# ROS2 Foxy and OpenVINO 2021.3 on Ubuntu 20.04
## Run demo
source ~/ros2_foxy/install/local_setup.bash
source /opt/intel/openvino_2021/bin/setupvars.sh
cd my_ros2_ws/src
source ./install/local_setup.bash
ros2 launch dynamic_vino_sample pipeline_image.launch.py
## Follow step in link below and no need to install cmake 3.14 on ubuntu 20.04
https://github.com/intel/ros2_openvino_toolkit/blob/master/doc/getting_started_with_Foxy.md
Install realsense SDK is required
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
```
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo focal main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
```
Required to build packages in my_ros2_ws,
sudo apt install libboost-python-dev
### requires #include <set> in /home/openvino/my_ros2_ws/src/image_common/image_transport/src/publisher.cpp
```
/my_ros2_ws/src/image_common/image_transport$ git diff
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 26f16a6..51ea0e0 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -41,6 +41,7 @@
#include <rclcpp/node.hpp>
#include <pluginlib/class_loader.hpp>
+#include <set>
namespace image_transport
{
```
```
Starting >>> pipeline_srv_msgs
--- stderr: image_transport
/home/openvino/my_ros2_ws/src/image_common/image_transport/src/publisher.cpp: In constructor ‘image_transport::Publisher::Publisher(rclcpp::Node*, const string&, image_transport::PubLoaderPtr, rmw_qos_profile_t)’:
/home/openvino/my_ros2_ws/src/image_common/image_transport/src/publisher.cpp:111:8: error: ‘set’ is not a member of ‘std’
111 | std::set<std::string> blacklist;
| ^~~
/home/openvino/my_ros2_ws/src/image_common/image_transport/src/publisher.cpp:44:1: note: ‘std::set’ is defined in header ‘<set>’; did you forget to ‘#include <set>’?
43 | #include <pluginlib/class_loader.hpp>
+++ |+#include <set>
44 |
/home/openvino/my_ros2_ws/src/image_common/image_transport/src/publisher.cpp:111:23: error: expected primary-expression before ‘>’ token
111 | std::set<std::string> blacklist;
| ^
/home/openvino/my_ros2_ws/src/image_common/image_transport/src/publisher.cpp:111:25: error: ‘blacklist’ was not declared in this scope
111 | std::set<std::string> blacklist;
| ^~~~~~~~~
make[2]: *** [CMakeFiles/image_transport.dir/build.make:95: CMakeFiles/image_transport.dir/src/publisher.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:219: CMakeFiles/image_transport.dir/all] Error 2
make: *** [Makefile:160: all] Error 2
---
Failed <<< image_transport [18.7s, exited with code 2]
Aborted <<< people_msgs [9.28s]
Aborted <<< pipeline_srv_msgs [9.26s]
Aborted <<< realsense_ros [29.4s]
Summary: 9 packages finished [34.5s]
1 package failed: image_transport
3 packages aborted: people_msgs pipeline_srv_msgs realsense_ros
2 packages had stderr output: image_transport realsense_ros
6 packages not processed
```
## https://software.intel.com/content/www/us/en/develop/articles/openvino-relnotes.html
/home/openvino/my_ros2_ws/src/ros2_openvino_toolkit/dynamic_vino_lib/include/dynamic_vino_lib/models/attributes/base_attribute.hpp:89:28: error: ‘CNNNetReader’ in namespace ‘InferenceEngine’ does not name a type
CNNNetReader class. Use Core::ReadNetwork instead.
## Below are patch for ros2_openvino_toolkit
```
~/my_ros2_ws/src/ros2_openvino_toolkit$ cat ~/ros2_openvino_toolkit.patch
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 8d614a3..1a5d501 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
@@ -61,7 +61,7 @@ public:
const std::string getModelCategory() const override;
protected:
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) 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 4e529e2..061a1c2 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
@@ -86,7 +86,7 @@ public:
}
virtual bool updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr &)
+ const InferenceEngine::CNNNetwork&)
{ return false; }
inline std::string getModelName() const
@@ -187,7 +187,7 @@ public:
explicit SSDModelAttr(const std::string model_name = "SSDNet-like");
bool updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr &);
+ const InferenceEngine::CNNNetwork&);
};
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 8748003..f337967 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
@@ -95,7 +95,7 @@ namespace Models
virtual const std::string getModelCategory() const = 0;
inline ModelAttr getAttribute() { return attr_; }
- inline InferenceEngine::CNNNetReader::Ptr getNetReader() const
+ inline InferenceEngine::CNNNetwork getNetReader() const
{
return net_reader_;
}
@@ -106,9 +106,11 @@ 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::CNNNetReader::Ptr network_reader) = 0;
+ virtual bool updateLayerProperty(InferenceEngine::CNNNetwork& network_reader) = 0;
- InferenceEngine::CNNNetReader::Ptr net_reader_;
+ ///InferenceEngine::CNNNetReader::Ptr net_reader_;
+ InferenceEngine::Core engine;
+ InferenceEngine::CNNNetwork net_reader_; // = engine.ReadNetwork(model->getModelFileName());
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 1f2749f..edf9682 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
@@ -39,7 +39,7 @@ public:
* @return Name of the model.
*/
const std::string getModelCategory() const override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
private:
bool verifyOutputLayer(const InferenceEngine::DataPtr & ptr);
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 4d07367..1b0bc1b 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 @@ public:
* @return Name of the model.
*/
const std::string getModelCategory() const override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
private:
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 e0b5f9c..0074f76 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
@@ -43,7 +43,7 @@ public:
protected:
//void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override;
//void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
// up to 88 items per license plate, ended with "-1"
const int max_sequence_size_ = 88;
std::string 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 99db656..cca96f7 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 @@ public:
*/
const std::string getModelCategory() const override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) 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 a779dfe..25f2b98 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
@@ -54,7 +54,7 @@ public:
* @return Name of the model.
*/
const std::string getModelCategory() const override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
protected:
int getEntryIndex(int side, int lcoords, int lclasses, int location, int entry);
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 0ab42f1..c17bba8 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
@@ -50,7 +50,7 @@ public:
* @return Name of the model.
*/
const std::string getModelCategory() const override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
private:
int max_proposal_count_;
diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/models/person_attribs_detection_model.hpp
index a1581b7..0389f2c 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
@@ -41,7 +41,7 @@ public:
protected:
//void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override;
//void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) 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 88202c7..57be91b 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
@@ -39,7 +39,7 @@ public:
const std::string getModelCategory() const override;
protected:
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
//void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override;
//void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
std::string input_;
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 0e6601a..38b452f 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
@@ -42,7 +42,7 @@ public:
protected:
//void checkLayerProperty(const InferenceEngine::CNNNetReader::Ptr &) override;
//void setLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
- bool updateLayerProperty(InferenceEngine::CNNNetReader::Ptr) override;
+ bool updateLayerProperty(InferenceEngine::CNNNetwork&) override;
std::string input_;
std::string color_output_;
std::string type_output_;
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 431fa86..abeac0c 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
@@ -20,10 +20,6 @@
#ifndef DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_
#define DYNAMIC_VINO_LIB__UTILS__VERSION_INFO_HPP_
-#include <ie_plugin_dispatcher.hpp>
-#include <ie_plugin_ptr.hpp>
-#include <cpp/ie_cnn_net_reader.h>
-#include <cpp/ie_infer_request.hpp>
#if(defined(USE_OLD_E_PLUGIN_API))
#include <ie_device.hpp>
#endif
diff --git a/dynamic_vino_lib/src/engines/engine_manager.cpp b/dynamic_vino_lib/src/engines/engine_manager.cpp
index 501d74c..ed0e3ef 100644
--- a/dynamic_vino_lib/src/engines/engine_manager.cpp
+++ b/dynamic_vino_lib/src/engines/engine_manager.cpp
@@ -41,7 +41,7 @@ std::shared_ptr<Engines::Engine> Engines::EngineManager::createEngine_V2019R2_pl
const std::string & device, const std::shared_ptr<Models::BaseModel> & model)
{
InferenceEngine::Core core;
- auto executable_network = core.LoadNetwork(model->getNetReader()->getNetwork(), device);
+ auto executable_network = core.LoadNetwork(model->getNetReader(), device);
auto request = executable_network.CreateInferRequestPtr();
return std::make_shared<Engines::Engine>(request);
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 ae8d86f..480f6a0 100644
--- a/dynamic_vino_lib/src/models/age_gender_detection_model.cpp
+++ b/dynamic_vino_lib/src/models/age_gender_detection_model.cpp
@@ -30,11 +30,11 @@ Models::AgeGenderDetectionModel::AgeGenderDetectionModel(
{
}
bool Models::AgeGenderDetectionModel::updateLayerProperty(
- InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
// set input property
- InferenceEngine::InputsDataMap input_info_map(net_reader->getNetwork().getInputsInfo());
+ 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"
@@ -46,7 +46,7 @@ bool Models::AgeGenderDetectionModel::updateLayerProperty(
input_info->setLayout(InferenceEngine::Layout::NCHW);
addInputInfo("input", input_info_map.begin()->first);
// set output property
- InferenceEngine::OutputsDataMap output_info_map(net_reader->getNetwork().getOutputsInfo());
+ 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"
@@ -58,6 +58,7 @@ bool Models::AgeGenderDetectionModel::updateLayerProperty(
InferenceEngine::DataPtr age_output_ptr = (it++)->second;
InferenceEngine::DataPtr gender_output_ptr = (it++)->second;
+#if(0) ///
//Check More Configuration:
if (gender_output_ptr->getCreatorLayer().lock()->type == "Convolution") {
std::swap(age_output_ptr, gender_output_ptr);
@@ -79,6 +80,7 @@ bool Models::AgeGenderDetectionModel::updateLayerProperty(
}
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
age_output_ptr->setPrecision(InferenceEngine::Precision::FP32);
age_output_ptr->setLayout(InferenceEngine::Layout::NCHW);
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 f0968fc..c2924c6 100644
--- a/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp
+++ b/dynamic_vino_lib/src/models/attributes/ssd_model_attr.cpp
@@ -30,11 +30,11 @@ Models::SSDModelAttr::SSDModelAttr(
}
bool Models::SSDModelAttr::updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr & net_reader)
+ const InferenceEngine::CNNNetwork & net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
- InferenceEngine::InputsDataMap input_info_map(net_reader->getNetwork().getInputsInfo());
+ InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo());
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;
@@ -50,7 +50,7 @@ bool Models::SSDModelAttr::updateLayerProperty(
setInputWidth(input_dims[3]);
slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl;
- InferenceEngine::OutputsDataMap output_info_map(net_reader->getNetwork().getOutputsInfo());
+ InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo());
if (output_info_map.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."
@@ -64,6 +64,7 @@ bool Models::SSDModelAttr::updateLayerProperty(
output_data_ptr->setPrecision(InferenceEngine::Precision::FP32);
///TODO: double check this part: BEGIN
+#if(0) ///
const InferenceEngine::CNNLayerPtr output_layer =
net_reader->getNetwork().getLayerByName(output_info_map.begin()->first.c_str());
// output layer should have attribute called num_classes
@@ -76,6 +77,7 @@ bool Models::SSDModelAttr::updateLayerProperty(
// class number should be equal to size of label vector
// if network has default "background" class, fake is used
const int num_classes = output_layer->GetParamAsInt("num_classes");
+#endif
#if 0
slog::info << "Checking Object Detection output ... num_classes=" << num_classes << slog::endl;
if (getLabels().size() != num_classes) {
diff --git a/dynamic_vino_lib/src/models/base_model.cpp b/dynamic_vino_lib/src/models/base_model.cpp
index 6be8778..2402fb1 100644
--- a/dynamic_vino_lib/src/models/base_model.cpp
+++ b/dynamic_vino_lib/src/models/base_model.cpp
@@ -38,27 +38,29 @@ Models::BaseModel::BaseModel(
throw std::logic_error("model file name is empty!");
}
- net_reader_ = std::make_shared<InferenceEngine::CNNNetReader>();
+ ///net_reader_ = std::make_shared<InferenceEngine::CNNNetReader>();
}
void Models::BaseModel::modelInit()
{
slog::info << "Loading network files" << slog::endl;
// Read network model
- net_reader_->ReadNetwork(model_loc_);
+ ///net_reader_->ReadNetwork(model_loc_);
+ net_reader_ = engine.ReadNetwork(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);
+ ///std::string bin_file_name = raw_name + ".bin";
+ ///net_reader_->ReadWeights(bin_file_name);
// Read labels (if any)
std::string label_file_name = raw_name + ".labels";
loadLabelsFromFile(label_file_name);
// 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_->getNetwork().setBatchSize(max_batch_size_);
+ net_reader_.setBatchSize(max_batch_size_);
updateLayerProperty(net_reader_);
}
diff --git a/dynamic_vino_lib/src/models/emotion_detection_model.cpp b/dynamic_vino_lib/src/models/emotion_detection_model.cpp
index 46b091d..ef43ea1 100644
--- a/dynamic_vino_lib/src/models/emotion_detection_model.cpp
+++ b/dynamic_vino_lib/src/models/emotion_detection_model.cpp
@@ -29,11 +29,11 @@ Models::EmotionDetectionModel::EmotionDetectionModel(
}
bool Models::EmotionDetectionModel::updateLayerProperty
-(InferenceEngine::CNNNetReader::Ptr net_reader)
+(InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
// set input property
- InferenceEngine::InputsDataMap input_info_map(net_reader->getNetwork().getInputsInfo());
+ 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"
@@ -46,34 +46,34 @@ bool Models::EmotionDetectionModel::updateLayerProperty
addInputInfo("input", input_info_map.begin()->first);
// set output property
- InferenceEngine::OutputsDataMap output_info_map(net_reader->getNetwork().getOutputsInfo());
+ 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");
slog::warn << "This model should have and only have 1 output, but we got "
<< std::to_string(output_info_map.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);
+ ///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 verifyOutputLayer(output_data_ptr);
+ return true; ///verifyOutputLayer(output_data_ptr);
}
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;
- }
+/// 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;
}
diff --git a/dynamic_vino_lib/src/models/face_reidentification_model.cpp b/dynamic_vino_lib/src/models/face_reidentification_model.cpp
index 838b324..94eafa5 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(model_loc, max_batch_size) {}
void Models::FaceReidentificationModel::setLayerProperty(
- InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
// set input property
InferenceEngine::InputsDataMap input_info_map(
- net_reader->getNetwork().getInputsInfo());
+ net_reader.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());
+ net_reader.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::CNNNetReader::Ptr & net_reader) {}
+ const InferenceEngine::CNNNetwork & net_reader) {}
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 f5e087a..8dad21a 100644
--- a/dynamic_vino_lib/src/models/head_pose_detection_model.cpp
+++ b/dynamic_vino_lib/src/models/head_pose_detection_model.cpp
@@ -31,11 +31,11 @@ Models::HeadPoseDetectionModel::HeadPoseDetectionModel(
}
bool Models::HeadPoseDetectionModel::updateLayerProperty
-(InferenceEngine::CNNNetReader::Ptr net_reader)
+(InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
// set input property
- InferenceEngine::InputsDataMap input_info_map(net_reader->getNetwork().getInputsInfo());
+ InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo());
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"
@@ -48,7 +48,7 @@ bool Models::HeadPoseDetectionModel::updateLayerProperty
addInputInfo("input", input_info_map.begin()->first);
// set output property
- InferenceEngine::OutputsDataMap output_info_map(net_reader->getNetwork().getOutputsInfo());
+ 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);
diff --git a/dynamic_vino_lib/src/models/landmarks_detection_model.cpp b/dynamic_vino_lib/src/models/landmarks_detection_model.cpp
index 6f79968..148559c 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(model_loc, max_batch_size) {}
void Models::LandmarksDetectionModel::setLayerProperty(
- InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
// set input property
InferenceEngine::InputsDataMap input_info_map(
- net_reader->getNetwork().getInputsInfo());
+ net_reader.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());
+ net_reader.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);
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 c94e464..896d35f 100644
--- a/dynamic_vino_lib/src/models/license_plate_detection_model.cpp
+++ b/dynamic_vino_lib/src/models/license_plate_detection_model.cpp
@@ -25,11 +25,11 @@ Models::LicensePlateDetectionModel::LicensePlateDetectionModel(
: BaseModel(model_loc, max_batch_size) {}
bool Models::LicensePlateDetectionModel::updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
InferenceEngine::InputsDataMap input_info_map(
- net_reader->getNetwork().getInputsInfo());
+ net_reader.getInputsInfo());
if (input_info_map.size() != 2) {
throw std::logic_error("Vehicle Attribs topology should have only two inputs");
}
@@ -38,7 +38,7 @@ bool Models::LicensePlateDetectionModel::updateLayerProperty(
throw std::logic_error("License plate detection max sequence size dismatch");
}
InferenceEngine::OutputsDataMap output_info_map(
- net_reader->getNetwork().getOutputsInfo());
+ net_reader.getOutputsInfo());
if (output_info_map.size() != 1) {
throw std::logic_error("Vehicle Attribs Network expects networks having one output");
}
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 71bb68e..949deeb 100644
--- a/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp
+++ b/dynamic_vino_lib/src/models/object_detection_ssd_model.cpp
@@ -148,11 +148,11 @@ bool Models::ObjectDetectionSSDModel::fetchResults(
}
bool Models::ObjectDetectionSSDModel::updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
- InferenceEngine::InputsDataMap input_info_map(net_reader->getNetwork().getInputsInfo());
+ InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo());
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;
@@ -168,7 +168,7 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty(
setInputWidth(input_dims[3]);
slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl;
- InferenceEngine::OutputsDataMap output_info_map(net_reader->getNetwork().getOutputsInfo());
+ InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo());
if (output_info_map.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."
@@ -182,6 +182,7 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty(
output_data_ptr->setPrecision(InferenceEngine::Precision::FP32);
///TODO: double check this part: BEGIN
+#if(0)
const InferenceEngine::CNNLayerPtr output_layer =
net_reader->getNetwork().getLayerByName(output_info_map.begin()->first.c_str());
// output layer should have attribute called num_classes
@@ -194,6 +195,7 @@ bool Models::ObjectDetectionSSDModel::updateLayerProperty(
// class number should be equal to size of label vector
// if network has default "background" class, fake is used
const int num_classes = output_layer->GetParamAsInt("num_classes");
+#endif
#if 0
slog::info << "Checking Object Detection output ... num_classes=" << num_classes << slog::endl;
if (getLabels().size() != num_classes) {
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 1e8d26c..1c86020 100644
--- a/dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp
+++ b/dynamic_vino_lib/src/models/object_detection_yolov2_model.cpp
@@ -34,11 +34,11 @@ Models::ObjectDetectionYolov2Model::ObjectDetectionYolov2Model(
}
bool Models::ObjectDetectionYolov2Model::updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
- InferenceEngine::InputsDataMap input_info_map(net_reader->getNetwork().getInputsInfo());
+ InferenceEngine::InputsDataMap input_info_map(net_reader.getInputsInfo());
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;
@@ -52,7 +52,7 @@ bool Models::ObjectDetectionYolov2Model::updateLayerProperty(
addInputInfo("input", input_info_map.begin()->first);
// set output property
- InferenceEngine::OutputsDataMap output_info_map(net_reader->getNetwork().getOutputsInfo());
+ InferenceEngine::OutputsDataMap output_info_map(net_reader.getOutputsInfo());
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."
@@ -65,6 +65,7 @@ bool Models::ObjectDetectionYolov2Model::updateLayerProperty(
slog::info << "Checking Object Detection output ... Name=" << output_info_map.begin()->first
<< slog::endl;
+#if(0) ///
const InferenceEngine::CNNLayerPtr output_layer =
net_reader->getNetwork().getLayerByName(output_info_map.begin()->first.c_str());
// output layer should have attribute called num_classes
@@ -86,6 +87,7 @@ bool Models::ObjectDetectionYolov2Model::updateLayerProperty(
getLabels().clear();
}
}
+#endif
// last dimension of output layer should be 7
const InferenceEngine::SizeVector output_dims = output_data_ptr->getTensorDesc().getDims();
@@ -226,19 +228,19 @@ bool Models::ObjectDetectionYolov2Model::fetchResults(
const float * detections =
request->GetBlob(output)->buffer().as<InferenceEngine::PrecisionTrait
<InferenceEngine::Precision::FP32>::value_type *>();
- InferenceEngine::CNNLayerPtr layer =
- getNetReader()->getNetwork().getLayerByName(output.c_str());
+ ///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");
- }
+ ///if (layer != nullptr && layer->type != "RegionYolo") {
+ /// throw std::runtime_error("Invalid output type: " + layer->type + ". RegionYolo expected");
+ ///}
// --------------------------- Extracting layer parameters --------------------------------
- const int num = layer->GetParamAsInt("num");
- const int coords = layer->GetParamAsInt("coords");
- const int classes = layer->GetParamAsInt("classes");
+ 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<int>(blob->getTensorDesc().getDims()[2]);;
diff --git a/dynamic_vino_lib/src/models/object_segmentation_model.cpp b/dynamic_vino_lib/src/models/object_segmentation_model.cpp
index b83eb33..c64baff 100644
--- a/dynamic_vino_lib/src/models/object_segmentation_model.cpp
+++ b/dynamic_vino_lib/src/models/object_segmentation_model.cpp
@@ -109,11 +109,11 @@ const std::string Models::ObjectSegmentationModel::getModelCategory() const
}
bool Models::ObjectSegmentationModel::updateLayerProperty(
- const InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info<< "Checking INPUTS for Model" <<getModelName()<<slog::endl;
- auto network = net_reader->getNetwork();
+ auto network = net_reader;
input_info_ = InferenceEngine::InputsDataMap(network.getInputsInfo());
InferenceEngine::ICNNNetwork:: InputShapes inputShapes = network.getInputShapes();
@@ -193,8 +193,8 @@ bool Models::ObjectSegmentationModel::updateLayerProperty(
//const InferenceEngine::CNNLayerPtr output_layer =
//network.getLayerByName(outputsDataMap.begin()->first.c_str());
- const InferenceEngine::CNNLayerPtr output_layer =
- network.getLayerByName(getOutputName("detection").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;
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 3537ae4..355b285 100644
--- a/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp
+++ b/dynamic_vino_lib/src/models/person_attribs_detection_model.cpp
@@ -25,11 +25,11 @@ Models::PersonAttribsDetectionModel::PersonAttribsDetectionModel(
: BaseModel(model_loc, max_batch_size) {}
bool Models::PersonAttribsDetectionModel::updateLayerProperty(
- InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
InferenceEngine::InputsDataMap input_info_map(
- net_reader->getNetwork().getInputsInfo());
+ net_reader.getInputsInfo());
if (input_info_map.size() != 1) {
throw std::logic_error("Person Attribs topology should have only one input");
}
@@ -40,7 +40,7 @@ bool Models::PersonAttribsDetectionModel::updateLayerProperty(
slog::info << "Checking OUTPUTs for model " << getModelName() << slog::endl;
InferenceEngine::OutputsDataMap output_info_map(
- net_reader->getNetwork().getOutputsInfo());
+ net_reader.getOutputsInfo());
if (output_info_map.size() != 3) {
throw std::logic_error("Person Attribs Network expects networks having 3 output");
}
diff --git a/dynamic_vino_lib/src/models/person_reidentification_model.cpp b/dynamic_vino_lib/src/models/person_reidentification_model.cpp
index 249f978..7ae2410 100644
--- a/dynamic_vino_lib/src/models/person_reidentification_model.cpp
+++ b/dynamic_vino_lib/src/models/person_reidentification_model.cpp
@@ -50,11 +50,11 @@ const std::string Models::PersonReidentificationModel::getModelCategory() const
}
*/
bool Models::PersonReidentificationModel::updateLayerProperty(
- InferenceEngine::CNNNetReader::Ptr netreader)
+ InferenceEngine::CNNNetwork& netreader)
{
slog::info << "Checking Inputs for Model" << getModelName() << slog::endl;
- auto network = netreader->getNetwork();
+ auto network = netreader;
InferenceEngine::InputsDataMap input_info_map(network.getInputsInfo());
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 ce58d23..1cdf68b 100644
--- a/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp
+++ b/dynamic_vino_lib/src/models/vehicle_attribs_detection_model.cpp
@@ -25,17 +25,17 @@ Models::VehicleAttribsDetectionModel::VehicleAttribsDetectionModel(
: BaseModel(model_loc, max_batch_size) {}
bool Models::VehicleAttribsDetectionModel::updateLayerProperty(
- InferenceEngine::CNNNetReader::Ptr net_reader)
+ InferenceEngine::CNNNetwork& net_reader)
{
slog::info << "Checking INPUTs for model " << getModelName() << slog::endl;
// set input property
InferenceEngine::InputsDataMap input_info_map(
- net_reader->getNetwork().getInputsInfo());
+ net_reader.getInputsInfo());
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->getNetwork().getOutputsInfo());
+ net_reader.getOutputsInfo());
if (output_info_map.size() != 2) {
throw std::logic_error("Vehicle Attribs Network expects networks having two outputs");
}
openvino@openvino-RQT37:~/my_ros2_ws/src/ros2_openvino_toolkit$
```
github pull request
https://gitbook.tw/chapters/github/pull-request.html
Sign in with Wallet
Connect another wallet