "This model seems not SSDNet-like! We got " << std::to_string(outputs_info.size()) + << "outputs, but SSDnet has only one." << slog::endl; return false; } ov::preprocess::OutputInfo& output_info = ppp.output(); addOutputInfo(ModelAttribute::DefaultOutputName, model->output().get_any_name()); - slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() - << slog::endl; + slog::info << "Checking Object Detection output ... Name=" << model->output().get_any_name() << slog::endl; output_info.tensor().set_element_type(ov::element::f32); model = ppp.build(); -///TODO: double check this part: BEGIN -#if(0) +/// TODO: double check this part: BEGIN +#if (0) const InferenceEngine::CNNLayerPtr output_layer = - model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); + model->getNetwork().getLayerByName(output_info_map.begin()->first.c_str()); // output layer should have attribute called num_classes slog::info << "Checking Object Detection num_classes" << slog::endl; if (output_layer->params.find("num_classes") == output_layer->params.end()) { slog::warn << "This model's output layer (" << output_info_map.begin()->first - << ") should have num_classes integer attribute" << slog::endl; + << ") should have num_classes integer attribute" << slog::endl; return false; } // class number should be equal to size of label vector @@ -225,11 +214,11 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty( } } #endif - ///TODO: double check this part: END + /// TODO: double check this part: END // last dimension of output layer should be 7 auto outputsDataMap = model->outputs(); - auto & data = outputsDataMap[0]; + auto& data = outputsDataMap[0]; ov::Shape output_dims = data.get_shape(); setMaxProposalCount(static_cast(output_dims[2])); slog::info << "max proposal count is: " << getMaxProposalCount() << slog::endl; @@ -237,15 +226,14 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty( auto object_size = static_cast(output_dims[3]); if (object_size != 7) { slog::warn << "This model is NOT SSDNet-like, whose output data for each detected object" - << "should have 7 dimensions, but was " << std::to_string(object_size) - << slog::endl; + << "should have 7 dimensions, but was " << std::to_string(object_size) << slog::endl; return false; } setObjectSize(object_size); if (output_dims.size() != 4) { slog::warn << "This model is not SSDNet-like, output dimensions shoulld be 4, but was" - << std::to_string(output_dims.size()) << slog::endl; + << std::to_string(output_dims.size()) << slog::endl; return false; } diff --git a/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp index b89fda66..ce5126ba 100644 --- a/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_yolov5_model.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -/** +/** * @brief a header file with declaration of ObjectDetectionYolov5Model class * @file object_detection_yolov5_model.cpp */ @@ -31,17 +31,16 @@ using namespace cv; using namespace dnn; // Validated Object Detection Network -Models::ObjectDetectionYolov5Model::ObjectDetectionYolov5Model( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: ObjectDetectionModel(label_loc, model_loc, max_batch_size) +Models::ObjectDetectionYolov5Model::ObjectDetectionYolov5Model(const std::string& label_loc, + const std::string& model_loc, int max_batch_size) + : ObjectDetectionModel(label_loc, model_loc, max_batch_size) { setKeepInputShapeRatio(true); } -bool Models::ObjectDetectionYolov5Model::updateLayerProperty( - std::shared_ptr& model) +bool Models::ObjectDetectionYolov5Model::updateLayerProperty(std::shared_ptr& model) { - Models::BaseModel::updateLayerProperty(model); + Models::BaseModel::updateLayerProperty(model); ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); @@ -49,21 +48,21 @@ bool Models::ObjectDetectionYolov5Model::updateLayerProperty( ov::preprocess::InputInfo& input_info = ppp.input(getInputInfo("input0")); ov::Layout tensor_layout = ov::Layout("NHWC"); - if( model->input(0).get_partial_shape().is_dynamic()){ + if (model->input(0).get_partial_shape().is_dynamic()) { auto expected_size = getExpectedFrameSize(); - slog::info << "Model's input has dynamic shape, set to expected size: " - << expected_size << slog::endl; - input_info.tensor().set_shape({1, expected_size.height, expected_size.width, 3}); + slog::info << "Model's input has dynamic shape, set to expected size: " << expected_size << slog::endl; + input_info.tensor().set_shape({ 1, expected_size.height, expected_size.width, 3 }); } - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout). - set_color_format(ov::preprocess::ColorFormat::BGR); + input_info.tensor() + .set_element_type(ov::element::u8) + .set_layout(tensor_layout) + .set_color_format(ov::preprocess::ColorFormat::BGR); - input_info.preprocess(). - convert_element_type(ov::element::f32). - convert_color(ov::preprocess::ColorFormat::RGB).scale({255., 255., 255.}); + input_info.preprocess() + .convert_element_type(ov::element::f32) + .convert_color(ov::preprocess::ColorFormat::RGB) + .scale({ 255., 255., 255. }); ppp.input().model().set_layout("NCHW"); ppp.output().tensor().set_element_type(ov::element::f32); @@ -71,14 +70,14 @@ bool Models::ObjectDetectionYolov5Model::updateLayerProperty( model = ppp.build(); ov::Shape input_shape = model->input(getInputInfo("input0")).get_shape(); - slog::debug<<"image_tensor shape is:"<< input_shape.size() <outputs(); ov::Shape output_dims = output_info_map[0].get_shape(); - if (output_dims[1] < output_dims[2]){ + if (output_dims[1] < output_dims[2]) { slog::info << "Object-Size bigger than Proposal-Count, Outputs need Transform!" << slog::endl; setTranspose(true); setMaxProposalCount(static_cast(output_dims[2])); @@ -98,10 +97,8 @@ const std::string Models::ObjectDetectionYolov5Model::getModelCategory() const return "Object Detection Yolo v5"; } -bool Models::ObjectDetectionYolov5Model::enqueue( - const std::shared_ptr & engine, - const cv::Mat & frame, - const cv::Rect & input_frame_loc) +bool Models::ObjectDetectionYolov5Model::enqueue(const std::shared_ptr& engine, const cv::Mat& frame, + const cv::Rect& input_frame_loc) { setFrameSize(frame.cols, frame.rows); @@ -111,47 +108,45 @@ bool Models::ObjectDetectionYolov5Model::enqueue( return true; } -bool Models::ObjectDetectionYolov5Model::fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh, - const bool & enable_roi_constraint) +bool Models::ObjectDetectionYolov5Model::fetchResults(const std::shared_ptr& engine, + std::vector& results, + const float& confidence_thresh, const bool& enable_roi_constraint) { - const float NMS_THRESHOLD = 0.45; // remove overlapping bounding boxes + const float NMS_THRESHOLD = 0.45; // remove overlapping bounding boxes ov::InferRequest request = engine->getRequest(); std::string output = getOutputName(); - const ov::Tensor &output_tensor = request.get_output_tensor(); + const ov::Tensor& output_tensor = request.get_output_tensor(); ov::Shape output_shape = output_tensor.get_shape(); - auto *detections = output_tensor.data(); + auto* detections = output_tensor.data(); int rows = output_shape.at(1); int dimentions = output_shape.at(2); Mat output_buffer(output_shape[1], output_shape[2], CV_32F, detections); - //Check if transpose is needed - if (output_shape.at(2) > output_shape.at(1) && - output_shape.at(2) > 300){ // 300 is just a random number(bigger than the number of classes) - transpose(output_buffer, output_buffer); //[8400,84] for yolov8 + // Check if transpose is needed + if (output_shape.at(2) > output_shape.at(1) && output_shape.at(2) > 300) { // 300 is just a random number(bigger than + // the number of classes) + transpose(output_buffer, output_buffer); //[8400,84] for yolov8 detections = (float*)output_buffer.data; rows = output_shape.at(2); dimentions = output_shape.at(1); } - //slog::debug << "AFTER calibration: rows->" << rows << ", dimentions->" << dimentions << slog::endl; + // slog::debug << "AFTER calibration: rows->" << rows << ", dimentions->" << dimentions << slog::endl; std::vector boxes; std::vector class_ids; std::vector confidences; - std::vector & labels = getLabels(); + std::vector& labels = getLabels(); for (size_t i = 0; i < rows; i++) { - float *detection = &detections[i * dimentions]; + float* detection = &detections[i * dimentions]; if (hasConfidenceOutput()) { float confidence = detection[4]; if (confidence < confidence_thresh) continue; } - const int classes_scores_start_pos = hasConfidenceOutput()? 5 : 4; - float *classes_scores = &detection[classes_scores_start_pos]; + const int classes_scores_start_pos = hasConfidenceOutput() ? 5 : 4; + float* classes_scores = &detection[classes_scores_start_pos]; int col = static_cast(dimentions - classes_scores_start_pos); cv::Mat scores(1, col, CV_32FC1, classes_scores); @@ -160,36 +155,36 @@ bool Models::ObjectDetectionYolov5Model::fetchResults( cv::minMaxLoc(scores, nullptr, &max_class_score, nullptr, &class_id); if (max_class_score > confidence_thresh) { - confidences.emplace_back(max_class_score); - class_ids.emplace_back(class_id.x); + confidences.emplace_back(max_class_score); + class_ids.emplace_back(class_id.x); - float x = detection[0]; - float y = detection[1]; - float w = detection[2]; - float h = detection[3]; - auto x_min = x - (w / 2); - auto y_min = y - (h / 2); + float x = detection[0]; + float y = detection[1]; + float w = detection[2]; + float h = detection[3]; + auto x_min = x - (w / 2); + auto y_min = y - (h / 2); - boxes.emplace_back(x_min, y_min, w, h); + boxes.emplace_back(x_min, y_min, w, h); } } std::vector nms_result; cv::dnn::NMSBoxes(boxes, confidences, confidence_thresh, NMS_THRESHOLD, nms_result); - for (int idx: nms_result) { - double rx = getFrameResizeRatioWidth(); - double ry = getFrameResizeRatioHeight(); - int vx = int(rx * boxes[idx].x); - double vy = int(ry * boxes[idx].y); - double vw = int(rx * boxes[idx].width); - double vh = int(ry * boxes[idx].height); - cv::Rect rec(vx, vy, vw, vh); - Result result(rec); - result.setConfidence(confidences[idx]); - std::string label = class_ids[idx] < labels.size() ? - labels[class_ids[idx]] : std::string("label #") + std::to_string(class_ids[idx]); - result.setLabel(label); - results.push_back(result); + for (int idx : nms_result) { + double rx = getFrameResizeRatioWidth(); + double ry = getFrameResizeRatioHeight(); + int vx = int(rx * boxes[idx].x); + double vy = int(ry * boxes[idx].y); + double vw = int(rx * boxes[idx].width); + double vh = int(ry * boxes[idx].height); + cv::Rect rec(vx, vy, vw, vh); + Result result(rec); + result.setConfidence(confidences[idx]); + std::string label = class_ids[idx] < labels.size() ? labels[class_ids[idx]] : + std::string("label #") + std::to_string(class_ids[idx]); + result.setLabel(label); + results.push_back(result); } return true; diff --git a/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp b/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp index c37c6777..9460b502 100644 --- a/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp +++ b/openvino_wrapper_lib/src/models/object_detection_yolov8_model.cpp @@ -14,12 +14,11 @@ #include "openvino_wrapper_lib/models/object_detection_yolov8_model.hpp" -Models::ObjectDetectionYolov8Model::ObjectDetectionYolov8Model( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: ObjectDetectionYolov5Model(label_loc, model_loc, max_batch_size) +Models::ObjectDetectionYolov8Model::ObjectDetectionYolov8Model(const std::string& label_loc, + const std::string& model_loc, int max_batch_size) + : ObjectDetectionYolov5Model(label_loc, model_loc, max_batch_size) { - //setKeepInputShapeRatio(true); + // setKeepInputShapeRatio(true); setHasConfidenceOutput(false); - setExpectedFrameSize({640, 640}); + setExpectedFrameSize({ 640, 640 }); } - diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp index 128549d7..c7fd80c5 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_maskrcnn_model.cpp @@ -26,79 +26,75 @@ #include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network -Models::ObjectSegmentationInstanceMaskrcnnModel::ObjectSegmentationInstanceMaskrcnnModel( - const std::string & label_loc, - const std::string & model_loc, - int max_batch_size) - : ObjectSegmentationInstanceModel(label_loc, model_loc, max_batch_size) +Models::ObjectSegmentationInstanceMaskrcnnModel::ObjectSegmentationInstanceMaskrcnnModel(const std::string& label_loc, + const std::string& model_loc, + int max_batch_size) + : ObjectSegmentationInstanceModel(label_loc, model_loc, max_batch_size) { setHasConfidenceOutput(true); setKeepInputShapeRatio(true); setCountOfInputs(2); setCountOfOutputs(2); - setExpectedFrameSize({640, 360}); + setExpectedFrameSize({ 640, 360 }); } -bool Models::ObjectSegmentationInstanceMaskrcnnModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::ObjectSegmentationInstanceMaskrcnnModel::updateLayerProperty(std::shared_ptr& model) { Models::BaseModel::updateLayerProperty(model); slog::debug << "in Models' PrePostProcessor:" << slog::endl; ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); slog::debug << "Model's input size=" << model->inputs().size() << slog::endl; - //1. preprocess image inputs - for(int i=0; i" << getInputInfo(name) << slog::endl; + slog::debug << "Preprocessing Input: [" << name << "->" << getInputInfo(name) << slog::endl; auto& input_info = ppp.input(getInputInfo(name)); ov::Layout tensor_layout = ov::Layout("NHWC"); auto input_shape = model->input(getInputInfo(name)).get_partial_shape(); if (input_shape.size() == 4) { // first input contains images slog::debug << "handling Input[image_tensor]..." << slog::endl; - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout); - //addInputInfo(ModelAttribute::DefaultInputName, name); - //retagInputByValue(getInputInfo(name), "image_tensor"); + input_info.tensor().set_element_type(ov::element::u8).set_layout(tensor_layout); + // addInputInfo(ModelAttribute::DefaultInputName, name); + // retagInputByValue(getInputInfo(name), "image_tensor"); - if (input_shape.is_dynamic()){ + if (input_shape.is_dynamic()) { auto expected_size = getExpectedFrameSize(); slog::info << "Model's input has dynamic shape, fix it to " << expected_size << slog::endl; - input_info.tensor().set_shape({1, expected_size.height, expected_size.width, 3}); + input_info.tensor().set_shape({ 1, expected_size.height, expected_size.width, 3 }); } } else if (input_shape.size() == 2) { // second input contains image info slog::debug << "handling Input[image_info]..." << slog::endl; input_info.tensor().set_element_type(ov::element::f32); - //addInputInfo("input2", info_name_); - //retagInputByValue(getInputInfo(name), "image_info"); + // addInputInfo("input2", info_name_); + // retagInputByValue(getInputInfo(name), "image_info"); } else { throw std::logic_error("Unsupported input shape with size = " + std::to_string(input_shape.size())); } } - //ppp.input(0).model().set_layout("NCHW"); + // ppp.input(0).model().set_layout("NCHW"); model = ppp.build(); ppp = ov::preprocess::PrePostProcessor(model); ov::Shape input0_shape = model->input(getInputName("input0")).get_shape(); - slog::debug <<"image_tensor shape is:"<< input0_shape.size() <output(output); auto shape = output_info.get_partial_shape(); slog::info << "Output shape for [" << output << "] is: " << shape << slog::endl; - if (shape.size() == 4){ + if (shape.size() == 4) { slog::info << "find output tensor - [masks]" << slog::endl; retagOutputByValue(output, "masks"); - } else if (shape.size() == 2){ + } else if (shape.size() == 2) { slog::info << "find output tensor - [detection]" << slog::endl; retagOutputByValue(output, "detection"); } else { @@ -113,12 +109,12 @@ bool Models::ObjectSegmentationInstanceMaskrcnnModel::updateLayerProperty( model = ppp.build(); - if(model->is_dynamic()) { + if (model->is_dynamic()) { slog::warn << "Model is still dynamic !!!!" << slog::endl; } else { auto output_info_map = model->outputs(); ov::Shape output_dims = output_info_map[0].get_shape(); - if (output_dims[1] < output_dims[2]){ + if (output_dims[1] < output_dims[2]) { slog::info << "Object-Size bigger than Proposal-Count, Outputs need Transform!" << slog::endl; setTranspose(true); setMaxProposalCount(static_cast(output_dims[2])); @@ -133,26 +129,24 @@ bool Models::ObjectSegmentationInstanceMaskrcnnModel::updateLayerProperty( printAttribute(); slog::info << "Layer Property updated!" << slog::endl; return true; - } bool Models::ObjectSegmentationInstanceMaskrcnnModel::fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh, - const bool & enable_roi_constraint) + const std::shared_ptr& engine, + std::vector& results, const float& confidence_thresh, + const bool& enable_roi_constraint) { ov::InferRequest infer_request = engine->getRequest(); slog::debug << "Analyzing Detection results..." << slog::endl; std::string detection_output = getOutputName("detection"); std::string mask_output = getOutputName("masks"); slog::debug << "Detection_output=" << detection_output << ", Mask_output=" << mask_output << slog::endl; - - //get detection data + + // get detection data ov::Tensor do_tensor = infer_request.get_tensor(detection_output); const auto do_data = do_tensor.data(); ov::Shape do_shape = do_tensor.get_shape(); - slog::debug << "Detection Blob getDims = " <(); @@ -167,57 +161,58 @@ bool Models::ObjectSegmentationInstanceMaskrcnnModel::fetchResults( size_t W = mask_shape[3]; size_t box_stride = W * H * C; slog::debug << "box_description is:" << box_description_size << slog::endl; - slog::debug << "box_num is:" << box_num<< slog::endl; + slog::debug << "box_num is:" << box_num << slog::endl; slog::debug << "C is:" << C << slog::endl; slog::debug << "H is:" << H << slog::endl; slog::debug << "W is:" << W << slog::endl; for (size_t box = 0; box < box_num; ++box) { // box description: batch, label, prob, x1, y1, x2, y2 - float * box_info = do_data + box * box_description_size; + float* box_info = do_data + box * box_description_size; auto batch = static_cast(box_info[0]); slog::debug << "batch =" << batch << slog::endl; if (batch < 0) { - slog::warn << "Batch size should be greater than 0. [batch=" << batch <<"]." << slog::endl; + slog::warn << "Batch size should be greater than 0. [batch=" << batch << "]." << slog::endl; break; } float prob = box_info[2]; const double rx = getFrameResizeRatioWidth(); const double ry = getFrameResizeRatioHeight(); - //slog::debug << "FrameResizeRatio W:" < confidence_thresh) { float x1 = std::min(std::max(0.0f, box_info[3] * iW), static_cast(iW)) * rx; float y1 = std::min(std::max(0.0f, box_info[4] * iH), static_cast(iH)) * ry; float x2 = std::min(std::max(0.0f, box_info[5] * iW), static_cast(iW)) * rx; float y2 = std::min(std::max(0.0f, box_info[6] * iH), static_cast(iH)) * ry; auto fSize = getFrameSize(); - if ((int)x2 >= fSize.width){ - x2 = fSize.width-2; + if ((int)x2 >= fSize.width) { + x2 = fSize.width - 2; } - if ((int)y2 >= fSize.height){ - x2 = fSize.height-2; + if ((int)y2 >= fSize.height) { + x2 = fSize.height - 2; } int box_width = static_cast(x2 - x1); int box_height = static_cast(y2 - y1); slog::debug << "Box[" << box_width << "x" << box_height << "]" << slog::endl; - if (box_width <= 0 || box_height <=0) break; + if (box_width <= 0 || box_height <= 0) + break; int class_id = static_cast(box_info[1] + 1e-6f); - float * mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); + float* mask_arr = mask_data + box_stride * box + H * W * (class_id - 1); cv::Mat mask_mat(H, W, CV_32FC1, mask_arr); cv::Rect roi = cv::Rect(static_cast(x1), static_cast(y1), box_width, box_height) - /*& cv::Rect({0, 0}, getFrameSize()-cv::Size{2, 2})*/; - slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch - << ": " << roi << slog::endl; + /*& cv::Rect({0, 0}, getFrameSize()-cv::Size{2, 2})*/; + slog::info << "Detected class " << class_id << " with probability " << prob << " from batch " << batch << ": " + << roi << slog::endl; cv::Mat resized_mask_mat(box_height, box_width, CV_32FC1); cv::resize(mask_mat, resized_mask_mat, cv::Size(box_width, box_height)); Result result(roi); result.setConfidence(prob); - std::vector & labels = getLabels(); - std::string label = class_id < labels.size() ? labels[class_id] : - std::string("label #") + std::to_string(class_id); + std::vector& labels = getLabels(); + std::string label = + class_id < labels.size() ? labels[class_id] : std::string("label #") + std::to_string(class_id); result.setLabel(label); result.setMask(resized_mask_mat); slog::debug << "adding one segmentation Box ..." << slog::endl; diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp index c5c9a6bf..a63f0299 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - + /** * @brief a header file with declaration of ObjectSegmentationInstanceModel class * By default yolov8 segementation models are supported. @@ -26,53 +26,46 @@ #include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network -Models::ObjectSegmentationInstanceModel::ObjectSegmentationInstanceModel( - const std::string & label_loc, - const std::string & model_loc, - int max_batch_size) - : BaseModel(label_loc, model_loc, max_batch_size) +Models::ObjectSegmentationInstanceModel::ObjectSegmentationInstanceModel(const std::string& label_loc, + const std::string& model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) { setHasConfidenceOutput(false); setKeepInputShapeRatio(true); setCountOfInputs(1); setCountOfOutputs(2); - setExpectedFrameSize({640, 640}); + setExpectedFrameSize({ 640, 640 }); } -bool Models::ObjectSegmentationInstanceModel::enqueue( - const std::shared_ptr &engine, - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool Models::ObjectSegmentationInstanceModel::enqueue(const std::shared_ptr& engine, + const cv::Mat& frame, const cv::Rect& input_frame_loc) { - if (engine == nullptr) - { + if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } setFrameSize(frame.cols, frame.rows); - for (const auto &inputInfoItem : inputs_info_) - { + for (const auto& inputInfoItem : inputs_info_) { auto dims = inputInfoItem.get_partial_shape(); - slog::debug << "input tensor shape is:"<< dims.size() <getRequest().get_tensor(inputInfoItem); auto data = in_tensor.data(); - data[0] = static_cast(frame.rows); // height + data[0] = static_cast(frame.rows); // height data[1] = static_cast(frame.cols); // width data[2] = 1; } } - + return true; } @@ -81,51 +74,51 @@ const std::string Models::ObjectSegmentationInstanceModel::getModelCategory() co return "Object Segmentation - Yolo-Like"; } -bool Models::ObjectSegmentationInstanceModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::ObjectSegmentationInstanceModel::updateLayerProperty(std::shared_ptr& model) { - Models::BaseModel::updateLayerProperty(model); - + Models::BaseModel::updateLayerProperty(model); + ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); - - //1. preprocess image inputs + + // 1. preprocess image inputs ov::preprocess::InputInfo& input_info = ppp.input(getInputInfo("input0")); ov::Layout tensor_layout = ov::Layout("NHWC"); - if( model->input(0).get_partial_shape().is_dynamic()){ + if (model->input(0).get_partial_shape().is_dynamic()) { auto expected_size = getExpectedFrameSize(); slog::info << "Model's input has dynamic shape, fix it to " << expected_size << slog::endl; - input_info.tensor().set_shape({1, expected_size.height, expected_size.width, 3}); + input_info.tensor().set_shape({ 1, expected_size.height, expected_size.width, 3 }); } - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout). - set_color_format(ov::preprocess::ColorFormat::BGR); + input_info.tensor() + .set_element_type(ov::element::u8) + .set_layout(tensor_layout) + .set_color_format(ov::preprocess::ColorFormat::BGR); - input_info.preprocess(). - convert_element_type(ov::element::f32). - convert_color(ov::preprocess::ColorFormat::RGB).scale({255., 255., 255.}); + input_info.preprocess() + .convert_element_type(ov::element::f32) + .convert_color(ov::preprocess::ColorFormat::RGB) + .scale({ 255., 255., 255. }); ppp.input().model().set_layout("NCHW"); model = ppp.build(); ppp = ov::preprocess::PrePostProcessor(model); ov::Shape input_shape = model->input(getInputInfo("input0")).get_shape(); - slog::debug <<"image_tensor shape is:"<< input_shape.size() <output(output); auto shape = output_info.get_partial_shape(); slog::info << "Output shape for [" << output << "] is: " << shape << slog::endl; - if (shape.size() == 4){ + if (shape.size() == 4) { slog::info << "find output tensor - [masks]" << slog::endl; retagOutputByValue(output, "masks"); - } else if (shape.size() == 3){ + } else if (shape.size() == 3) { slog::info << "find output tensor - [detection]" << slog::endl; retagOutputByValue(output, "detection"); } else { @@ -140,12 +133,12 @@ bool Models::ObjectSegmentationInstanceModel::updateLayerProperty( model = ppp.build(); - if(model->is_dynamic()) { + if (model->is_dynamic()) { slog::warn << "Model is still dynamic !!!!" << slog::endl; } else { auto output_info_map = model->outputs(); ov::Shape output_dims = output_info_map[0].get_shape(); - if (output_dims[1] < output_dims[2]){ + if (output_dims[1] < output_dims[2]) { slog::info << "Object-Size bigger than Proposal-Count, Outputs need Transform!" << slog::endl; setTranspose(true); setMaxProposalCount(static_cast(output_dims[2])); @@ -160,72 +153,69 @@ bool Models::ObjectSegmentationInstanceModel::updateLayerProperty( printAttribute(); slog::info << "Layer Property updated!" << slog::endl; return true; - } bool Models::ObjectSegmentationInstanceModel::fetchResults( - const std::shared_ptr & engine, - std::vector & results, - const float & confidence_thresh, - const bool & enable_roi_constraint) + const std::shared_ptr& engine, + std::vector& results, const float& confidence_thresh, + const bool& enable_roi_constraint) { - - const float NMS_THRESHOLD = 0.45; // threshold for removing overlapping bounding boxes + const float NMS_THRESHOLD = 0.45; // threshold for removing overlapping bounding boxes ov::InferRequest request = engine->getRequest(); std::string det_output = getOutputName("detection"); const ov::Tensor det_output_tensor = request.get_tensor(det_output); ov::Shape det_output_shape = det_output_tensor.get_shape(); - auto *detections = det_output_tensor.data(); + auto* detections = det_output_tensor.data(); int rows = det_output_shape.at(1); int dimentions = det_output_shape.at(2); cv::Mat output_buffer(det_output_shape[1], det_output_shape[2], CV_32F, detections); - //Check if transpose is needed - //if ( needTranspose()){ //DON'T use func needTranspose(), it is not correctly set when calling updateLayerProperty() + // Check if transpose is needed + // if ( needTranspose()){ //DON'T use func needTranspose(), it is not correctly set when calling updateLayerProperty() if (det_output_shape.at(2) > det_output_shape.at(1) && - det_output_shape.at(2) > 300){ // 300 is just a random number(bigger than the number of classes) - cv::transpose(output_buffer, output_buffer); //[8400,84+32] for yolov8 seg + det_output_shape.at(2) > 300) { // 300 is just a random number(bigger than the number of classes) + cv::transpose(output_buffer, output_buffer); //[8400,84+32] for yolov8 seg detections = (float*)output_buffer.data; rows = det_output_shape.at(2); dimentions = det_output_shape.at(1); } - slog::debug << "AFTER calibration: rows->" << rows << ", dimentions->" << dimentions << slog::endl; + slog::debug << "AFTER calibration: rows->" << rows << ", dimentions->" << dimentions << slog::endl; std::vector boxes; std::vector mask_confs; std::vector class_ids; std::vector confidences; - std::vector & labels = getLabels(); + std::vector& labels = getLabels(); for (int i = 0; i < rows; i++) { - //float *detection = &detections[i * dimentions]; + // float *detection = &detections[i * dimentions]; if (hasConfidenceOutput()) { float confidence = output_buffer.at(int(i), 4); if (confidence < confidence_thresh) continue; } - const int classes_scores_start_pos = hasConfidenceOutput()? 5 : 4; - cv::Mat classes_scores = output_buffer.row(i).colRange(classes_scores_start_pos, dimentions-32); //4, 84 + const int classes_scores_start_pos = hasConfidenceOutput() ? 5 : 4; + cv::Mat classes_scores = output_buffer.row(i).colRange(classes_scores_start_pos, dimentions - 32); // 4, 84 cv::Point class_id; double max_class_score; cv::minMaxLoc(classes_scores, nullptr, &max_class_score, nullptr, &class_id); if (max_class_score > confidence_thresh) { - confidences.emplace_back(max_class_score); - class_ids.emplace_back(class_id.x); - - float x = output_buffer.at(i, 0); //detection[0]; - float y = output_buffer.at(i, 1); //detection[1]; - float w = output_buffer.at(i, 2); //detection[2]; - float h = output_buffer.at(i, 3); //detection[3]; - auto x_min = x - (w / 2); - auto y_min = y - (h / 2); - - boxes.emplace_back(x_min, y_min, w, h); - cv::Mat mask_conf = output_buffer.row(i).colRange(dimentions-32, dimentions); //84, 116 - mask_confs.emplace_back(mask_conf); + confidences.emplace_back(max_class_score); + class_ids.emplace_back(class_id.x); + + float x = output_buffer.at(i, 0); // detection[0]; + float y = output_buffer.at(i, 1); // detection[1]; + float w = output_buffer.at(i, 2); // detection[2]; + float h = output_buffer.at(i, 3); // detection[3]; + auto x_min = x - (w / 2); + auto y_min = y - (h / 2); + + boxes.emplace_back(x_min, y_min, w, h); + cv::Mat mask_conf = output_buffer.row(i).colRange(dimentions - 32, dimentions); // 84, 116 + mask_confs.emplace_back(mask_conf); } } @@ -234,75 +224,76 @@ bool Models::ObjectSegmentationInstanceModel::fetchResults( const ov::Tensor mask_output_tensor = request.get_tensor(getOutputName("masks")); ov::Shape mask_output_shape = mask_output_tensor.get_shape(); - //const ov::Layout mask_layout {"NCHW"}; //must be "NCHW"? + // const ov::Layout mask_layout {"NCHW"}; //must be "NCHW"? const auto MASK_CHANNEL = mask_output_shape[1]; - const auto MASK_HEIGHT = mask_output_shape[2]; //mask_output_shape[ov::layout::height_idx(mask_layout)]; - const auto MASK_WIDTH = mask_output_shape[3]; //mask_output_shape[ov::layout::width_idx(mask_layout)]; - slog::debug << "mask_output_shape: " << mask_output_shape << ",MASK_HEIGHT:" << MASK_HEIGHT << ", MASK_WIDTH:" << MASK_WIDTH << slog::endl; - //cv::Mat proto(32, 25600, CV_32F, mask_output_tensor.data()); //[32,25600] - cv::Mat proto(MASK_CHANNEL, MASK_HEIGHT * MASK_WIDTH, CV_32F, mask_output_tensor.data()); //[32,25600] - - for (int idx: nms_result) { - double rx = getFrameResizeRatioWidth(); - double ry = getFrameResizeRatioHeight(); - slog::debug << "Detection-Ratio (Input Image to Input Tensor): "<< rx << "x" << ry << slog::endl; - - //Bounding-Box in Input Tensor Size - int vx = std::max(0, int(boxes[idx].x)); - int vy = std::max(0, int(boxes[idx].y)); - int vw = std::min(std::max(0, int(boxes[idx].width)), getInputWidth()-vx-1); - int vh = std::min(std::max(0, int(boxes[idx].height)), getInputHeight()-vy-1); - - cv::Rect vrec(vx, vy, vw, vh); - slog::debug << "Detection Rectangle in Input Tensor Size: " << vrec << slog::endl; - const int det_bb_x = vx*rx; - const int det_bb_y = vy*ry; - const auto frame_size = getFrameSize(); - int det_bb_w = vw*rx; - int det_bb_h = vh*ry; - if (det_bb_w+det_bb_x >= frame_size.width){ - det_bb_w = std::max(0, frame_size.width - det_bb_x - 2); - } - if (det_bb_h+det_bb_y >= frame_size.height){ - det_bb_h = std::max(0, frame_size.height - det_bb_y -2); - } - cv::Rect det_bb(det_bb_x, det_bb_y, det_bb_w, det_bb_h); - slog::debug << "Detection Rectangle in Input Image Size: " << det_bb << slog::endl; - Result result(det_bb); - result.setConfidence(confidences[idx]); - std::string label = class_ids[idx] < labels.size() ? - labels[class_ids[idx]] : std::string("label #") + std::to_string(class_ids[idx]); - result.setLabel(label); - - //Mask data operation - auto sigmoid = [](float a) {return 1. / (1. + exp(-a));}; - cv::Mat m = mask_confs[idx] * proto; - for (int col = 0; col < m.cols; col++) { - m.at(0, col) = sigmoid(m.at(0, col)); - } - cv::Mat reshaped_m = m.reshape(1, MASK_HEIGHT); //1x25600-->160x160, mask_output_shape:NCHW - - double mask_rx = static_cast(MASK_WIDTH) / getInputWidth(); - double mask_ry = static_cast(MASK_HEIGHT) / getInputHeight(); - slog::debug << "Mask-Ratio (Mask Tensor to Input Tensor): " << mask_rx <<"x" << mask_ry << slog::endl; - int mask_x = int(mask_rx * vx); - int mask_y = int(mask_ry * vy); - int mask_w = int(mask_rx * vw); - int mask_h = int(mask_ry * vh); - if (mask_x + mask_w >= MASK_WIDTH){ - mask_w = MASK_WIDTH - 1; - } - if (mask_y + mask_h >= MASK_HEIGHT){ - mask_h = MASK_HEIGHT - 1; - } - cv::Rect roi{mask_x, mask_y, mask_w, mask_h}; - slog::debug << "Mask ROI:" << roi << slog::endl; - cv::Mat roi_mask = reshaped_m(roi); - cv::Mat resized_mask; - cv::resize(roi_mask, resized_mask, cv::Size(det_bb_w, det_bb_h)); - result.setMask(resized_mask); - - results.push_back(result); + const auto MASK_HEIGHT = mask_output_shape[2]; // mask_output_shape[ov::layout::height_idx(mask_layout)]; + const auto MASK_WIDTH = mask_output_shape[3]; // mask_output_shape[ov::layout::width_idx(mask_layout)]; + slog::debug << "mask_output_shape: " << mask_output_shape << ",MASK_HEIGHT:" << MASK_HEIGHT + << ", MASK_WIDTH:" << MASK_WIDTH << slog::endl; + // cv::Mat proto(32, 25600, CV_32F, mask_output_tensor.data()); //[32,25600] + cv::Mat proto(MASK_CHANNEL, MASK_HEIGHT * MASK_WIDTH, CV_32F, mask_output_tensor.data()); //[32,25600] + + for (int idx : nms_result) { + double rx = getFrameResizeRatioWidth(); + double ry = getFrameResizeRatioHeight(); + slog::debug << "Detection-Ratio (Input Image to Input Tensor): " << rx << "x" << ry << slog::endl; + + // Bounding-Box in Input Tensor Size + int vx = std::max(0, int(boxes[idx].x)); + int vy = std::max(0, int(boxes[idx].y)); + int vw = std::min(std::max(0, int(boxes[idx].width)), getInputWidth() - vx - 1); + int vh = std::min(std::max(0, int(boxes[idx].height)), getInputHeight() - vy - 1); + + cv::Rect vrec(vx, vy, vw, vh); + slog::debug << "Detection Rectangle in Input Tensor Size: " << vrec << slog::endl; + const int det_bb_x = vx * rx; + const int det_bb_y = vy * ry; + const auto frame_size = getFrameSize(); + int det_bb_w = vw * rx; + int det_bb_h = vh * ry; + if (det_bb_w + det_bb_x >= frame_size.width) { + det_bb_w = std::max(0, frame_size.width - det_bb_x - 2); + } + if (det_bb_h + det_bb_y >= frame_size.height) { + det_bb_h = std::max(0, frame_size.height - det_bb_y - 2); + } + cv::Rect det_bb(det_bb_x, det_bb_y, det_bb_w, det_bb_h); + slog::debug << "Detection Rectangle in Input Image Size: " << det_bb << slog::endl; + Result result(det_bb); + result.setConfidence(confidences[idx]); + std::string label = class_ids[idx] < labels.size() ? labels[class_ids[idx]] : + std::string("label #") + std::to_string(class_ids[idx]); + result.setLabel(label); + + // Mask data operation + auto sigmoid = [](float a) { return 1. / (1. + exp(-a)); }; + cv::Mat m = mask_confs[idx] * proto; + for (int col = 0; col < m.cols; col++) { + m.at(0, col) = sigmoid(m.at(0, col)); + } + cv::Mat reshaped_m = m.reshape(1, MASK_HEIGHT); // 1x25600-->160x160, mask_output_shape:NCHW + + double mask_rx = static_cast(MASK_WIDTH) / getInputWidth(); + double mask_ry = static_cast(MASK_HEIGHT) / getInputHeight(); + slog::debug << "Mask-Ratio (Mask Tensor to Input Tensor): " << mask_rx << "x" << mask_ry << slog::endl; + int mask_x = int(mask_rx * vx); + int mask_y = int(mask_ry * vy); + int mask_w = int(mask_rx * vw); + int mask_h = int(mask_ry * vh); + if (mask_x + mask_w >= MASK_WIDTH) { + mask_w = MASK_WIDTH - 1; + } + if (mask_y + mask_h >= MASK_HEIGHT) { + mask_h = MASK_HEIGHT - 1; + } + cv::Rect roi{ mask_x, mask_y, mask_w, mask_h }; + slog::debug << "Mask ROI:" << roi << slog::endl; + cv::Mat roi_mask = reshaped_m(roi); + cv::Mat resized_mask; + cv::resize(roi_mask, resized_mask, cv::Size(det_bb_w, det_bb_h)); + result.setMask(resized_mask); + + results.push_back(result); } return true; diff --git a/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp index 37ab35b4..4790886d 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_maskrcnn_model.cpp @@ -11,7 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - + /** * @brief a header file with declaration of ObjectSegmentationModel class * @file object_segmentation_model.cpp @@ -24,59 +24,50 @@ #include "openvino_wrapper_lib/engines/engine.hpp" // Validated Object Segmentation Network -Models::ObjectSegmentationMaskrcnnModel::ObjectSegmentationMaskrcnnModel( - const std::string & label_loc, - const std::string & model_loc, - int max_batch_size) - : BaseModel(label_loc, model_loc, max_batch_size) +Models::ObjectSegmentationMaskrcnnModel::ObjectSegmentationMaskrcnnModel(const std::string& label_loc, + const std::string& model_loc, + int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) { } -bool Models::ObjectSegmentationMaskrcnnModel::enqueue( - const std::shared_ptr &engine, - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool Models::ObjectSegmentationMaskrcnnModel::enqueue(const std::shared_ptr& engine, + const cv::Mat& frame, const cv::Rect& input_frame_loc) { - if (engine == nullptr) - { + if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } - for (const auto &inputInfoItem : inputs_info_) - { + for (const auto& inputInfoItem : inputs_info_) { // Fill first input tensor with images. First b channel, then g and r channels auto dims = inputInfoItem.get_shape(); - slog::debug << "input tensor shape is:"<< dims.size() <getRequest().get_tensor(inputInfoItem); auto data = in_tensor.data(); - data[0] = static_cast(frame.rows); // height + data[0] = static_cast(frame.rows); // height data[1] = static_cast(frame.cols); // width data[2] = 1; } } - + return true; } -bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( - const cv::Mat &orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr &engine) +bool Models::ObjectSegmentationMaskrcnnModel::matToBlob(const cv::Mat& orig_image, const cv::Rect&, float scale_factor, + int batch_index, const std::shared_ptr& engine) { (void)scale_factor; (void)batch_index; - if (engine == nullptr) - { + if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } @@ -91,49 +82,47 @@ bool Models::ObjectSegmentationMaskrcnnModel::matToBlob( const size_t height = input_shape[1]; const size_t channels = input_shape[3]; - slog::debug <<"width is:"<< width << slog::endl; - slog::debug <<"height is:"<< height << slog::endl; - slog::debug <<"channels is:"<< channels << slog::endl; - slog::debug <<"origin channels is:"<< orig_image.channels() << slog::endl; - slog::debug <<"input shape is:"<< input_shape << slog::endl; + slog::debug << "width is:" << width << slog::endl; + slog::debug << "height is:" << height << slog::endl; + slog::debug << "channels is:" << channels << slog::endl; + slog::debug << "origin channels is:" << orig_image.channels() << slog::endl; + slog::debug << "input shape is:" << input_shape << slog::endl; if (static_cast(orig_image.channels()) != channels) { - throw std::runtime_error("The number of channels for net input and image must match"); + throw std::runtime_error("The number of channels for net input and image must match"); } - + #if 1 - //input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, resized_image.data); - //engine->getRequest().set_tensor(input_tensor_name_, input_tensor); + // input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, resized_image.data); + // engine->getRequest().set_tensor(input_tensor_name_, input_tensor); unsigned char* data = input_tensor.data(); - cv::Size size = {(int)width, (int)height}; + cv::Size size = { (int)width, (int)height }; cv::Mat resized_image(size, CV_8UC3, data); cv::resize(orig_image, resized_image, size); #else const auto input_data = input_tensor.data(); cv::Mat resized_image(orig_image); - if (static_cast(width) != orig_image.size().width || - static_cast(height) != orig_image.size().height) { - cv::resize(orig_image, resized_image, cv::Size(width, height)); + if (static_cast(width) != orig_image.size().width || static_cast(height) != orig_image.size().height) { + cv::resize(orig_image, resized_image, cv::Size(width, height)); } int batchOffset = batch_index * width * height * channels; if (channels == 1) { - for (size_t h = 0; h < height; h++) { - for (size_t w = 0; w < width; w++) { - input_data[batchOffset + h * width + w] = resized_image.at(h, w); - } + for (size_t h = 0; h < height; h++) { + for (size_t w = 0; w < width; w++) { + input_data[batchOffset + h * width + w] = resized_image.at(h, w); } + } } else if (channels == 3) { - for (size_t c = 0; c < channels; c++) { - for (size_t h = 0; h < height; h++) { - for (size_t w = 0; w < width; w++) { - input_data[batchOffset + c * width * height + h * width + w] = - resized_image.at(h, w)[c]; - } - } + for (size_t c = 0; c < channels; c++) { + for (size_t h = 0; h < height; h++) { + for (size_t w = 0; w < width; w++) { + input_data[batchOffset + c * width * height + h * width + w] = resized_image.at(h, w)[c]; + } } + } } else { - throw std::runtime_error("Unsupported number of channels"); + throw std::runtime_error("Unsupported number of channels"); } #endif @@ -145,44 +134,40 @@ const std::string Models::ObjectSegmentationMaskrcnnModel::getModelCategory() co return "Object Segmentation"; } -bool Models::ObjectSegmentationMaskrcnnModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::ObjectSegmentationMaskrcnnModel::updateLayerProperty(std::shared_ptr& model) { - slog::info<< "Checking INPUTS for Model" <inputs(); - slog::debug<<"input size="<input("image_tensor").get_shape(); - slog::debug<<"image_tensor shape is:"<< input_shape.size() <input("image_info").get_shape(); - slog::debug<<"image_info shape is:"<< info_shape.size() <output("masks").get_shape(); - slog::debug<<"masks shape is:"<< mask_shape.size() <output("reshape_do_2d").get_shape(); - slog::debug<< "detection shape is:" << detection_shape.size() < &engine, - const cv::Mat &frame, - const cv::Rect &input_frame_loc) +bool Models::ObjectSegmentationModel::enqueue(const std::shared_ptr& engine, const cv::Mat& frame, + const cv::Rect& input_frame_loc) { - if (engine == nullptr) - { + if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } - for (const auto &inputInfoItem : inputs_info_) - { + for (const auto& inputInfoItem : inputs_info_) { // Fill first input tensor with images. First b channel, then g and r channels auto dims = inputInfoItem.get_shape(); - if (dims.size()==4) - { + if (dims.size() == 4) { matToBlob(frame, input_frame_loc, 1.0, 0, engine); } // Fill second input tensor with image info - if (dims.size() == 2) - { + if (dims.size() == 2) { ov::Tensor in_tensor = engine->getRequest().get_tensor(inputInfoItem); auto data = in_tensor.data(); - data[0] = static_cast(frame.rows); // height + data[0] = static_cast(frame.rows); // height data[1] = static_cast(frame.cols); // width data[2] = 1; } } return true; - } -bool Models::ObjectSegmentationModel::matToBlob( - const cv::Mat &orig_image, const cv::Rect &, float scale_factor, - int batch_index, const std::shared_ptr &engine) +bool Models::ObjectSegmentationModel::matToBlob(const cv::Mat& orig_image, const cv::Rect&, float scale_factor, + int batch_index, const std::shared_ptr& engine) { (void)scale_factor; (void)batch_index; - if (engine == nullptr) - { + if (engine == nullptr) { slog::err << "A frame is trying to be enqueued in a NULL Engine." << slog::endl; return false; } @@ -82,17 +71,17 @@ bool Models::ObjectSegmentationModel::matToBlob( const size_t width = getInputWidth(); const size_t height = getInputHeight(); const size_t channels = 3; - slog::debug <<"width is:"<< width << slog::endl; - slog::debug <<"height is:"<< height << slog::endl; + slog::debug << "width is:" << width << slog::endl; + slog::debug << "height is:" << height << slog::endl; - if (orig_image.cols != width || orig_image.rows != height){ - cv::Size size = {(int)width, (int)height}; + if (orig_image.cols != width || orig_image.rows != height) { + cv::Size size = { (int)width, (int)height }; cv::Mat resized_image(size, CV_8UC3); cv::resize(orig_image, resized_image, size); - ov::Tensor input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, resized_image.data); + ov::Tensor input_tensor = ov::Tensor(ov::element::u8, { 1, height, width, channels }, resized_image.data); engine->getRequest().set_tensor(input_tensor_name_, input_tensor); } else { - ov::Tensor input_tensor = ov::Tensor(ov::element::u8, {1, height, width, channels}, orig_image.data); + ov::Tensor input_tensor = ov::Tensor(ov::element::u8, { 1, height, width, channels }, orig_image.data); engine->getRequest().set_tensor(input_tensor_name_, input_tensor); } #else @@ -106,18 +95,18 @@ bool Models::ObjectSegmentationModel::matToBlob( const size_t height = input_shape[1]; const size_t channels = input_shape[3]; - slog::debug <<"width is:"<< width << slog::endl; - slog::debug <<"height is:"<< height << slog::endl; - slog::debug <<"channels is:"<< channels << slog::endl; - slog::debug <<"origin channels is:"<< orig_image.channels() << slog::endl; - slog::debug <<"input shape is:"<< input_shape << slog::endl; + slog::debug << "width is:" << width << slog::endl; + slog::debug << "height is:" << height << slog::endl; + slog::debug << "channels is:" << channels << slog::endl; + slog::debug << "origin channels is:" << orig_image.channels() << slog::endl; + slog::debug << "input shape is:" << input_shape << slog::endl; if (static_cast(orig_image.channels()) != channels) { - throw std::runtime_error("The number of channels for net input and image must match"); + throw std::runtime_error("The number of channels for net input and image must match"); } - + unsigned char* data = input_tensor.data(); - cv::Size size = {(int)width, (int)height}; + cv::Size size = { (int)width, (int)height }; cv::Mat resized_image(size, CV_8UC3, data); cv::resize(orig_image, resized_image, size); #endif @@ -129,17 +118,15 @@ const std::string Models::ObjectSegmentationModel::getModelCategory() const return "Object Segmentation"; } -bool Models::ObjectSegmentationModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::ObjectSegmentationModel::updateLayerProperty(std::shared_ptr& model) { - slog::info<< "Checking INPUTS for Model" <inputs(); - slog::debug<<"input size"<input().get_shape(); - if (input_shape[1] == 3){ + if (input_shape[1] == 3) { expect_layout = ov::Layout("NCHW"); setInputWidth(input_shape[3]); setInputHeight(input_shape[2]); - } else if (input_shape[3] == 3){ + } else if (input_shape[3] == 3) { expect_layout = ov::Layout("NHWC"); setInputWidth(input_shape[2]); setInputHeight(input_shape[1]); } else slog::warn << "unexpect input shape " << input_shape << slog::endl; - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout). - set_spatial_dynamic_shape(); - input_info.preprocess(). - convert_layout(expect_layout). - resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); + input_info.tensor().set_element_type(ov::element::u8).set_layout(tensor_layout).set_spatial_dynamic_shape(); + input_info.preprocess().convert_layout(expect_layout).resize(ov::preprocess::ResizeAlgorithm::RESIZE_LINEAR); addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); auto outputs_info = model->outputs(); if (outputs_info.size() != 1) { - slog::warn << "This inference sample should have only one output, but we got" - << std::to_string(outputs_info.size()) << "outputs" - << slog::endl; + slog::warn << "This inference sample should have only one output, but we got" << std::to_string(outputs_info.size()) + << "outputs" << slog::endl; return false; } @@ -183,11 +164,11 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( ov::preprocess::OutputInfo& output_info = ppp.output(output_tensor_name_); output_info.tensor().set_element_type(ov::element::f32); model = ppp.build(); - std::vector &in_size_vector = input_shape; - slog::debug<<"dimensional"<& in_size_vector = input_shape; + slog::debug << "dimensional" << in_size_vector.size() << slog::endl; if (in_size_vector.size() != 4) { slog::warn << "3-channel 4-dimensional model's input is expected, but we got " - << std::to_string(in_size_vector.size()) << " dimensions." << slog::endl; + << std::to_string(in_size_vector.size()) << " dimensions." << slog::endl; return false; } @@ -195,7 +176,7 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( int outChannels, outHeight, outWidth; slog::debug << "output size vector " << outSizeVector.size() << slog::endl; ov::Layout outputLayout(""); - switch(outSizeVector.size()){ + switch (outSizeVector.size()) { case 3: outputLayout = "CHW"; outChannels = 1; @@ -203,33 +184,32 @@ bool Models::ObjectSegmentationModel::updateLayerProperty( outWidth = static_cast(outSizeVector[ov::layout::width_idx(outputLayout)]); break; case 4: - //outChannels = outSizeVector[1]; - //outHeight = outSizeVector[2]; - //outWidth = outSizeVector[3]; + // outChannels = outSizeVector[1]; + // outHeight = outSizeVector[2]; + // outWidth = outSizeVector[3]; outputLayout = "NCHW"; outChannels = static_cast(outSizeVector[ov::layout::channels_idx(outputLayout)]); outHeight = static_cast(outSizeVector[ov::layout::height_idx(outputLayout)]); outWidth = static_cast(outSizeVector[ov::layout::width_idx(outputLayout)]); break; default: - throw std::runtime_error("Unexpected output blob shape. Only 4D and 3D output blobs are" - "supported."); - + throw std::runtime_error( + "Unexpected output blob shape. Only 4D and 3D output blobs are" + "supported."); } - if(outHeight == 0 || outWidth == 0){ + if (outHeight == 0 || outWidth == 0) { slog::err << "output_height or output_width is not set, please check the MaskOutput Info " << "is set correctly." << slog::endl; return false; } - slog::debug << "output WIDTH " << outWidth<< slog::endl; - slog::debug << "output HEIGHT " << outHeight<< slog::endl; - slog::debug << "output CHANNELS " << outChannels<< slog::endl; - slog::debug << "output NAME " << output_tensor_name_<< slog::endl; + slog::debug << "output WIDTH " << outWidth << slog::endl; + slog::debug << "output HEIGHT " << outHeight << slog::endl; + slog::debug << "output CHANNELS " << outChannels << slog::endl; + slog::debug << "output NAME " << output_tensor_name_ << slog::endl; addOutputInfo("detection", output_tensor_name_); printAttribute(); slog::info << "This model is SSDNet-like, Layer Property updated!" << slog::endl; return true; - } diff --git a/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp index 30a1e739..4fcae419 100644 --- a/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/person_attribs_detection_model.cpp @@ -21,13 +21,14 @@ #include "openvino_wrapper_lib/models/person_attribs_detection_model.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Person Attributes Detection Network -Models::PersonAttribsDetectionModel::PersonAttribsDetectionModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::PersonAttribsDetectionModel::PersonAttribsDetectionModel(const std::string& label_loc, + const std::string& model_loc, int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} -bool Models::PersonAttribsDetectionModel::updateLayerProperty( - std::shared_ptr& model) -{ +bool Models::PersonAttribsDetectionModel::updateLayerProperty(std::shared_ptr& model) +{ slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; auto input_info_map = model->inputs(); if (input_info_map.size() != 1) { @@ -36,11 +37,9 @@ bool Models::PersonAttribsDetectionModel::updateLayerProperty( ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_tensor_name_ = model->input().get_any_name(); ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); - const ov::Layout tensor_layout{"NCHW"}; - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout); - + const ov::Layout tensor_layout{ "NCHW" }; + input_info.tensor().set_element_type(ov::element::u8).set_layout(tensor_layout); + slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl; auto output_info_map = model->outputs(); if (output_info_map.size() != 3) { @@ -49,7 +48,7 @@ bool Models::PersonAttribsDetectionModel::updateLayerProperty( model = ppp.build(); addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); - addOutputInfo("attributes_output_",output_info_map[0].get_any_name()); + addOutputInfo("attributes_output_", output_info_map[0].get_any_name()); addOutputInfo("top_output_", output_info_map[1].get_any_name()); addOutputInfo("bottom_output_", output_info_map[2].get_any_name()); diff --git a/openvino_wrapper_lib/src/models/person_reidentification_model.cpp b/openvino_wrapper_lib/src/models/person_reidentification_model.cpp index 911a3609..076b65db 100644 --- a/openvino_wrapper_lib/src/models/person_reidentification_model.cpp +++ b/openvino_wrapper_lib/src/models/person_reidentification_model.cpp @@ -20,22 +20,20 @@ #include "openvino_wrapper_lib/models/person_reidentification_model.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Person Reidentification Network -Models::PersonReidentificationModel::PersonReidentificationModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::PersonReidentificationModel::PersonReidentificationModel(const std::string& label_loc, + const std::string& model_loc, int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} -bool Models::PersonReidentificationModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::PersonReidentificationModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking Inputs for Model" << getModelName() << slog::endl; auto input_info_map = model->inputs(); ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_ = input_info_map[0].get_any_name(); - const ov::Layout input_tensor_layout{"NCHW"}; - ppp.input(input_). - tensor(). - set_element_type(ov::element::u8). - set_layout(input_tensor_layout); + const ov::Layout input_tensor_layout{ "NCHW" }; + ppp.input(input_).tensor().set_element_type(ov::element::u8).set_layout(input_tensor_layout); // set output property auto output_info_map = model->outputs(); diff --git a/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp index 11629ba9..39b48ab4 100644 --- a/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp +++ b/openvino_wrapper_lib/src/models/vehicle_attribs_detection_model.cpp @@ -20,12 +20,13 @@ #include "openvino_wrapper_lib/models/vehicle_attribs_detection_model.hpp" #include "openvino_wrapper_lib/slog.hpp" // Validated Vehicle Attributes Detection Network -Models::VehicleAttribsDetectionModel::VehicleAttribsDetectionModel( - const std::string & label_loc, const std::string & model_loc, int max_batch_size) -: BaseModel(label_loc, model_loc, max_batch_size) {} +Models::VehicleAttribsDetectionModel::VehicleAttribsDetectionModel(const std::string& label_loc, + const std::string& model_loc, int max_batch_size) + : BaseModel(label_loc, model_loc, max_batch_size) +{ +} -bool Models::VehicleAttribsDetectionModel::updateLayerProperty( - std::shared_ptr& model) +bool Models::VehicleAttribsDetectionModel::updateLayerProperty(std::shared_ptr& model) { slog::info << "Checking INPUTs for model " << getModelName() << slog::endl; auto input_info_map = model->inputs(); @@ -41,14 +42,12 @@ bool Models::VehicleAttribsDetectionModel::updateLayerProperty( ov::preprocess::PrePostProcessor ppp = ov::preprocess::PrePostProcessor(model); input_tensor_name_ = model->input().get_any_name(); ov::preprocess::InputInfo& input_info = ppp.input(input_tensor_name_); - const ov::Layout tensor_layout{"NCHW"}; - input_info.tensor(). - set_element_type(ov::element::u8). - set_layout(tensor_layout); + const ov::Layout tensor_layout{ "NCHW" }; + input_info.tensor().set_element_type(ov::element::u8).set_layout(tensor_layout); model = ppp.build(); addInputInfo(ModelAttribute::DefaultInputName, input_tensor_name_); - + // set input and output layer name addOutputInfo("color_output_", output_info_map[1].get_any_name()); addOutputInfo("type_output_", output_info_map[0].get_any_name()); @@ -61,4 +60,3 @@ const std::string Models::VehicleAttribsDetectionModel::getModelCategory() const { return "Vehicle Attributes Detection"; } - diff --git a/openvino_wrapper_lib/src/outputs/base_output.cpp b/openvino_wrapper_lib/src/outputs/base_output.cpp index e401ce44..e085bf85 100644 --- a/openvino_wrapper_lib/src/outputs/base_output.cpp +++ b/openvino_wrapper_lib/src/outputs/base_output.cpp @@ -15,12 +15,12 @@ #include "openvino_wrapper_lib/outputs/base_output.hpp" #include "openvino_wrapper_lib/pipeline.hpp" -void Outputs::BaseOutput::setPipeline(Pipeline * const pipeline) +void Outputs::BaseOutput::setPipeline(Pipeline* const pipeline) { pipeline_ = pipeline; } -Pipeline * Outputs::BaseOutput::getPipeline() const +Pipeline* Outputs::BaseOutput::getPipeline() const { return pipeline_; } diff --git a/openvino_wrapper_lib/src/outputs/image_window_output.cpp b/openvino_wrapper_lib/src/outputs/image_window_output.cpp index 6c81a348..a16d38f9 100644 --- a/openvino_wrapper_lib/src/outputs/image_window_output.cpp +++ b/openvino_wrapper_lib/src/outputs/image_window_output.cpp @@ -26,13 +26,13 @@ #include "openvino_wrapper_lib/outputs/image_window_output.hpp" #include "openvino_wrapper_lib/pipeline.hpp" -Outputs::ImageWindowOutput::ImageWindowOutput(const std::string & output_name, int focal_length) -: BaseOutput(output_name), focal_length_(focal_length) +Outputs::ImageWindowOutput::ImageWindowOutput(const std::string& output_name, int focal_length) + : BaseOutput(output_name), focal_length_(focal_length) { cv::namedWindow(output_name_, cv::WINDOW_AUTOSIZE); } -void Outputs::ImageWindowOutput::feedFrame(const cv::Mat & frame) +void Outputs::ImageWindowOutput::feedFrame(const cv::Mat& frame) { // frame_ = frame; frame_ = frame.clone(); @@ -48,8 +48,7 @@ void Outputs::ImageWindowOutput::feedFrame(const cv::Mat & frame) } } -unsigned Outputs::ImageWindowOutput::findOutput( - const cv::Rect & result_rect) +unsigned Outputs::ImageWindowOutput::findOutput(const cv::Rect& result_rect) { for (unsigned i = 0; i < outputs_.size(); i++) { if (outputs_[i].rect == result_rect) { @@ -63,8 +62,7 @@ unsigned Outputs::ImageWindowOutput::findOutput( return outputs_.size() - 1; } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -74,20 +72,17 @@ void Outputs::ImageWindowOutput::accept( } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); unsigned target_index = findOutput(result_rect); outputs_[target_index].rect = result_rect; - outputs_[target_index].desc += - ("[" + results[i].getColor() + "," + results[i].getType() + "]"); + outputs_[target_index].desc += ("[" + results[i].getColor() + "," + results[i].getType() + "]"); } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -97,8 +92,7 @@ void Outputs::ImageWindowOutput::accept( } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -110,30 +104,27 @@ void Outputs::ImageWindowOutput::accept( } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); unsigned target_index = findOutput(result_rect); if (results[i].getMaleProbability() < 0.5) { outputs_[target_index].scalar = cv::Scalar(0, 0, 255); - } - else{ + } else { outputs_[target_index].scalar = cv::Scalar(0, 255, 0); } - outputs_[target_index].pa_top.x = results[i].getTopLocation().x*result_rect.width + result_rect.x; - outputs_[target_index].pa_top.y = results[i].getTopLocation().y*result_rect.height + result_rect.y; - outputs_[target_index].pa_bottom.x = results[i].getBottomLocation().x*result_rect.width + result_rect.x; - outputs_[target_index].pa_bottom.y = results[i].getBottomLocation().y*result_rect.height + result_rect.y; + outputs_[target_index].pa_top.x = results[i].getTopLocation().x * result_rect.width + result_rect.x; + outputs_[target_index].pa_top.y = results[i].getTopLocation().y * result_rect.height + result_rect.y; + outputs_[target_index].pa_bottom.x = results[i].getBottomLocation().x * result_rect.width + result_rect.x; + outputs_[target_index].pa_bottom.y = results[i].getBottomLocation().y * result_rect.height + result_rect.y; outputs_[target_index].rect = result_rect; outputs_[target_index].desc += "[" + results[i].getAttributes() + "]"; } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -143,30 +134,27 @@ void Outputs::ImageWindowOutput::accept( } } - -void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) +void Outputs::ImageWindowOutput::mergeMask(const std::vector& results) { - const float alpha = 0.7f; - //const float MASK_THRESHOLD = 0.5; - //only for merged mask mat got from modles::fetchResults() - for (unsigned i=0; i & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); unsigned target_index = findOutput(result_rect); - + auto fd_conf = results[i].getConfidence(); if (fd_conf > 0) { outputs_[target_index].rect = result_rect; @@ -180,9 +168,9 @@ void Outputs::ImageWindowOutput::accept( mergeMask(results); } -//TODO: Deprecated, will merge the impl into the func for instanceResult. +// TODO: Deprecated, will merge the impl into the func for instanceResult. void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) + const std::vector& results) { std::map class_color; for (unsigned i = 0; i < results.size(); i++) { @@ -190,22 +178,21 @@ void Outputs::ImageWindowOutput::mergeMask( if (class_color.find(class_label) == class_color.end()) { class_color[class_label] = class_color.size(); } - auto & color = colors_[class_color[class_label] % colors_.size() ]; + auto& color = colors_[class_color[class_label] % colors_.size()]; const float alpha = 0.7f; const float MASK_THRESHOLD = 0.5; cv::Rect location = results[i].getLocation(); cv::Mat roi_img = frame_(location); cv::Mat mask = results[i].getMask(); - cv::Mat colored_mask(location.height, location.width, frame_.type(), - cv::Scalar(color[2], color[1], color[0]) ); + cv::Mat colored_mask(location.height, location.width, frame_.type(), cv::Scalar(color[2], color[1], color[0])); roi_img.copyTo(colored_mask, mask <= MASK_THRESHOLD); cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); } } void Outputs::ImageWindowOutput::mergeMask( - const std::vector & results) + const std::vector& results) { std::map class_color; for (unsigned i = 0; i < results.size(); i++) { @@ -213,23 +200,22 @@ void Outputs::ImageWindowOutput::mergeMask( if (class_color.find(class_label) == class_color.end()) { class_color[class_label] = class_color.size(); } - auto & color = colors_[class_color[class_label] % colors_.size() ]; + auto& color = colors_[class_color[class_label] % colors_.size()]; const float alpha = 0.7f; const float MASK_THRESHOLD = 0.5; cv::Rect location = results[i].getLocation(); cv::Mat roi_img = frame_(location); cv::Mat mask = results[i].getMask(); - cv::Mat colored_mask(location.height, location.width, frame_.type(), - cv::Scalar(color[2], color[1], color[0]) ); + cv::Mat colored_mask(location.height, location.width, frame_.type(), cv::Scalar(color[2], color[1], color[0])); roi_img.copyTo(colored_mask, mask <= MASK_THRESHOLD); cv::addWeighted(colored_mask, alpha, roi_img, 1.0f - alpha, 0.0f, roi_img); } } -//TODO: Deprecated, will merge the impl into the func for instanceResult. +// TODO: Deprecated, will merge the impl into the func for instanceResult. void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -248,7 +234,7 @@ void Outputs::ImageWindowOutput::accept( } void Outputs::ImageWindowOutput::accept( - const std::vector & results) + const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -266,9 +252,7 @@ void Outputs::ImageWindowOutput::accept( mergeMask(results); } - -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -283,8 +267,7 @@ void Outputs::ImageWindowOutput::accept( } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -301,8 +284,7 @@ void Outputs::ImageWindowOutput::accept( } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -314,8 +296,7 @@ void Outputs::ImageWindowOutput::accept( } } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { cv::Rect result_rect = results[i].getLocation(); @@ -332,9 +313,7 @@ void Outputs::ImageWindowOutput::accept( } } -cv::Point Outputs::ImageWindowOutput::calcAxis( - cv::Mat r, double cx, double cy, double cz, - cv::Point cp) +cv::Point Outputs::ImageWindowOutput::calcAxis(cv::Mat r, double cx, double cy, double cz, cv::Point cp) { cv::Mat Axis(3, 1, CV_32F); Axis.at(0) = cx; @@ -344,10 +323,8 @@ cv::Point Outputs::ImageWindowOutput::calcAxis( o.at(2) = camera_matrix_.at(0); Axis = r * Axis + o; cv::Point point; - point.x = static_cast((Axis.at(0) / Axis.at(2) * camera_matrix_.at(0)) + - cp.x); - point.y = static_cast((Axis.at(1) / Axis.at(2) * camera_matrix_.at(4)) + - cp.y); + point.x = static_cast((Axis.at(0) / Axis.at(2) * camera_matrix_.at(0)) + cp.x); + point.y = static_cast((Axis.at(1) / Axis.at(2) * camera_matrix_.at(4)) + cp.y); return point; } @@ -363,8 +340,7 @@ cv::Mat Outputs::ImageWindowOutput::getRotationTransform(double yaw, double pitc return r; } -void Outputs::ImageWindowOutput::accept( - const std::vector & results) +void Outputs::ImageWindowOutput::accept(const std::vector& results) { for (unsigned i = 0; i < results.size(); i++) { auto result = results[i]; @@ -393,15 +369,13 @@ void Outputs::ImageWindowOutput::decorateFrame() int fps = getPipeline()->getFPS(); std::stringstream ss; ss << "FPS: " << fps; - cv::putText(frame_, ss.str(), cv::Point2f(0, 65), cv::FONT_HERSHEY_TRIPLEX, 0.5, - cv::Scalar(255, 0, 0)); + cv::putText(frame_, ss.str(), cv::Point2f(0, 65), cv::FONT_HERSHEY_TRIPLEX, 0.5, cv::Scalar(255, 0, 0)); } for (auto o : outputs_) { auto new_y = std::max(15, o.rect.y - 15); - cv::putText(frame_, o.desc, cv::Point2f(o.rect.x, new_y), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, - o.scalar); + cv::putText(frame_, o.desc, cv::Point2f(o.rect.x, new_y), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, o.scalar); cv::rectangle(frame_, o.rect, o.scalar, 1); - if (o.pa_top != o.pa_bottom){ + if (o.pa_top != o.pa_bottom) { cv::circle(frame_, o.pa_top, 3, cv::Scalar(255, 0, 0), 2); cv::circle(frame_, o.pa_bottom, 3, cv::Scalar(0, 255, 0), 2); } @@ -424,7 +398,7 @@ void Outputs::ImageWindowOutput::decorateFrame() void Outputs::ImageWindowOutput::handleOutput() { - if(frame_.cols == 0 || frame_.rows == 0){ + if (frame_.cols == 0 || frame_.rows == 0) { return; } decorateFrame(); diff --git a/openvino_wrapper_lib/src/outputs/ros_service_output.cpp b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp index 257e8a35..9cb2e534 100644 --- a/openvino_wrapper_lib/src/outputs/ros_service_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_service_output.cpp @@ -23,8 +23,7 @@ #include "openvino_wrapper_lib/outputs/ros_service_output.hpp" #include "cv_bridge/cv_bridge.h" -void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) +void Outputs::RosServiceOutput::setServiceResponse(std::shared_ptr response) { if (detected_objects_topic_ != nullptr && detected_objects_topic_->objects_vector.size() > 0) { response->objects.objects_vector = detected_objects_topic_->objects_vector; @@ -33,40 +32,35 @@ void Outputs::RosServiceOutput::setServiceResponse( } } -void Outputs::RosServiceOutput::setResponseForFace( - std::shared_ptr response) +void Outputs::RosServiceOutput::setResponseForFace(std::shared_ptr response) { if (faces_topic_ != nullptr && faces_topic_->objects_vector.size() > 0) { response->objects.objects_vector = faces_topic_->objects_vector; } } -void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) +void Outputs::RosServiceOutput::setServiceResponse(std::shared_ptr response) { if (age_gender_topic_ != nullptr) { response->age_gender.objects = age_gender_topic_->objects; } } -void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) +void Outputs::RosServiceOutput::setServiceResponse(std::shared_ptr response) { if (emotions_topic_ != nullptr) { response->emotion.emotions = emotions_topic_->emotions; } } -void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) +void Outputs::RosServiceOutput::setServiceResponse(std::shared_ptr response) { if (headpose_topic_ != nullptr) { response->headpose.headposes = headpose_topic_->headposes; } } -void Outputs::RosServiceOutput::setServiceResponse( - std::shared_ptr response) +void Outputs::RosServiceOutput::setServiceResponse(std::shared_ptr response) { slog::info << "in People::Response ..."; if (faces_topic_ != nullptr) { diff --git a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp index 3bda3a37..196bdaf5 100644 --- a/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp +++ b/openvino_wrapper_lib/src/outputs/ros_topic_output.cpp @@ -25,42 +25,38 @@ #include "openvino_wrapper_lib/pipeline.hpp" #include "cv_bridge/cv_bridge.h" -Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, - const rclcpp::Node::SharedPtr node) -: BaseOutput(output_name) +Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, const rclcpp::Node::SharedPtr node) + : BaseOutput(output_name) { - if(node != nullptr){ + if (node != nullptr) { node_ = node; } else { node_ = rclcpp::Node::make_shared(output_name + "_topic_publisher"); } pub_license_plate_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/detected_license_plates", 16); + "/openvino_toolkit/" + output_name_ + "/detected_license_plates", 16); pub_vehicle_attribs_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16); + "/openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16); pub_landmarks_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/detected_landmarks", 16); + "/openvino_toolkit/" + output_name_ + "/detected_landmarks", 16); pub_face_reid_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/reidentified_faces", 16); + "/openvino_toolkit/" + output_name_ + "/reidentified_faces", 16); pub_person_attribs_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/person_attributes", 16); + "/openvino_toolkit/" + output_name_ + "/person_attributes", 16); pub_person_reid_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16); + "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16); pub_segmented_object_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/segmented_obejcts", 16); + "/openvino_toolkit/" + output_name_ + "/segmented_obejcts", 16); pub_detected_object_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/detected_objects", 16); + "/openvino_toolkit/" + output_name_ + "/detected_objects", 16); pub_face_ = - node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/faces", 16); + node_->create_publisher("/openvino_toolkit/" + output_name_ + "/faces", 16); pub_emotion_ = - node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/emotions", 16); + node_->create_publisher("/openvino_toolkit/" + output_name_ + "/emotions", 16); pub_age_gender_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/age_genders", 16); - pub_headpose_ = - node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/headposes", 16); + "/openvino_toolkit/" + output_name_ + "/age_genders", 16); + pub_headpose_ = node_->create_publisher( + "/openvino_toolkit/" + output_name_ + "/headposes", 16); emotions_topic_ = nullptr; detected_objects_topic_ = nullptr; faces_topic_ = nullptr; @@ -75,17 +71,16 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, license_plate_topic_ = nullptr; } -void Outputs::RosTopicOutput::feedFrame(const cv::Mat & frame) +void Outputs::RosTopicOutput::feedFrame(const cv::Mat& frame) { frame_ = frame.clone(); } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { vehicle_attribs_topic_ = std::make_shared(); object_msgs::msg::VehicleAttribs attribs; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); attribs.roi.x_offset = loc.x; attribs.roi.y_offset = loc.y; @@ -97,12 +92,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { license_plate_topic_ = std::make_shared(); object_msgs::msg::LicensePlate plate; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); plate.roi.x_offset = loc.x; plate.roi.y_offset = loc.y; @@ -113,12 +107,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { face_reid_topic_ = std::make_shared(); object_msgs::msg::Reidentification face; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); face.roi.x_offset = loc.x; face.roi.y_offset = loc.y; @@ -129,12 +122,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { landmarks_topic_ = std::make_shared(); object_msgs::msg::Landmark landmark; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); landmark.roi.x_offset = loc.x; landmark.roi.y_offset = loc.y; @@ -151,12 +143,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { person_attribs_topic_ = std::make_shared(); object_msgs::msg::PersonAttribute person_attrib; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); person_attrib.roi.x_offset = loc.x; person_attrib.roi.y_offset = loc.y; @@ -167,12 +158,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { person_reid_topic_ = std::make_shared(); object_msgs::msg::Reidentification person; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); person.roi.x_offset = loc.x; person.roi.y_offset = loc.y; @@ -183,12 +173,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { segmented_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInMask object; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; object.roi.y_offset = loc.y; @@ -206,12 +195,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { segmented_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInMask object; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; object.roi.y_offset = loc.y; @@ -229,12 +217,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { segmented_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInMask object; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; object.roi.y_offset = loc.y; @@ -252,12 +239,11 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { detected_objects_topic_ = std::make_shared(); object_msgs::msg::ObjectInBox object; - for (auto & r : results) { + for (auto& r : results) { auto loc = r.getLocation(); object.roi.x_offset = loc.x; object.roi.y_offset = loc.y; @@ -269,8 +255,7 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept( - const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { faces_topic_ = std::make_shared(); @@ -288,7 +273,7 @@ void Outputs::RosTopicOutput::accept( } } -void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { emotions_topic_ = std::make_shared(); @@ -304,7 +289,7 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { age_gender_topic_ = std::make_shared(); @@ -328,7 +313,7 @@ void Outputs::RosTopicOutput::accept(const std::vector & results) +void Outputs::RosTopicOutput::accept(const std::vector& results) { headpose_topic_ = std::make_shared(); @@ -410,4 +395,3 @@ void Outputs::RosTopicOutput::handleOutput() headpose_topic_ = nullptr; } } - diff --git a/openvino_wrapper_lib/src/outputs/rviz_output.cpp b/openvino_wrapper_lib/src/outputs/rviz_output.cpp index 5d70b9f1..6e6b7b8e 100644 --- a/openvino_wrapper_lib/src/outputs/rviz_output.cpp +++ b/openvino_wrapper_lib/src/outputs/rviz_output.cpp @@ -25,89 +25,79 @@ #include "openvino_wrapper_lib/pipeline.hpp" #include "openvino_wrapper_lib/outputs/rviz_output.hpp" -Outputs::RvizOutput::RvizOutput(std::string output_name, const rclcpp::Node::SharedPtr node) -: BaseOutput(output_name) +Outputs::RvizOutput::RvizOutput(std::string output_name, const rclcpp::Node::SharedPtr node) : BaseOutput(output_name) { - if(node != nullptr){ + if (node != nullptr) { node_ = node; } else { node_ = rclcpp::Node::make_shared(output_name + "_image_publisher"); } image_topic_ = nullptr; - pub_image_ = node_->create_publisher( - "/openvino_toolkit/" + output_name_ + "/images", 16); + pub_image_ = node_->create_publisher("/openvino_toolkit/" + output_name_ + "/images", 16); image_window_output_ = std::make_shared(output_name_, 950); } -void Outputs::RvizOutput::feedFrame(const cv::Mat & frame) +void Outputs::RvizOutput::feedFrame(const cv::Mat& frame) { image_window_output_->feedFrame(frame); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept( - const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } -void Outputs::RvizOutput::accept(const std::vector & results) +void Outputs::RvizOutput::accept(const std::vector& results) { image_window_output_->accept(results); } @@ -117,10 +107,8 @@ void Outputs::RvizOutput::handleOutput() image_window_output_->setPipeline(getPipeline()); image_window_output_->decorateFrame(); cv::Mat frame = image_window_output_->getFrame(); - std_msgs::msg::Header header = - getPipeline()->getInputDevice()->getLockedHeader(); - std::shared_ptr cv_ptr = - std::make_shared(header, "bgr8", frame); + std_msgs::msg::Header header = getPipeline()->getInputDevice()->getLockedHeader(); + std::shared_ptr cv_ptr = std::make_shared(header, "bgr8", frame); image_topic_ = cv_ptr->toImageMsg(); pub_image_->publish(*image_topic_); } diff --git a/openvino_wrapper_lib/src/pipeline.cpp b/openvino_wrapper_lib/src/pipeline.cpp index cd454103..e886c838 100644 --- a/openvino_wrapper_lib/src/pipeline.cpp +++ b/openvino_wrapper_lib/src/pipeline.cpp @@ -29,7 +29,7 @@ #include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino_wrapper_lib/pipeline.hpp" -Pipeline::Pipeline(const std::string & name) +Pipeline::Pipeline(const std::string& name) { if (!name.empty()) { params_ = std::make_shared(name); @@ -37,7 +37,7 @@ Pipeline::Pipeline(const std::string & name) counter_ = 0; } -bool Pipeline::add(const std::string & name, std::shared_ptr input_device) +bool Pipeline::add(const std::string& name, std::shared_ptr input_device) { if (name.empty()) { slog::err << "Item name can't be empty!" << slog::endl; @@ -51,9 +51,7 @@ bool Pipeline::add(const std::string & name, std::shared_ptr output) +bool Pipeline::add(const std::string& parent, const std::string& name, std::shared_ptr output) { if (parent.empty() || name.empty() || !isLegalConnect(parent, name) || output == nullptr) { slog::err << "ARGuments ERROR when adding output instance!" << slog::endl; @@ -69,7 +67,7 @@ bool Pipeline::add( return false; } -bool Pipeline::add(const std::string & parent, const std::string & name) +bool Pipeline::add(const std::string& parent, const std::string& name) { if (isLegalConnect(parent, name)) { addConnect(parent, name); @@ -79,18 +77,16 @@ bool Pipeline::add(const std::string & parent, const std::string & name) return false; } -bool Pipeline::add(const std::string & name, std::shared_ptr output) +bool Pipeline::add(const std::string& name, std::shared_ptr output) { if (name.empty()) { slog::err << "Item name can't be empty!" << slog::endl; return false; } - std::map>::iterator it = - name_to_output_map_.find(name); + std::map>::iterator it = name_to_output_map_.find(name); if (it != name_to_output_map_.end()) { - slog::warn << "inferance instance for [" << name << - "] already exists, update it with new instance." << slog::endl; + slog::warn << "inferance instance for [" << name << "] already exists, update it with new instance." << slog::endl; } name_to_output_map_[name] = output; output_names_.insert(name); @@ -100,28 +96,23 @@ bool Pipeline::add(const std::string & name, std::shared_ptr::iterator, - std::multimap::iterator> - ret; + std::pair::iterator, std::multimap::iterator> ret; ret = next_.equal_range(parent); for (std::multimap::iterator it = ret.first; it != ret.second; ++it) { if (it->second == name) { - slog::warn << "The connect [" << parent << "<-->" << name << "] already exists." << - slog::endl; + slog::warn << "The connect [" << parent << "<-->" << name << "] already exists." << slog::endl; return; } } - slog::info << "Adding connection into pipeline:[" << parent << "<-->" << name << "]" << - slog::endl; - next_.insert({parent, name}); + slog::info << "Adding connection into pipeline:[" << parent << "<-->" << name << "]" << slog::endl; + next_.insert({ parent, name }); } -bool Pipeline::add( - const std::string & parent, const std::string & name, - std::shared_ptr inference) +bool Pipeline::add(const std::string& parent, const std::string& name, + std::shared_ptr inference) { if (parent.empty() || name.empty() || !isLegalConnect(parent, name)) { slog::err << "ARGuments ERROR when adding inference instance!" << slog::endl; @@ -136,9 +127,7 @@ bool Pipeline::add( return false; } -bool Pipeline::add( - const std::string & name, - std::shared_ptr inference) +bool Pipeline::add(const std::string& name, std::shared_ptr inference) { if (name.empty()) { slog::err << "Item name can't be empty!" << slog::endl; @@ -146,10 +135,9 @@ bool Pipeline::add( } std::map>::iterator it = - name_to_detection_map_.find(name); + name_to_detection_map_.find(name); if (it != name_to_detection_map_.end()) { - slog::warn << "inferance instance for [" << name << - "] already exists, update it with new instance." << slog::endl; + slog::warn << "inferance instance for [" << name << "] already exists, update it with new instance." << slog::endl; } else { ++total_inference_; } @@ -162,9 +150,9 @@ bool Pipeline::isLegalConnect(const std::string parent, const std::string child) { int parent_order = getCatagoryOrder(parent); int child_order = getCatagoryOrder(child); - slog::info << "Checking connection into pipeline:[" << parent << "(" << parent_order << ")" << - "<-->" << child << "(" << child_order << ")" << - "]" << slog::endl; + slog::info << "Checking connection into pipeline:[" << parent << "(" << parent_order << ")" + << "<-->" << child << "(" << child_order << ")" + << "]" << slog::endl; return (parent_order != kCatagoryOrder_Unknown) && (child_order != kCatagoryOrder_Unknown) && (parent_order <= child_order); } @@ -188,7 +176,7 @@ void Pipeline::runOnce() initInferenceCounter(); if (!input_device_->read(&frame_)) { - return; //do nothing if now frame read out + return; // do nothing if now frame read out } width_ = frame_.cols; height_ = frame_.rows; @@ -204,49 +192,47 @@ void Pipeline::runOnce() detection_ptr->submitRequest(); } - for (auto &pair : name_to_output_map_) - { + for (auto& pair : name_to_output_map_) { pair.second->feedFrame(frame_); } countFPS(); slog::debug << "DEBUG: align inference process, waiting until all inferences done!" << slog::endl; std::unique_lock lock(counter_mutex_); - cv_.wait(lock, [self = this]() {return self->counter_ == 0;}); + cv_.wait(lock, [self = this]() { return self->counter_ == 0; }); slog::debug << "DEBUG: in Pipeline run process...handleOutput" << slog::endl; - for (auto & pair : name_to_output_map_) { + for (auto& pair : name_to_output_map_) { pair.second->handleOutput(); } } void Pipeline::printPipeline() { - for (auto & current_node : next_) { + for (auto& current_node : next_) { printf("%s --> %s\n", current_node.first.c_str(), current_node.second.c_str()); } } void Pipeline::setCallback() { - for (auto & pair : name_to_detection_map_) { + for (auto& pair : name_to_detection_map_) { std::string detection_name = pair.first; std::function callb; - callb = [detection_name, self = this](std::exception_ptr ex) - { - if (ex) - throw ex; - - self->callback(detection_name); - return; - }; + callb = [detection_name, self = this](std::exception_ptr ex) { + if (ex) + throw ex; + + self->callback(detection_name); + return; + }; pair.second->getEngine()->getRequest().set_callback(callb); - } + } } -void Pipeline::callback(const std::string & detection_name) +void Pipeline::callback(const std::string& detection_name) { - slog::debug <<"Hello callback ----> " << detection_name < " << detection_name << slog::endl; auto detection_ptr = name_to_detection_map_[detection_name]; detection_ptr->fetchResults(); // set output @@ -308,7 +294,7 @@ void Pipeline::countFPS() auto t_end = std::chrono::high_resolution_clock::now(); typedef std::chrono::duration> ms; ms secondDetection = std::chrono::duration_cast(t_end - t_start_); - if (secondDetection.count() > 1000) { + if (secondDetection.count() > 1000) { setFPS(frame_cnt_); frame_cnt_ = 0; t_start_ = t_end; diff --git a/openvino_wrapper_lib/src/pipeline_manager.cpp b/openvino_wrapper_lib/src/pipeline_manager.cpp index 221892eb..a4540803 100644 --- a/openvino_wrapper_lib/src/pipeline_manager.cpp +++ b/openvino_wrapper_lib/src/pipeline_manager.cpp @@ -23,7 +23,7 @@ #include #include -#if 0 //in curent versions, these models are not supported any more. +#if 0 // in curent versions, these models are not supported any more. #include "openvino_wrapper_lib/inferences/landmarks_detection.hpp" #include "openvino_wrapper_lib/inferences/face_reidentification.hpp" #include "openvino_wrapper_lib/models/face_reidentification_model.hpp" @@ -70,9 +70,8 @@ #include "openvino_wrapper_lib/pipeline_params.hpp" #include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" #include "openvino_wrapper_lib/engines/engine_manager.hpp" -std::shared_ptr -PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData & params, - rclcpp::Node::SharedPtr node) +std::shared_ptr PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData& params, + rclcpp::Node::SharedPtr node) { if (params.name == "") { throw std::logic_error("The name of pipeline won't be empty!"); @@ -115,7 +114,7 @@ PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData & pa pipeline->add(it->first, it->second); } - pipelines_.insert({params.name, data}); + pipelines_.insert({ params.name, data }); pipeline->setCallback(); slog::info << "One Pipeline Created!" << slog::endl; @@ -124,10 +123,10 @@ PipelineManager::createPipeline(const Params::ParamManager::PipelineRawData & pa } std::map> -PipelineManager::parseInputDevice(const PipelineData & pdata) +PipelineManager::parseInputDevice(const PipelineData& pdata) { std::map> inputs; - for (auto & name : pdata.params.inputs) { + for (auto& name : pdata.params.inputs) { slog::info << "Parsing InputDvice: " << name << slog::endl; std::shared_ptr device = nullptr; if (name == kInputType_RealSenseCamera) { @@ -154,7 +153,7 @@ PipelineManager::parseInputDevice(const PipelineData & pdata) if (device != nullptr) { device->initialize(); - inputs.insert({name, device}); + inputs.insert({ name, device }); slog::info << " ... Adding one Input device: " << name << slog::endl; } } @@ -162,12 +161,10 @@ PipelineManager::parseInputDevice(const PipelineData & pdata) return inputs; } - -std::map> -PipelineManager::parseOutput(const PipelineData & pdata) +std::map> PipelineManager::parseOutput(const PipelineData& pdata) { std::map> outputs; - for (auto & name : pdata.params.outputs) { + for (auto& name : pdata.params.outputs) { slog::info << "Parsing Output: " << name << slog::endl; std::shared_ptr object = nullptr; if (name == kOutputTpye_RosTopic) { @@ -182,7 +179,7 @@ PipelineManager::parseOutput(const PipelineData & pdata) slog::err << "Invalid output name: " << name << slog::endl; } if (object != nullptr) { - outputs.insert({name, object}); + outputs.insert({ name, object }); slog::info << " ... Adding one Output: " << name << slog::endl; } } @@ -191,10 +188,10 @@ PipelineManager::parseOutput(const PipelineData & pdata) } std::map> -PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & params) +PipelineManager::parseInference(const Params::ParamManager::PipelineRawData& params) { std::map> inferences; - for (auto & infer : params.infers) { + for (auto& infer : params.infers) { if (infer.name.empty() || infer.model.empty()) { continue; } @@ -225,16 +222,17 @@ PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & pa object = createLandmarksDetection(infer); } else if (infer.name == kInferTpye_FaceReidentification) { object = createFaceReidentification(infer); - } */ else if (infer.name == kInferTpye_VehicleAttribsDetection) { + } */ + else if (infer.name == kInferTpye_VehicleAttribsDetection) { object = createVehicleAttribsDetection(infer); } else if (infer.name == kInferTpye_LicensePlateDetection) { object = createLicensePlateDetection(infer); - }else { + } else { slog::err << "Invalid inference name: " << infer.name << slog::endl; } if (object != nullptr) { - inferences.insert({infer.name, object}); + inferences.insert({ infer.name, object }); slog::info << " ... Adding one Inference: " << infer.name << slog::endl; } } @@ -242,16 +240,14 @@ PipelineManager::parseInference(const Params::ParamManager::PipelineRawData & pa return inferences; } - std::shared_ptr -PipelineManager::createFaceDetection( - const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createFaceDetection(const Params::ParamManager::InferenceRawData& infer) { return createObjectDetection(infer); } std::shared_ptr -PipelineManager::createAgeGenderRecognition(const Params::ParamManager::InferenceRawData & param) +PipelineManager::createAgeGenderRecognition(const Params::ParamManager::InferenceRawData& param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); @@ -264,7 +260,7 @@ PipelineManager::createAgeGenderRecognition(const Params::ParamManager::Inferenc } std::shared_ptr -PipelineManager::createEmotionRecognition(const Params::ParamManager::InferenceRawData & param) +PipelineManager::createEmotionRecognition(const Params::ParamManager::InferenceRawData& param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); @@ -277,7 +273,7 @@ PipelineManager::createEmotionRecognition(const Params::ParamManager::InferenceR } std::shared_ptr -PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceRawData & param) +PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceRawData& param) { auto model = std::make_shared(param.label, param.model, param.batch); model->modelInit(); @@ -289,35 +285,31 @@ PipelineManager::createHeadPoseEstimation(const Params::ParamManager::InferenceR return infer; } - std::shared_ptr -PipelineManager::createObjectDetection( - const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createObjectDetection(const Params::ParamManager::InferenceRawData& infer) { std::shared_ptr object_detection_model; std::shared_ptr object_inference_ptr; slog::debug << "for test in createObjectDetection()" << slog::endl; if (infer.model_type == kInferTpye_ObjectDetectionTypeSSD) { - object_detection_model = - std::make_shared(infer.label, infer.model, infer.batch); + object_detection_model = std::make_shared(infer.label, infer.model, infer.batch); } if (infer.model_type == kInferTpye_ObjectDetectionTypeYolov5) { object_detection_model = - std::make_shared(infer.label, infer.model, infer.batch); + std::make_shared(infer.label, infer.model, infer.batch); } if (infer.model_type == kInferTpye_ObjectDetectionTypeYolov8) { object_detection_model = - std::make_shared(infer.label, infer.model, infer.batch); + std::make_shared(infer.label, infer.model, infer.batch); } slog::debug << "for test in createObjectDetection(), Created SSDModel" << slog::endl; object_inference_ptr = std::make_shared( - infer.enable_roi_constraint, infer.confidence_threshold); // To-do theshold configuration + infer.enable_roi_constraint, infer.confidence_threshold); // To-do theshold configuration slog::debug << "for test in createObjectDetection(), before modelInit()" << slog::endl; object_detection_model->modelInit(); - auto object_detection_engine = engine_manager_.createEngine( - infer.engine, object_detection_model); + auto object_detection_engine = engine_manager_.createEngine(infer.engine, object_detection_model); slog::debug << "for test in createObjectDetection(), before loadNetwork" << slog::endl; object_inference_ptr->loadNetwork(object_detection_model); object_inference_ptr->loadEngine(object_detection_engine); @@ -326,17 +318,16 @@ PipelineManager::createObjectDetection( } std::shared_ptr -PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceRawData& infer) { - auto model = - std::make_shared(infer.label, infer.model, infer.batch); + auto model = std::make_shared(infer.label, infer.model, infer.batch); model->modelInit(); slog::info << "Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Segmentation Engine initialized." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( - infer.confidence_threshold); - slog::info << "Segmentation Inference instanced." << slog::endl; + auto segmentation_inference_ptr = + std::make_shared(infer.confidence_threshold); + slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); segmentation_inference_ptr->loadEngine(engine); @@ -345,17 +336,16 @@ PipelineManager::createObjectSegmentation(const Params::ParamManager::InferenceR // TODO: Deprecated std::shared_ptr -PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::InferenceRawData& infer) { - auto model = - std::make_shared(infer.label, infer.model, infer.batch); + auto model = std::make_shared(infer.label, infer.model, infer.batch); model->modelInit(); slog::info << "Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Segmentation Engine initialized." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( - infer.confidence_threshold); - slog::info << "Segmentation Inference instanced." << slog::endl; + auto segmentation_inference_ptr = + std::make_shared(infer.confidence_threshold); + slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); segmentation_inference_ptr->loadEngine(engine); @@ -363,7 +353,7 @@ PipelineManager::createObjectSegmentationMaskrcnn(const Params::ParamManager::In } std::shared_ptr -PipelineManager::createObjectSegmentationInstance(const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createObjectSegmentationInstance(const Params::ParamManager::InferenceRawData& infer) { std::shared_ptr model; if (infer.model_type == kInferTpye_ObjectSegmentationTypeMaskrcnn) { @@ -377,9 +367,9 @@ PipelineManager::createObjectSegmentationInstance(const Params::ParamManager::In slog::info << "Instance Segmentation model initialized." << slog::endl; auto engine = engine_manager_.createEngine(infer.engine, model); slog::info << "Engine initialized for Instance Segmentation." << slog::endl; - auto segmentation_inference_ptr = std::make_shared( - infer.confidence_threshold); - slog::info << "Segmentation Inference instanced." << slog::endl; + auto segmentation_inference_ptr = + std::make_shared(infer.confidence_threshold); + slog::info << "Segmentation Inference instanced." << slog::endl; segmentation_inference_ptr->loadNetwork(model); segmentation_inference_ptr->loadEngine(engine); @@ -387,37 +377,33 @@ PipelineManager::createObjectSegmentationInstance(const Params::ParamManager::In } std::shared_ptr -PipelineManager::createPersonReidentification( - const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createPersonReidentification(const Params::ParamManager::InferenceRawData& infer) { std::shared_ptr person_reidentification_model; std::shared_ptr reidentification_inference_ptr; - slog::debug << "for test in createPersonReidentification()"<(infer.label, infer.model, infer.batch); + std::make_shared(infer.label, infer.model, infer.batch); person_reidentification_model->modelInit(); slog::info << "Reidentification model initialized" << slog::endl; auto person_reidentification_engine = engine_manager_.createEngine(infer.engine, person_reidentification_model); reidentification_inference_ptr = - std::make_shared(infer.confidence_threshold); - slog::debug<< "for test in createPersonReidentification(), before loadNetwork"<(infer.confidence_threshold); + slog::debug << "for test in createPersonReidentification(), before loadNetwork" << slog::endl; reidentification_inference_ptr->loadNetwork(person_reidentification_model); reidentification_inference_ptr->loadEngine(person_reidentification_engine); - slog::debug<< "for test in createPersonReidentification(), OK"< -PipelineManager::createVehicleAttribsDetection( - const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createVehicleAttribsDetection(const Params::ParamManager::InferenceRawData& infer) { - auto model = - std::make_shared(infer.label, infer.model, infer.batch); + auto model = std::make_shared(infer.label, infer.model, infer.batch); model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); - auto vehicle_attribs_ptr = - std::make_shared(); + auto vehicle_attribs_ptr = std::make_shared(); vehicle_attribs_ptr->loadNetwork(model); vehicle_attribs_ptr->loadEngine(engine); @@ -425,15 +411,12 @@ PipelineManager::createVehicleAttribsDetection( } std::shared_ptr -PipelineManager::createLicensePlateDetection( - const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createLicensePlateDetection(const Params::ParamManager::InferenceRawData& infer) { - auto model = - std::make_shared(infer.label, infer.model, infer.batch); + auto model = std::make_shared(infer.label, infer.model, infer.batch); model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); - auto license_plate_ptr = - std::make_shared(); + auto license_plate_ptr = std::make_shared(); license_plate_ptr->loadNetwork(model); license_plate_ptr->loadEngine(engine); @@ -441,16 +424,14 @@ PipelineManager::createLicensePlateDetection( } std::shared_ptr -PipelineManager::createPersonAttribsDetection( - const Params::ParamManager::InferenceRawData & infer) +PipelineManager::createPersonAttribsDetection(const Params::ParamManager::InferenceRawData& infer) { - auto model = - std::make_shared(infer.label, infer.model, infer.batch); - slog::debug << "for test in createPersonAttributesDetection()"<(infer.label, infer.model, infer.batch); + slog::debug << "for test in createPersonAttributesDetection()" << slog::endl; model->modelInit(); auto engine = engine_manager_.createEngine(infer.engine, model); auto attribs_inference_ptr = - std::make_shared(infer.confidence_threshold); + std::make_shared(infer.confidence_threshold); attribs_inference_ptr->loadNetwork(model); attribs_inference_ptr->loadEngine(engine); @@ -556,9 +537,9 @@ PipelineManager::createLicensePlateDetection( } #endif -void PipelineManager::threadPipeline(const char * name) +void PipelineManager::threadPipeline(const char* name) { - PipelineData & p = pipelines_[name]; + PipelineData& p = pipelines_[name]; while (p.state != PipelineState_ThreadStopped && p.pipeline != nullptr) { if (p.state == PipelineState_ThreadRunning) { p.pipeline->runOnce(); @@ -566,11 +547,11 @@ void PipelineManager::threadPipeline(const char * name) std::this_thread::sleep_for(std::chrono::microseconds(1)); } } -void PipelineManager::threadSpinNodes(const char * name) +void PipelineManager::threadSpinNodes(const char* name) { - PipelineData & p = pipelines_[name]; + PipelineData& p = pipelines_[name]; while (p.state != PipelineState_ThreadStopped && p.pipeline != nullptr) { - for (auto & node : p.spin_nodes) { + for (auto& node : p.spin_nodes) { rclcpp::spin_some(node); } std::this_thread::sleep_for(std::chrono::microseconds(1)); @@ -587,10 +568,10 @@ void PipelineManager::runAll() service_.state = PipelineState_ThreadRunning; } if (it->second.thread == nullptr) { - it->second.thread = std::make_shared(&PipelineManager::threadPipeline, this, - it->second.params.name.c_str()); + it->second.thread = + std::make_shared(&PipelineManager::threadPipeline, this, it->second.params.name.c_str()); } - #if 0 //DEBUGING +#if 0 // DEBUGING // Consider of saving CPU loads, the spin thread is moved out from pipeline manager, // which is supposed to be handled by the upper-level applications. // (see @file pipeline_with_params.cpp for the calling sample.) @@ -602,14 +583,14 @@ void PipelineManager::runAll() &PipelineManager::threadSpinNodes, this, it->second.params.name.c_str()); } - #endif +#endif } } void PipelineManager::runService() { - auto node = std::make_shared>("pipeline_service"); + auto node = + std::make_shared>("pipeline_service"); while (service_.state != PipelineState_ThreadStopped && service_.thread != nullptr) { rclcpp::spin_some(node); std::this_thread::sleep_for(std::chrono::milliseconds(1)); @@ -638,9 +619,7 @@ void PipelineManager::joinAll() if (it->second.thread != nullptr && it->second.state == PipelineState_ThreadRunning) { it->second.thread->join(); } - if (it->second.thread_spin_nodes != nullptr && - it->second.state == PipelineState_ThreadRunning) - { + if (it->second.thread_spin_nodes != nullptr && it->second.state == PipelineState_ThreadRunning) { it->second.thread_spin_nodes->join(); } } diff --git a/openvino_wrapper_lib/src/pipeline_params.cpp b/openvino_wrapper_lib/src/pipeline_params.cpp index 9b9b3c41..e9c25353 100644 --- a/openvino_wrapper_lib/src/pipeline_params.cpp +++ b/openvino_wrapper_lib/src/pipeline_params.cpp @@ -23,17 +23,17 @@ #include #include "openvino_wrapper_lib/pipeline_params.hpp" -PipelineParams::PipelineParams(const std::string & name) +PipelineParams::PipelineParams(const std::string& name) { params_.name = name; } -PipelineParams::PipelineParams(const Params::ParamManager::PipelineRawData & params) +PipelineParams::PipelineParams(const Params::ParamManager::PipelineRawData& params) { params_ = params; } -PipelineParams & PipelineParams::operator=(const Params::ParamManager::PipelineRawData & params) +PipelineParams& PipelineParams::operator=(const Params::ParamManager::PipelineRawData& params) { params_.name = params.name; params_.infers = params.infers; @@ -44,7 +44,7 @@ PipelineParams & PipelineParams::operator=(const Params::ParamManager::PipelineR return *this; } -Params::ParamManager::PipelineRawData PipelineParams::getPipeline(const std::string & name) +Params::ParamManager::PipelineRawData PipelineParams::getPipeline(const std::string& name) { return Params::ParamManager::getInstance().getPipeline(name); } @@ -56,12 +56,12 @@ void PipelineParams::update() } } -void PipelineParams::update(const Params::ParamManager::PipelineRawData & params) +void PipelineParams::update(const Params::ParamManager::PipelineRawData& params) { params_ = params; } -bool PipelineParams::isOutputTo(std::string & output) +bool PipelineParams::isOutputTo(std::string& output) { if (std::find(params_.outputs.begin(), params_.outputs.end(), output) != params_.outputs.end()) { return true; @@ -75,12 +75,10 @@ bool PipelineParams::isGetFps() if (params_.inputs.size() == 0) { return false; } - return std::find(params_.inputs.begin(), params_.inputs.end(), kInputType_Image) == - params_.inputs.end(); + return std::find(params_.inputs.begin(), params_.inputs.end(), kInputType_Image) == params_.inputs.end(); } -std::string PipelineParams::findFilterConditions( - const std::string & input, const std::string & output) +std::string PipelineParams::findFilterConditions(const std::string& input, const std::string& output) { for (auto filter : params_.filters) { if (!input.compare(filter.input) && !output.compare(filter.output)) { diff --git a/openvino_wrapper_lib/src/services/frame_processing_server.cpp b/openvino_wrapper_lib/src/services/frame_processing_server.cpp index 06e8387c..671c76e5 100644 --- a/openvino_wrapper_lib/src/services/frame_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/frame_processing_server.cpp @@ -33,20 +33,15 @@ namespace vino_service { -template -FrameProcessingServer::FrameProcessingServer( - const std::string & service_name, - const std::string & config_path) -: Node("node_with_service"), - service_name_(service_name), - config_path_(config_path) +template +FrameProcessingServer::FrameProcessingServer(const std::string& service_name, const std::string& config_path) + : Node("node_with_service"), service_name_(service_name), config_path_(config_path) { initService(config_path); } -template -void FrameProcessingServer::initService( - const std::string & config_path) +template +void FrameProcessingServer::initService(const std::string& config_path) { Params::ParamManager::getInstance().parse(config_path); Params::ParamManager::getInstance().print(); @@ -56,24 +51,21 @@ void FrameProcessingServer::initService( throw std::logic_error("1 and only 1 pipeline can be set to FrameProcessServer!"); } - for (auto & p : pipelines) { + for (auto& p : pipelines) { PipelineManager::getInstance().createPipeline(p); } - service_ = create_service("/openvino_toolkit/service", - std::bind(&FrameProcessingServer::cbService, this, - std::placeholders::_1, std::placeholders::_2)); + service_ = create_service("/openvino_toolkit/service", std::bind(&FrameProcessingServer::cbService, this, + std::placeholders::_1, std::placeholders::_2)); } -template -void FrameProcessingServer::cbService( - const std::shared_ptr request, - std::shared_ptr response) +template +void FrameProcessingServer::cbService(const std::shared_ptr request, + std::shared_ptr response) { - std::map pipelines_ = - PipelineManager::getInstance().getPipelines(); + std::map pipelines_ = PipelineManager::getInstance().getPipelines(); for (auto it = pipelines_.begin(); it != pipelines_.end(); ++it) { - PipelineManager::PipelineData & p = pipelines_[it->second.params.name.c_str()]; + PipelineManager::PipelineData& p = pipelines_[it->second.params.name.c_str()]; auto input = p.pipeline->getInputDevice(); Input::Config config; config.path = request->image_path; @@ -81,7 +73,7 @@ void FrameProcessingServer::cbService( p.pipeline->runOnce(); auto output_handle = p.pipeline->getOutputHandle(); - for (auto & pair : output_handle) { + for (auto& pair : output_handle) { if (!pair.first.compare(kOutputTpye_RosService)) { pair.second->setServiceResponse(response); pair.second->clearData(); diff --git a/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp b/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp index b24fb2eb..31b1bde9 100644 --- a/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp +++ b/openvino_wrapper_lib/src/services/pipeline_processing_server.cpp @@ -29,27 +29,24 @@ namespace vino_service { -template -PipelineProcessingServer::PipelineProcessingServer( - const std::string & service_name) -: Node(service_name), - service_name_(service_name) +template +PipelineProcessingServer::PipelineProcessingServer(const std::string& service_name) + : Node(service_name), service_name_(service_name) { pipelines_ = PipelineManager::getInstance().getPipelinesPtr(); initPipelineService(); } -template +template void PipelineProcessingServer::initPipelineService() { - service_ = create_service("/openvino_toolkit/pipeline_service", - std::bind(&PipelineProcessingServer::cbService, this, - std::placeholders::_1, std::placeholders::_2)); + service_ = + create_service("/openvino_toolkit/pipeline_service", std::bind(&PipelineProcessingServer::cbService, this, + std::placeholders::_1, std::placeholders::_2)); } -template -void PipelineProcessingServer::setResponse( - std::shared_ptr response) +template +void PipelineProcessingServer::setResponse(std::shared_ptr response) { for (auto it = pipelines_->begin(); it != pipelines_->end(); ++it) { openvino_msgs::msg::Pipeline pipeline_msg; @@ -57,7 +54,7 @@ void PipelineProcessingServer::setResponse( pipeline_msg.running_status = std::to_string(it->second.state); auto connection_map = it->second.pipeline->getPipelineDetail(); - for (auto & current_pipe : connection_map) { + for (auto& current_pipe : connection_map) { openvino_msgs::msg::Connection connection; connection.input = current_pipe.first.c_str(); connection.output = current_pipe.second.c_str(); @@ -66,10 +63,8 @@ void PipelineProcessingServer::setResponse( response->pipelines.push_back(pipeline_msg); } } -template -void PipelineProcessingServer::setPipelineByRequest( - std::string pipeline_name, - PipelineManager::PipelineState state) +template +void PipelineProcessingServer::setPipelineByRequest(std::string pipeline_name, PipelineManager::PipelineState state) { for (auto it = pipelines_->begin(); it != pipelines_->end(); ++it) { if (pipeline_name == it->first) { @@ -79,15 +74,14 @@ void PipelineProcessingServer::setPipelineByRequest( } } -template -void PipelineProcessingServer::cbService( - const std::shared_ptr request, - std::shared_ptr response) +template +void PipelineProcessingServer::cbService(const std::shared_ptr request, + std::shared_ptr response) { std::string req_cmd = request->pipeline_request.cmd; std::string req_val = request->pipeline_request.value; - slog::info << "[PipelineProcessingServer] Pipeline Service get request cmd: " << req_cmd << - " val:" << req_val << slog::endl; + slog::info << "[PipelineProcessingServer] Pipeline Service get request cmd: " << req_cmd << " val:" << req_val + << slog::endl; // Todo set initial state by current state PipelineManager::PipelineState state = PipelineManager::PipelineState_ThreadRunning; if (req_cmd != "GET_PIPELINE") { @@ -95,7 +89,9 @@ void PipelineProcessingServer::cbService( state = PipelineManager::PipelineState_ThreadStopped; } else if (req_cmd == "RUN_PIPELINE") { state = PipelineManager::PipelineState_ThreadRunning; - } else if (req_cmd == "PAUSE_PIPELINE") {state = PipelineManager::PipelineState_ThreadPasued;} + } else if (req_cmd == "PAUSE_PIPELINE") { + state = PipelineManager::PipelineState_ThreadPasued; + } setPipelineByRequest(req_val, state); } setResponse(response); diff --git a/sample/include/utility.hpp b/sample/include/utility.hpp index 8cba421f..06674adb 100644 --- a/sample/include/utility.hpp +++ b/sample/include/utility.hpp @@ -34,24 +34,24 @@ static const char help_message[] = "Print a usage message."; static const char parameter_file_message[] = "Absolute path of parameter config file."; /** -* \brief This function show a help message -*/ + * \brief This function show a help message + */ static void showUsageForParam(const std::string prog) { std::cout << std::endl; - std::cout << prog <<" [OPTION]" << std::endl; + std::cout << prog << " [OPTION]" << std::endl; std::cout << "Options:" << std::endl; std::cout << std::endl; std::cout << " -h " << help_message << std::endl; std::cout << " -config \"\" " << parameter_file_message << std::endl; } -static std::string getConfigPath(int argc, char * argv[]) +static std::string getConfigPath(int argc, char* argv[]) { - for(int i = 1; i < argc - 1; i++){ + for (int i = 1; i < argc - 1; i++) { std::string arg = argv[i]; - if(arg == "-config" || arg == "--config"){ - return argv[i+1]; + if (arg == "-config" || arg == "--config") { + return argv[i + 1]; } } diff --git a/sample/src/image_object_client.cpp b/sample/src/image_object_client.cpp index 9704febf..bfb7e125 100644 --- a/sample/src/image_object_client.cpp +++ b/sample/src/image_object_client.cpp @@ -21,14 +21,15 @@ #include "openvino_wrapper_lib/services/frame_processing_server.hpp" -int main(int argc, char ** argv) +int main(int argc, char** argv) { rclcpp::init(argc, argv); auto node = rclcpp::Node::make_shared("service_example_for_object"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_node image_object_client" - ""); + RCLCPP_INFO(node->get_logger(), + "Usage: ros2 run openvino_node image_object_client" + ""); return -1; } @@ -47,9 +48,7 @@ int main(int argc, char ** argv) } auto result = client->async_send_request(request); - if (rclcpp::spin_until_future_complete(node, result) == - rclcpp::FutureReturnCode::SUCCESS) - { + if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS) { auto srv = result.get(); cv::Mat image = cv::imread(image_path); @@ -58,16 +57,13 @@ int main(int argc, char ** argv) for (unsigned int i = 0; i < srv->objects.objects_vector.size(); i++) { std::stringstream ss; - ss << srv->objects.objects_vector[i].object.object_name << ": " << - srv->objects.objects_vector[i].object.probability * 100 << "%"; - RCLCPP_INFO(node->get_logger(), "%d: object: %s", i, - srv->objects.objects_vector[i].object.object_name.c_str()); - RCLCPP_INFO(node->get_logger(), "prob: %f", - srv->objects.objects_vector[i].object.probability); - RCLCPP_INFO( - node->get_logger(), "location: (%d, %d, %d, %d)", - srv->objects.objects_vector[i].roi.x_offset, srv->objects.objects_vector[i].roi.y_offset, - srv->objects.objects_vector[i].roi.width, srv->objects.objects_vector[i].roi.height); + ss << srv->objects.objects_vector[i].object.object_name << ": " + << srv->objects.objects_vector[i].object.probability * 100 << "%"; + RCLCPP_INFO(node->get_logger(), "%d: object: %s", i, srv->objects.objects_vector[i].object.object_name.c_str()); + RCLCPP_INFO(node->get_logger(), "prob: %f", srv->objects.objects_vector[i].object.probability); + RCLCPP_INFO(node->get_logger(), "location: (%d, %d, %d, %d)", srv->objects.objects_vector[i].roi.x_offset, + srv->objects.objects_vector[i].roi.y_offset, srv->objects.objects_vector[i].roi.width, + srv->objects.objects_vector[i].roi.height); int xmin = srv->objects.objects_vector[i].roi.x_offset; int ymin = srv->objects.objects_vector[i].roi.y_offset; @@ -80,10 +76,8 @@ int main(int argc, char ** argv) cv::Point left_top = cv::Point(xmin, ymin); cv::Point right_bottom = cv::Point(xmax, ymax); cv::rectangle(image, left_top, right_bottom, cv::Scalar(0, 255, 0), 1, 8, 0); - cv::rectangle(image, cv::Point(xmin, ymin), cv::Point(xmax, ymin + 20), cv::Scalar(0, 255, 0), - -1); - cv::putText(image, ss.str(), cv::Point(xmin + 5, ymin + 20), cv::FONT_HERSHEY_PLAIN, 1, - cv::Scalar(0, 0, 255), 1); + cv::rectangle(image, cv::Point(xmin, ymin), cv::Point(xmax, ymin + 20), cv::Scalar(0, 255, 0), -1); + cv::putText(image, ss.str(), cv::Point(xmin + 5, ymin + 20), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 0, 255), 1); } cv::imshow("image_detection", image); cv::waitKey(0); diff --git a/sample/src/image_object_server.cpp b/sample/src/image_object_server.cpp index 50cb7e81..b6dbb6e9 100644 --- a/sample/src/image_object_server.cpp +++ b/sample/src/image_object_server.cpp @@ -25,12 +25,12 @@ #include "openvino_wrapper_lib/inputs/base_input.hpp" #include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino/openvino.hpp" -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) #include #endif #include "utility.hpp" -int main(int argc, char ** argv) +int main(int argc, char** argv) { rclcpp::init(argc, argv); @@ -38,14 +38,14 @@ int main(int argc, char ** argv) try { std::string service_name = "frame_processing_server"; - auto node = std::make_shared>(service_name, config_path); + auto node = std::make_shared>(service_name, + config_path); rclcpp::spin(node); - } catch (std::exception & e) { + } catch (std::exception& e) { std::cout << e.what() << std::endl; } catch (...) { - std::cout << "[ERROR] [frame_processing_server]: " << - "exception caught" << std::endl; + std::cout << "[ERROR] [frame_processing_server]: " + << "exception caught" << std::endl; } return 0; diff --git a/sample/src/image_people_client.cpp b/sample/src/image_people_client.cpp index 240beae3..39739d4c 100644 --- a/sample/src/image_people_client.cpp +++ b/sample/src/image_people_client.cpp @@ -24,14 +24,15 @@ #include "openvino_wrapper_lib/services/frame_processing_server.hpp" -int main(int argc, char ** argv) +int main(int argc, char** argv) { rclcpp::init(argc, argv); auto node = rclcpp::Node::make_shared("service_example_for_face"); if (argc != 2) { - RCLCPP_INFO(node->get_logger(), "Usage: ros2 run openvino_node image_object_client" - ""); + RCLCPP_INFO(node->get_logger(), + "Usage: ros2 run openvino_node image_object_client" + ""); return -1; } @@ -51,34 +52,27 @@ int main(int argc, char ** argv) auto result = client->async_send_request(request); - if (rclcpp::spin_until_future_complete(node, result) == - rclcpp::FutureReturnCode::SUCCESS) - { + if (rclcpp::spin_until_future_complete(node, result) == rclcpp::FutureReturnCode::SUCCESS) { auto people = result.get(); if (people->persons.emotions.size() == 0 && people->persons.agegenders.size() == 0 && - people->persons.headposes.size() == 0) - { + people->persons.headposes.size() == 0) { RCLCPP_INFO(node->get_logger(), "Get response, but no any person found."); return 0; } RCLCPP_INFO(node->get_logger(), "Found persons..."); for (unsigned int i = 0; i < people->persons.faces.size(); i++) { - RCLCPP_INFO(node->get_logger(), "%d: object: %s", i, - people->persons.faces[i].object.object_name.c_str()); - RCLCPP_INFO(node->get_logger(), "prob: %f", - people->persons.faces[i].object.probability); - RCLCPP_INFO( - node->get_logger(), "location: (%d, %d, %d, %d)", - people->persons.faces[i].roi.x_offset, people->persons.faces[i].roi.y_offset, - people->persons.faces[i].roi.width, people->persons.faces[i].roi.height); - RCLCPP_INFO(node->get_logger(), "Emotions: %s", - people->persons.emotions[i].emotion.c_str()); - RCLCPP_INFO(node->get_logger(), "Age: %f, Gender: %s", - people->persons.agegenders[i].age, people->persons.agegenders[i].gender.c_str()); + RCLCPP_INFO(node->get_logger(), "%d: object: %s", i, people->persons.faces[i].object.object_name.c_str()); + RCLCPP_INFO(node->get_logger(), "prob: %f", people->persons.faces[i].object.probability); + RCLCPP_INFO(node->get_logger(), "location: (%d, %d, %d, %d)", people->persons.faces[i].roi.x_offset, + people->persons.faces[i].roi.y_offset, people->persons.faces[i].roi.width, + people->persons.faces[i].roi.height); + RCLCPP_INFO(node->get_logger(), "Emotions: %s", people->persons.emotions[i].emotion.c_str()); + RCLCPP_INFO(node->get_logger(), "Age: %f, Gender: %s", people->persons.agegenders[i].age, + people->persons.agegenders[i].gender.c_str()); RCLCPP_INFO(node->get_logger(), "Yaw, Pitch and Roll for head pose is: (%f, %f, %f),", - people->persons.headposes[i].yaw, people->persons.headposes[i].pitch, - people->persons.headposes[i].roll); + people->persons.headposes[i].yaw, people->persons.headposes[i].pitch, + people->persons.headposes[i].roll); } } else { RCLCPP_WARN(node->get_logger(), "NO response received!!"); diff --git a/sample/src/image_people_server.cpp b/sample/src/image_people_server.cpp index 2f9fdcc2..845eaee9 100644 --- a/sample/src/image_people_server.cpp +++ b/sample/src/image_people_server.cpp @@ -26,26 +26,26 @@ #include "openvino_wrapper_lib/inputs/base_input.hpp" #include "openvino_wrapper_lib/inputs/image_input.hpp" #include "openvino/openvino.hpp" -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) #include #endif #include "utility.hpp" -int main(int argc, char ** argv) +int main(int argc, char** argv) { rclcpp::init(argc, argv); std::string config_path = getConfigPath(argc, argv); try { - auto node = std::make_shared>("service_people_detection", config_path); + auto node = std::make_shared>( + "service_people_detection", config_path); rclcpp::spin(node); - } catch (std::exception & e) { + } catch (std::exception& e) { std::cout << e.what() << std::endl; } catch (...) { - std::cout << "[ERROR] [service_people_detection]: " << - "exception caught" << std::endl; + std::cout << "[ERROR] [service_people_detection]: " + << "exception caught" << std::endl; } return 0; diff --git a/sample/src/parameters.cpp b/sample/src/parameters.cpp index 45bef956..26731712 100644 --- a/sample/src/parameters.cpp +++ b/sample/src/parameters.cpp @@ -13,11 +13,11 @@ // limitations under the License. /** -* \brief A sample for vino_param_manager library. This sample performs -* getting/setting -* parameters for vino related functions. -* \file sample/parameters.cpp -*/ + * \brief A sample for vino_param_manager library. This sample performs + * getting/setting + * parameters for vino related functions. + * \file sample/parameters.cpp + */ #include #include @@ -31,12 +31,12 @@ #include #include "utility.hpp" -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { try { // ------Parsing and validation of input args--------- std::string config = getConfigPath(argc, argv); - if(config.empty()){ + if (config.empty()) { throw std::runtime_error("Config File is not correctly set."); return -1; } @@ -46,7 +46,7 @@ int main(int argc, char * argv[]) slog::info << "print again, should same as above....." << slog::endl; Params::ParamManager::getInstance().print(); - } catch (const std::exception & error) { + } catch (const std::exception& error) { slog::err << error.what() << slog::endl; return -1; } catch (...) { diff --git a/sample/src/pipeline_composite.cpp b/sample/src/pipeline_composite.cpp index aea1630a..959f7889 100644 --- a/sample/src/pipeline_composite.cpp +++ b/sample/src/pipeline_composite.cpp @@ -13,10 +13,10 @@ // limitations under the License. /** -* \brief The is the composition version making the pipeline management into -* a rclcpp Node. -* \file pipeline_composite.cpp -*/ + * \brief The is the composition version making the pipeline management into + * a rclcpp Node. + * \file pipeline_composite.cpp + */ #include #include @@ -40,7 +40,7 @@ #include "openvino_wrapper_lib/pipeline.hpp" #include "openvino_wrapper_lib/pipeline_manager.hpp" #include "openvino_wrapper_lib/slog.hpp" -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) #include #endif #include "openvino/openvino.hpp" @@ -61,8 +61,8 @@ void signalHandler(int signum) class ComposablePipeline : public rclcpp::Node { public: - ComposablePipeline(const rclcpp::NodeOptions & node_options=rclcpp::NodeOptions()) - : rclcpp::Node("composable_pipeline", "/", node_options) + ComposablePipeline(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions()) + : rclcpp::Node("composable_pipeline", "/", node_options) { initPipeline(); } @@ -85,7 +85,7 @@ class ComposablePipeline : public rclcpp::Node } std::shared_ptr node_handler(this); - for (auto & p : pipelines) { + for (auto& p : pipelines) { PipelineManager::getInstance().createPipeline(p, node_handler); } @@ -98,7 +98,6 @@ class ComposablePipeline : public rclcpp::Node // return declare_parameter("config").get(); return ""; } - }; #include "rclcpp_components/register_node_macro.hpp" diff --git a/sample/src/pipeline_with_params.cpp b/sample/src/pipeline_with_params.cpp index 6d11ff9a..71a85b0d 100644 --- a/sample/src/pipeline_with_params.cpp +++ b/sample/src/pipeline_with_params.cpp @@ -13,10 +13,10 @@ // limitations under the License. /** -* \brief A sample for this library. This sample performs face detection, + * \brief A sample for this library. This sample performs face detection, * emotions detection, age gender detection and head pose estimation. -* \file sample/pipeline_manager.cpp -*/ + * \file sample/pipeline_manager.cpp + */ #include #include @@ -41,7 +41,7 @@ #include "openvino_wrapper_lib/pipeline_manager.hpp" #include "openvino_wrapper_lib/services/pipeline_processing_server.hpp" #include "openvino_wrapper_lib/slog.hpp" -#if(defined(USE_OLD_E_PLUGIN_API)) +#if (defined(USE_OLD_E_PLUGIN_API)) #include #endif #include "openvino/openvino.hpp" @@ -59,22 +59,22 @@ void signalHandler(int signum) // exit(signum); } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { rclcpp::init(argc, argv); rclcpp::executors::SingleThreadedExecutor exec; rclcpp::Node::SharedPtr main_node = rclcpp::Node::make_shared("openvino_pipeline"); - rclcpp::Node::SharedPtr service_node = std::make_shared>("pipeline_service"); + rclcpp::Node::SharedPtr service_node = + std::make_shared>("pipeline_service"); // register signal SIGINT and signal handler - //signal(SIGINT, signalHandler); + // signal(SIGINT, signalHandler); try { std::cout << "OpenVINO: " << ov::get_openvino_version() << std::endl; // ----- Parsing and validation of input args----------------------- std::string config = getConfigPath(argc, argv); - if(config.empty()){ + if (config.empty()) { throw std::runtime_error("Config File is not correctly set."); return -1; } @@ -86,20 +86,20 @@ int main(int argc, char * argv[]) if (pipelines.size() < 1) { throw std::logic_error("Pipeline parameters should be set!"); } - for (auto & p : pipelines) { + for (auto& p : pipelines) { PipelineManager::getInstance().createPipeline(p, main_node); } PipelineManager::getInstance().runAll(); - //rclcpp::spin(main_node); + // rclcpp::spin(main_node); exec.add_node(main_node); exec.add_node(service_node); exec.spin(); PipelineManager::getInstance().stopAll(); rclcpp::shutdown(); - } catch (const std::exception & error) { + } catch (const std::exception& error) { slog::err << error.what() << slog::endl; return -2; } catch (...) { diff --git a/tests/src/lib/unittest_createPipelineCheck.cpp b/tests/src/lib/unittest_createPipelineCheck.cpp index b531391b..08b656d2 100644 --- a/tests/src/lib/unittest_createPipelineCheck.cpp +++ b/tests/src/lib/unittest_createPipelineCheck.cpp @@ -47,12 +47,15 @@ std::string getConfigPath(std::string config_file) TEST(UnitTestCheckPipeline, testCreatePipeline) { auto node = rclcpp::Node::make_shared("pipeline_test"); - std::vector config_files = {"image_object_service_test.yaml", "pipeline_face_reid_video.yaml", - "pipeline_image_test.yaml", "pipeline_reidentification_test.yaml", - "pipeline_vehicle_detection_test.yaml", "image_people_service_test.yaml", - "pipeline_segmentation_test.yaml", "pipeline_face_test.yaml"}; - for (unsigned int i = 0; i < config_files.size(); i++) - { + std::vector config_files = { "image_object_service_test.yaml", + "pipeline_face_reid_video.yaml", + "pipeline_image_test.yaml", + "pipeline_reidentification_test.yaml", + "pipeline_vehicle_detection_test.yaml", + "image_people_service_test.yaml", + "pipeline_segmentation_test.yaml", + "pipeline_face_test.yaml" }; + for (unsigned int i = 0; i < config_files.size(); i++) { std::string config_file = getConfigPath(config_files[i]); EXPECT_TRUE(std::ifstream(config_file).is_open()); ASSERT_NO_THROW({ @@ -60,7 +63,7 @@ TEST(UnitTestCheckPipeline, testCreatePipeline) auto pipelines = Params::ParamManager::getInstance().getPipelines(); EXPECT_GT(pipelines.size(), 0); - for (auto & p : pipelines) { + for (auto& p : pipelines) { PipelineManager::getInstance().createPipeline(p, node); } }); @@ -78,7 +81,7 @@ TEST(UnitTestCheckPipeline, testCreatePipelineRealsense) auto pipelines = Params::ParamManager::getInstance().getPipelines(); EXPECT_GT(pipelines.size(), 0); - for (auto & p : pipelines) { + for (auto& p : pipelines) { PipelineManager::getInstance().createPipeline(p, node); } }); @@ -86,24 +89,23 @@ TEST(UnitTestCheckPipeline, testCreatePipelineRealsense) TEST(UnitTestCheckPipeline, testPipelineIncorrectConfig) { - auto node = rclcpp::Node::make_shared("pipeline_anormal_test"); + auto node = rclcpp::Node::make_shared("pipeline_anormal_test"); std::string config_file = getConfigPath("pipeline_anormal.yaml"); EXPECT_TRUE(std::ifstream(config_file).is_open()); - try{ + try { Params::ParamManager::getInstance().parse(config_file); auto pipelines = Params::ParamManager::getInstance().getPipelines(); EXPECT_GT(pipelines.size(), 0); - for (auto & p : pipelines) { - PipelineManager::getInstance().createPipeline(p,node); + for (auto& p : pipelines) { + PipelineManager::getInstance().createPipeline(p, node); } - } - catch (...) { + } catch (...) { SUCCEED(); } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/service/unittest_objectService.cpp b/tests/src/service/unittest_objectService.cpp index ecf11b33..31f4fac8 100644 --- a/tests/src/service/unittest_objectService.cpp +++ b/tests/src/service/unittest_objectService.cpp @@ -39,7 +39,7 @@ TEST(UnitTestObject, testObject) auto client = node->create_client("/openvino_toolkit/service"); ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20))); - + auto request = std::make_shared(); std::string buffer = generate_file_path("data/images/car_vihecle.png"); @@ -48,9 +48,7 @@ TEST(UnitTestObject, testObject) auto result = client->async_send_request(request); - ASSERT_EQ( - rclcpp::FutureReturnCode::SUCCESS, - rclcpp::spin_until_future_complete(node, result)); + ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, rclcpp::spin_until_future_complete(node, result)); auto srv = result.get(); @@ -61,20 +59,15 @@ TEST(UnitTestObject, testObject) } EXPECT_TRUE(srv->objects.objects_vector[0].roi.x_offset > 1080 && - srv->objects.objects_vector[0].roi.x_offset < 1720 && - srv->objects.objects_vector[0].roi.y_offset > 215 && - srv->objects.objects_vector[0].roi.y_offset < 480); - EXPECT_TRUE(srv->objects.objects_vector[1].roi.x_offset > 310 && - srv->objects.objects_vector[1].roi.x_offset < 785 && - srv->objects.objects_vector[1].roi.y_offset > 225 && - srv->objects.objects_vector[1].roi.y_offset < 460); - EXPECT_TRUE(srv->objects.objects_vector[2].roi.x_offset > 195 && - srv->objects.objects_vector[2].roi.x_offset < 405 && - srv->objects.objects_vector[2].roi.y_offset > 220 && - srv->objects.objects_vector[2].roi.y_offset < 345); + srv->objects.objects_vector[0].roi.x_offset < 1720 && srv->objects.objects_vector[0].roi.y_offset > 215 && + srv->objects.objects_vector[0].roi.y_offset < 480); + EXPECT_TRUE(srv->objects.objects_vector[1].roi.x_offset > 310 && srv->objects.objects_vector[1].roi.x_offset < 785 && + srv->objects.objects_vector[1].roi.y_offset > 225 && srv->objects.objects_vector[1].roi.y_offset < 460); + EXPECT_TRUE(srv->objects.objects_vector[2].roi.x_offset > 195 && srv->objects.objects_vector[2].roi.x_offset < 405 && + srv->objects.objects_vector[2].roi.y_offset > 220 && srv->objects.objects_vector[2].roi.y_offset < 345); } -int main(int argc, char ** argv) +int main(int argc, char** argv) { rclcpp::init(argc, argv); testing::InitGoogleTest(&argc, argv); diff --git a/tests/src/service/unittest_peopleService.cpp b/tests/src/service/unittest_peopleService.cpp index eca6a0c7..69ff2bb2 100644 --- a/tests/src/service/unittest_peopleService.cpp +++ b/tests/src/service/unittest_peopleService.cpp @@ -39,9 +39,9 @@ TEST(UnitTestPeople, testPeople) auto node = rclcpp::Node::make_shared("openvino_people_service_test"); auto client = node->create_client("/openvino_toolkit/service"); - + ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20))); - + auto request = std::make_shared(); std::string buffer = generate_file_path("data/images/team.jpg"); @@ -50,9 +50,7 @@ TEST(UnitTestPeople, testPeople) auto result = client->async_send_request(request); - ASSERT_EQ( - rclcpp::FutureReturnCode::SUCCESS, - rclcpp::spin_until_future_complete(node, result)); + ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, rclcpp::spin_until_future_complete(node, result)); auto srv = result.get(); @@ -66,7 +64,7 @@ TEST(UnitTestPeople, testPeople) } } -int main(int argc, char ** argv) +int main(int argc, char** argv) { rclcpp::init(argc, argv); testing::InitGoogleTest(&argc, argv); diff --git a/tests/src/topic/unittest_faceDetectionCheck.cpp b/tests/src/topic/unittest_faceDetectionCheck.cpp index 90c007ed..4ff23634 100644 --- a/tests/src/topic/unittest_faceDetectionCheck.cpp +++ b/tests/src/topic/unittest_faceDetectionCheck.cpp @@ -49,21 +49,18 @@ static bool emotion_test_pass = false; static bool ageGender_test_pass = false; static bool headPose_test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestFaceDetection, testFaceDetection) @@ -73,18 +70,17 @@ TEST(UnitTestFaceDetection, testFaceDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_faceDetection_callback = - [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { - face_test_pass = true; - sub_called.set_value(true); - }; + auto openvino_faceDetection_callback = [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { + face_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { - auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/face_detection", qos, openvino_faceDetection_callback); + auto sub1 = node->create_subscription("/ros2_openvino_toolkit/face_detection", + qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -102,17 +98,17 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const object_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { - emotion_test_pass = true; - sub_called.set_value(true); - }; + [&sub_called](const object_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + emotion_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub2 = node->create_subscription( - "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); + "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -129,18 +125,17 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_ageGender_callback = - [&sub_called](const object_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { - ageGender_test_pass = true; - sub_called.set_value(true); - }; + auto openvino_ageGender_callback = [&sub_called](const object_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + ageGender_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub3 = node->create_subscription( - "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); + "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -157,18 +152,17 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_headPose_callback = - [&sub_called](const object_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { - headPose_test_pass = true; - sub_called.set_value(true); - }; + auto openvino_headPose_callback = [&sub_called](const object_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + headPose_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub4 = node->create_subscription( - "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); + "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); @@ -178,7 +172,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/topic/unittest_face_reidentification.cpp b/tests/src/topic/unittest_face_reidentification.cpp index 439d86b0..1e8fd402 100644 --- a/tests/src/topic/unittest_face_reidentification.cpp +++ b/tests/src/topic/unittest_face_reidentification.cpp @@ -48,21 +48,18 @@ static bool face_detection = false; static bool landmark_detection = false; static bool test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestFaceReidentification, testFaceDetection) @@ -72,18 +69,17 @@ TEST(UnitTestFaceReidentification, testFaceDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_face_detection_callback = - [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { - face_detection = true; - sub_called.set_value(true); - }; + auto openvino_face_detection_callback = [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { + face_detection = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/face_detection", rclcpp::QoS(1), openvino_face_detection_callback); + "/ros2_openvino_toolkit/face_detection", rclcpp::QoS(1), openvino_face_detection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -100,18 +96,18 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_landmark_detection_callback = - [&sub_called](const object_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { - if(msg->landmarks.size() > 0) - landmark_detection = true; - sub_called.set_value(true); - }; + [&sub_called](const object_msgs::msg::LandmarkStamped::SharedPtr msg) -> void { + if (msg->landmarks.size() > 0) + landmark_detection = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback); + "/ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -128,18 +124,18 @@ TEST(UnitTestFaceReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_face_reidentification_callback = - [&sub_called](const object_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { - if(msg->reidentified_vector.size() > 0) - test_pass = true; - sub_called.set_value(true); - }; + [&sub_called](const object_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + if (msg->reidentified_vector.size() > 0) + test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback); + "/ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); @@ -149,7 +145,7 @@ TEST(UnitTestFaceReidentification, testReidentification) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/topic/unittest_imageCheck.cpp b/tests/src/topic/unittest_imageCheck.cpp index 4f3359ac..5ef8091f 100644 --- a/tests/src/topic/unittest_imageCheck.cpp +++ b/tests/src/topic/unittest_imageCheck.cpp @@ -49,21 +49,18 @@ static bool emotion_test_pass = false; static bool ageGender_test_pass = false; static bool headPose_test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestFaceDetection, testFaceDetection) @@ -73,18 +70,17 @@ TEST(UnitTestFaceDetection, testFaceDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_faceDetection_callback = - [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { - face_test_pass = true; - sub_called.set_value(true); - }; + auto openvino_faceDetection_callback = [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { + face_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { - auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/face_detection", qos, openvino_faceDetection_callback); + auto sub1 = node->create_subscription("/ros2_openvino_toolkit/face_detection", + qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -102,17 +98,17 @@ TEST(UnitTestFaceDetection, testEmotionDetection) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_emotionRecognition_callback = - [&sub_called](const object_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { - emotion_test_pass = true; - sub_called.set_value(true); - }; + [&sub_called](const object_msgs::msg::EmotionsStamped::SharedPtr msg) -> void { + emotion_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub2 = node->create_subscription( - "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); + "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback); executor.spin_once(std::chrono::seconds(0)); @@ -129,18 +125,17 @@ TEST(UnitTestFaceDetection, testageGenderDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_ageGender_callback = - [&sub_called](const object_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { - ageGender_test_pass = true; - sub_called.set_value(true); - }; + auto openvino_ageGender_callback = [&sub_called](const object_msgs::msg::AgeGenderStamped::SharedPtr msg) -> void { + ageGender_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub3 = node->create_subscription( - "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); + "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback); executor.spin_once(std::chrono::seconds(0)); @@ -157,18 +152,17 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_headPose_callback = - [&sub_called](const object_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { - headPose_test_pass = true; - sub_called.set_value(true); - }; + auto openvino_headPose_callback = [&sub_called](const object_msgs::msg::HeadPoseStamped::SharedPtr msg) -> void { + headPose_test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub4 = node->create_subscription( - "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); + "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback); executor.spin_once(std::chrono::seconds(0)); @@ -178,7 +172,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/topic/unittest_objectDetectionCheck.cpp b/tests/src/topic/unittest_objectDetectionCheck.cpp index e5917c13..8307c9db 100644 --- a/tests/src/topic/unittest_objectDetectionCheck.cpp +++ b/tests/src/topic/unittest_objectDetectionCheck.cpp @@ -41,21 +41,18 @@ static bool test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestObjectDetection, testObjectDetection) @@ -65,18 +62,17 @@ TEST(UnitTestObjectDetection, testObjectDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_faceDetection_callback = - [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { - test_pass = true; - sub_called.set_value(true); - }; + auto openvino_faceDetection_callback = [&sub_called](const object_msgs::msg::ObjectsInBoxes::SharedPtr msg) -> void { + test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { - auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/detected_objects", qos, openvino_faceDetection_callback); + auto sub1 = node->create_subscription("/ros2_openvino_toolkit/detected_objects", + qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -86,7 +82,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/topic/unittest_reidentification.cpp b/tests/src/topic/unittest_reidentification.cpp index b4fc16c2..abf4857f 100644 --- a/tests/src/topic/unittest_reidentification.cpp +++ b/tests/src/topic/unittest_reidentification.cpp @@ -44,21 +44,18 @@ #define MAX_SIZE 300 static bool test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestPersonReidentification, testReidentification) @@ -69,17 +66,17 @@ TEST(UnitTestPersonReidentification, testReidentification) std::shared_future sub_called_future(sub_called.get_future()); auto openvino_reidentification_callback = - [&sub_called](const object_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { - test_pass = true; - sub_called.set_value(true); - }; + [&sub_called](const object_msgs::msg::ReidentificationStamped::SharedPtr msg) -> void { + test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback); + "/ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback); executor.spin_once(std::chrono::seconds(0)); @@ -89,7 +86,7 @@ TEST(UnitTestPersonReidentification, testReidentification) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/topic/unittest_segmentationCheck.cpp b/tests/src/topic/unittest_segmentationCheck.cpp index 33d76d5c..68996709 100644 --- a/tests/src/topic/unittest_segmentationCheck.cpp +++ b/tests/src/topic/unittest_segmentationCheck.cpp @@ -42,21 +42,18 @@ static bool test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestObjectDetection, testObjectDetection) @@ -66,18 +63,17 @@ TEST(UnitTestObjectDetection, testObjectDetection) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_faceDetection_callback = - [&sub_called](const object_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { - test_pass = true; - sub_called.set_value(true); - }; + auto openvino_faceDetection_callback = [&sub_called](const object_msgs::msg::ObjectsInMasks::SharedPtr msg) -> void { + test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { - auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/segmented_obejcts", qos, openvino_faceDetection_callback); + auto sub1 = node->create_subscription("/ros2_openvino_toolkit/segmented_obejcts", + qos, openvino_faceDetection_callback); executor.spin_once(std::chrono::seconds(0)); @@ -87,7 +83,7 @@ TEST(UnitTestObjectDetection, testObjectDetection) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); diff --git a/tests/src/topic/unittest_vehicleDetectionCheck.cpp b/tests/src/topic/unittest_vehicleDetectionCheck.cpp index 41781526..cc37175a 100644 --- a/tests/src/topic/unittest_vehicleDetectionCheck.cpp +++ b/tests/src/topic/unittest_vehicleDetectionCheck.cpp @@ -46,21 +46,18 @@ #define MAX_SIZE 300 static bool test_pass = false; -template -void wait_for_future( - rclcpp::Executor & executor, std::shared_future & future, - const DurationT & timeout) +template +void wait_for_future(rclcpp::Executor& executor, std::shared_future& future, const DurationT& timeout) { using rclcpp::FutureReturnCode; rclcpp::FutureReturnCode future_ret; auto start_time = std::chrono::steady_clock::now(); future_ret = executor.spin_until_future_complete(future, timeout); auto elapsed_time = std::chrono::steady_clock::now() - start_time; - EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) << - "the usb camera don't publish data to topic\n" << - "future failed to be set after: " << - std::chrono::duration_cast(elapsed_time).count() << - " milliseconds\n"; + EXPECT_EQ(FutureReturnCode::SUCCESS, future_ret) + << "the usb camera don't publish data to topic\n" + << "future failed to be set after: " + << std::chrono::duration_cast(elapsed_time).count() << " milliseconds\n"; } TEST(UnitTestPersonReidentification, testReidentification) @@ -70,18 +67,17 @@ TEST(UnitTestPersonReidentification, testReidentification) std::promise sub_called; std::shared_future sub_called_future(sub_called.get_future()); - auto openvino_vehicle_callback = - [&sub_called](const object_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { - test_pass = true; - sub_called.set_value(true); - }; + auto openvino_vehicle_callback = [&sub_called](const object_msgs::msg::LicensePlateStamped::SharedPtr msg) -> void { + test_pass = true; + sub_called.set_value(true); + }; rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); { auto sub1 = node->create_subscription( - "/ros2_openvino_toolkit/detected_license_plates", qos, openvino_vehicle_callback); + "/ros2_openvino_toolkit/detected_license_plates", qos, openvino_vehicle_callback); executor.spin_once(std::chrono::seconds(0)); @@ -91,7 +87,7 @@ TEST(UnitTestPersonReidentification, testReidentification) } } -int main(int argc, char * argv[]) +int main(int argc, char* argv[]) { testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); From 61f1b7876027636433f793d2b34e45b4b41e36ea Mon Sep 17 00:00:00 2001 From: Lewis Liu Date: Tue, 10 Oct 2023 09:09:14 +0800 Subject: [PATCH 38/40] add nms_threshold config for segmentation inference (#304) * rebase ros2 to dev-add-NMS-config * format code style Signed-off-by: Liu, Wei Zhi --- .../include/openvino_param_lib/param_manager.hpp | 3 ++- openvino_param_lib/src/param_manager.cpp | 2 ++ .../openvino_wrapper_lib/models/base_model.hpp | 12 ++++++++++++ .../models/object_segmentation_instance_model.hpp | 4 ++++ openvino_wrapper_lib/src/models/base_model.cpp | 6 ++++++ .../models/object_segmentation_instance_model.cpp | 15 ++++++++++++++- openvino_wrapper_lib/src/pipeline_manager.cpp | 2 +- sample/param/pipeline_segmentation_instance.yaml | 1 + 8 files changed, 42 insertions(+), 3 deletions(-) diff --git a/openvino_param_lib/include/openvino_param_lib/param_manager.hpp b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp index 476f3caa..75a4b133 100644 --- a/openvino_param_lib/include/openvino_param_lib/param_manager.hpp +++ b/openvino_param_lib/include/openvino_param_lib/param_manager.hpp @@ -65,9 +65,10 @@ class ParamManager // singleton std::string model; std::string model_type; std::string label; - int batch; + int batch = 1; float confidence_threshold = 0.5; bool enable_roi_constraint = false; + float nms_threshold = 0.45; }; struct FilterRawData diff --git a/openvino_param_lib/src/param_manager.cpp b/openvino_param_lib/src/param_manager.cpp index a3ead34b..6ad47587 100644 --- a/openvino_param_lib/src/param_manager.cpp +++ b/openvino_param_lib/src/param_manager.cpp @@ -94,6 +94,7 @@ void operator>>(const YAML::Node& node, ParamManager::InferenceRawData& infer) YAML_PARSE(node, "batch", infer.batch) YAML_PARSE(node, "confidence_threshold", infer.confidence_threshold) YAML_PARSE(node, "enable_roi_constraint", infer.enable_roi_constraint) + YAML_PARSE(node, "nms_threshold", infer.nms_threshold) if (infer.model_type.size() == 0) { infer.model_type = "SSD"; } @@ -193,6 +194,7 @@ void ParamManager::print() const slog::info << "\t\tBatch: " << infer.batch << slog::endl; slog::info << "\t\tConfidence_threshold: " << infer.confidence_threshold << slog::endl; slog::info << "\t\tEnable_roi_constraint: " << infer.enable_roi_constraint << slog::endl; + slog::info << "\t\tNMS_threshold: " << infer.nms_threshold << slog::endl; } slog::info << "\tConnections: " << slog::endl; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp index 0ffd717b..f04efd1d 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/base_model.hpp @@ -30,6 +30,7 @@ #include #include +#include #include "openvino_wrapper_lib/slog.hpp" #include "openvino_wrapper_lib/models/attributes/base_attribute.hpp" @@ -65,6 +66,13 @@ class BaseModel : public ModelAttribute */ BaseModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); + /** + * @brief Initialize the class with given external parameters. It requires some items should + * be set, such as: [lable path, model path, batch size] + * @param[in] config the configuration structure to be set to the model class. + */ + BaseModel(const Params::ParamManager::InferenceRawData& config); + /** * @brief Get the maximum batch size of the model. * @return The maximum batch size of the model. @@ -168,6 +176,10 @@ class BaseModel : public ModelAttribute return expected_frame_size_; } +protected: + // config_ archives the model configuration from extermal YAML file + Params::ParamManager::InferenceRawData config_; + private: int max_batch_size_; std::string model_loc_; diff --git a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp index 91a6aaea..5f333912 100644 --- a/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp +++ b/openvino_wrapper_lib/include/openvino_wrapper_lib/models/object_segmentation_instance_model.hpp @@ -35,6 +35,7 @@ class ObjectSegmentationInstanceModel : public BaseModel public: ObjectSegmentationInstanceModel(const std::string& label_loc, const std::string& model_loc, int batch_size = 1); + ObjectSegmentationInstanceModel(const Params::ParamManager::InferenceRawData& config); virtual bool fetchResults(const std::shared_ptr& engine, std::vector& results, @@ -48,6 +49,9 @@ class ObjectSegmentationInstanceModel : public BaseModel */ const std::string getModelCategory() const override; virtual bool updateLayerProperty(std::shared_ptr&) override; + +private: + void setDefaultConfig(); }; } // namespace Models #endif // OPENVINO_WRAPPER_LIB__MODELS__OBJECT_SEGMENTATION_INSTANCE_MODEL_HPP_ diff --git a/openvino_wrapper_lib/src/models/base_model.cpp b/openvino_wrapper_lib/src/models/base_model.cpp index 6d9f543a..d5b9e04d 100644 --- a/openvino_wrapper_lib/src/models/base_model.cpp +++ b/openvino_wrapper_lib/src/models/base_model.cpp @@ -39,6 +39,12 @@ Models::BaseModel::BaseModel(const std::string& label_loc, const std::string& mo } } +Models::BaseModel::BaseModel(const Params::ParamManager::InferenceRawData& config) + : BaseModel(config.label, config.model, config.batch) +{ + config_ = config; +} + void Models::BaseModel::modelInit() { slog::info << "Loading network files" << model_loc_ << slog::endl; diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp index a63f0299..20f2e57b 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp @@ -30,6 +30,18 @@ Models::ObjectSegmentationInstanceModel::ObjectSegmentationInstanceModel(const s const std::string& model_loc, int max_batch_size) : BaseModel(label_loc, model_loc, max_batch_size) +{ + setDefaultConfig(); +} + +Models::ObjectSegmentationInstanceModel::ObjectSegmentationInstanceModel( + const Params::ParamManager::InferenceRawData& config) + : BaseModel(config) +{ + setDefaultConfig(); +} + +void Models::ObjectSegmentationInstanceModel::setDefaultConfig() { setHasConfidenceOutput(false); setKeepInputShapeRatio(true); @@ -160,7 +172,8 @@ bool Models::ObjectSegmentationInstanceModel::fetchResults( std::vector& results, const float& confidence_thresh, const bool& enable_roi_constraint) { - const float NMS_THRESHOLD = 0.45; // threshold for removing overlapping bounding boxes + const float NMS_THRESHOLD = config_.nms_threshold; // threshold for removing overlapping bounding boxes + slog::debug << "NMS_THRESHOLD=" << NMS_THRESHOLD << slog::endl; ov::InferRequest request = engine->getRequest(); std::string det_output = getOutputName("detection"); diff --git a/openvino_wrapper_lib/src/pipeline_manager.cpp b/openvino_wrapper_lib/src/pipeline_manager.cpp index a4540803..58a275ac 100644 --- a/openvino_wrapper_lib/src/pipeline_manager.cpp +++ b/openvino_wrapper_lib/src/pipeline_manager.cpp @@ -361,7 +361,7 @@ PipelineManager::createObjectSegmentationInstance(const Params::ParamManager::In model = std::make_shared(infer.label, infer.model, infer.batch); } else { slog::info << "Model Typle: kInferType_ObjectSegmentationTypeYolo" << slog::endl; - model = std::make_shared(infer.label, infer.model, infer.batch); + model = std::make_shared(infer); } model->modelInit(); slog::info << "Instance Segmentation model initialized." << slog::endl; diff --git a/sample/param/pipeline_segmentation_instance.yaml b/sample/param/pipeline_segmentation_instance.yaml index 96ab1c3d..f29352b3 100644 --- a/sample/param/pipeline_segmentation_instance.yaml +++ b/sample/param/pipeline_segmentation_instance.yaml @@ -15,6 +15,7 @@ Pipelines: engine: CPU #"HETERO:CPU,GPU," #"HETERO:CPU,GPU,MYRIAD" batch: 1 confidence_threshold: 0.5 + nms_threshold: 0.5 outputs: [ImageWindow, RosTopic, RViz] connects: - left: StandardCamera From b498252a09aa5dc4f90d7a5d6f4c555284ee049a Mon Sep 17 00:00:00 2001 From: Lewis Liu Date: Fri, 13 Oct 2023 10:59:38 +0800 Subject: [PATCH 39/40] fix-bug: ROI (width/height) error when NMS-threshold is set to high for segmentation infers. (#307) Signed-off-by: Liu, Wei Zhi --- .../object_segmentation_instance_model.cpp | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp index 20f2e57b..1362705e 100644 --- a/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp +++ b/openvino_wrapper_lib/src/models/object_segmentation_instance_model.cpp @@ -291,13 +291,17 @@ bool Models::ObjectSegmentationInstanceModel::fetchResults( slog::debug << "Mask-Ratio (Mask Tensor to Input Tensor): " << mask_rx << "x" << mask_ry << slog::endl; int mask_x = int(mask_rx * vx); int mask_y = int(mask_ry * vy); - int mask_w = int(mask_rx * vw); - int mask_h = int(mask_ry * vh); - if (mask_x + mask_w >= MASK_WIDTH) { - mask_w = MASK_WIDTH - 1; + int mask_w = std::ceil(mask_rx * vw); // ensuring mask_w > 0 by std::ceil (rather than int()) + int mask_h = std::ceil(mask_ry * vh); // ensuring mask_h > 0 by std::ceil (rather than int()) + + if (mask_w + mask_x >= MASK_WIDTH) { + mask_w = MASK_WIDTH - mask_x - 1; + } + if (mask_h + mask_y >= MASK_HEIGHT) { + mask_h = MASK_HEIGHT - mask_y - 1; } - if (mask_y + mask_h >= MASK_HEIGHT) { - mask_h = MASK_HEIGHT - 1; + if (mask_w <= 0 || mask_h <= 0) { + break; } cv::Rect roi{ mask_x, mask_y, mask_w, mask_h }; slog::debug << "Mask ROI:" << roi << slog::endl; From a1142d437c941b619339456a34ea68d8c39254b6 Mon Sep 17 00:00:00 2001 From: "Liu, Wei Zhi" Date: Wed, 24 Jan 2024 14:30:41 +0800 Subject: [PATCH 40/40] add default top-level for github workflows. Signed-off-by: Liu, Wei Zhi --- .github/workflows/basic_func_tests.yml | 3 +++ .github/workflows/code_format.yml | 3 +++ .github/workflows/dev-ov_2020-3.yml | 3 +++ .github/workflows/dev-ov_2021-3.yml | 3 +++ 4 files changed, 12 insertions(+) diff --git a/.github/workflows/basic_func_tests.yml b/.github/workflows/basic_func_tests.yml index b051dd5a..3973960c 100644 --- a/.github/workflows/basic_func_tests.yml +++ b/.github/workflows/basic_func_tests.yml @@ -13,6 +13,9 @@ on: # Allows you to run this workflow manually from the Actions tab workflow_dispatch: +# Set default top-level permissions, no write permission is granted at top-level. +permissions: read-all + # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: # Removed the old artifacts diff --git a/.github/workflows/code_format.yml b/.github/workflows/code_format.yml index 83e580d1..b0fb096d 100644 --- a/.github/workflows/code_format.yml +++ b/.github/workflows/code_format.yml @@ -12,6 +12,9 @@ on: # Allows you to run this workflow manually from the Actions tab workflow_dispatch: +# Set default top-level permissions, no write permission is granted at top-level. +permissions: read-all + # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: # Removed the old artifacts diff --git a/.github/workflows/dev-ov_2020-3.yml b/.github/workflows/dev-ov_2020-3.yml index b6c82595..6f946fda 100644 --- a/.github/workflows/dev-ov_2020-3.yml +++ b/.github/workflows/dev-ov_2020-3.yml @@ -8,6 +8,9 @@ on: pull_request: branches: [ dev-ov.2020.3 ] +# Set default top-level permissions, no write permission is granted at top-level. +permissions: read-all + # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: # This workflow contains a single job called "build" diff --git a/.github/workflows/dev-ov_2021-3.yml b/.github/workflows/dev-ov_2021-3.yml index b7a708fc..145ad66d 100644 --- a/.github/workflows/dev-ov_2021-3.yml +++ b/.github/workflows/dev-ov_2021-3.yml @@ -8,6 +8,9 @@ on: pull_request: branches: [ dev-ov.2021.3 ] +# Set default top-level permissions, no write permission is granted at top-level. +permissions: read-all + # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: # This workflow contains a single job called "build"

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