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ros_openvino_toolkit

1. Introduction

The OpenVINO™ toolkit quickly deploys applications and solutions that emulate human vision. Based on Convolutional Neural Networks (CNN), the Toolkit extends computer vision (CV) workloads across Intel® hardware, maximizing performance.

This project is a ROS wrapper for CV API of OpenVINO™, providing the following features:

  • Support CPU and GPU platforms
  • Support standard USB camera and Intel® RealSense™ camera
  • Face detection
  • Emotion recognition
  • Age and gender recognition
  • Head pose recognition
  • Demo application to show above detection and recognitions

2. Prerequisite

  • An x86_64 computer running Ubuntu 16.04. Below processors are supported:

    • 6th-8th Generation Intel® Core™
    • Intel® Xeon® v5 family
    • Intel® Xeon® v6 family

  • ROS Kinetic(For Ubuntu16.04) or ROS Melodic(For Ubuntu18.04)

  • OpenVINO™ Toolkit Open Source

    • The Deep Learning Deployment Toolkit 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 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.

3. Environment Setup

Note:You can choose to build the environment using ./environment_setup.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.

./environment_setup.sh

Note:You can also choose to follow the steps below to build the environment step by step.

  • For Ubuntu16.04, install ROS Kinetic Desktop-Full (guide)

  • For Ubuntu18.04, install ROS Melodic Desktop-Full (guide)

  • Install OpenVINO™ Toolkit Open Source

     [compiler] sudo apt-get install build-essential
 [required] sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
 [optional] sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
 cd ~/code
 git clone https://github.com/opencv/opencv.git
 git clone https://github.com/opencv/opencv_contrib.git
 cd opencv && git checkout 3.4.2 && cd ..
 cd opencv_contrib && git checkout 3.4.2 && cd ..
 cd opencv
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=$HOME/code/opencv_contrib/modules/ ..
 make -j8
 sudo make install
    • Install OpenCL Driver for GPU(guide)
     cd ~/Downloads
 wget http://registrationcenter-download.intel.com/akdlm/irc_nas/11396/SRB5.0_linux64.zip
 unzip SRB5.0_linux64.zip -d SRB5.0_linux64
 cd SRB5.0_linux64
 sudo apt-get install xz-utils
 mkdir intel-opencl
 tar -C intel-opencl -Jxf intel-opencl-r5.0-63503.x86_64.tar.xz
 tar -C intel-opencl -Jxf intel-opencl-devel-r5.0-63503.x86_64.tar.xz
 tar -C intel-opencl -Jxf intel-opencl-cpu-r5.0-63503.x86_64.tar.xz
 sudo cp -R intel-opencl/* /
 sudo ldconfig
     mkdir ~/code && cd ~/code
 git clone https://github.com/opencv/dldt.git
 cd dldt/inference-engine/
 git checkout 2019_R3
 ./install_dependencies.sh
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release ..
 make -j8
 sudo mkdir -p /opt/openvino_toolkit
 sudo ln -s ~/code/dldt /opt/openvino_toolkit/dldt
     cd ~/code
 git clone https://github.com/opencv/open_model_zoo.git
 cd open_model_zoo/demos/
 git checkout 2019_R3
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release /opt/openvino_toolkit/dldt/inference-engine
 make -j8
 sudo mkdir -p /opt/openvino_toolkit
 sudo ln -s ~/code/open_model_zoo /opt/openvino_toolkit/open_model_zoo

  • Install Intel® RealSense™ SDK 2.0 (tag v2.30.0)

  • Other Dependencies

     # numpy and networkx
 pip3 install numpy
 pip3 install networkx
 # libboost
 sudo apt-get install -y --no-install-recommends libboost-all-dev
 cd /usr/lib/x86_64-linux-gnu
 sudo ln -s libboost_python-py35.so libboost_python3.so

4. Building and Installation

  • set ENV InferenceEngine_DIR, CPU_EXTENSION_LIB and GFLAGS_LIB

     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 ROS_OpenVINO packages

     mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src
 git clone https://github.com/intel/ros_openvino_toolkit
 git clone https://github.com/intel/object_msgs
 git clone https://github.com/ros-perception/vision_opencv
 git clone https://github.com/intel-ros/realsense
 cd realsense
 git checkout 2.1.3

  • Build package

     # Ubuntu 16.04
 source /opt/ros/kinetic/setup.bash
 # Ubuntu 18.04
 source /opt/ros/melodic/setup.bash
 
 cd ~/catkin_ws
 catkin_make
 source devel/setup.bash
 sudo mkdir -p /opt/openvino_toolkit
 sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvino_toolkit
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