pipeline_object.yaml

Pipelines:
- name: object
  inputs: [StandardCamera]
  infers:
    - name: ObjectDetection
      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.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
  outputs: [ImageWindow, RosTopic]
  connects:
    - left: StandardCamera
      right: [ObjectDetection]
    - left: ObjectDetection
      right: [ImageWindow]
    - left: ObjectDetection
      right: [RosTopic]

OpenvinoCommon: