Option 2: USB camera
December 21, 2017 ยท View on GitHub
Classification for Video
This project supports multiple CNN models for classification. Please make sure you have already set up environment and installed this project correctly. You can refer to the following links for your interested models then.
1 CNN Models
2 Run with Other ROS Supported Cameras
3 Other Arguments
1 CNN Models
Compile NCS graph.
cd /opt/movidius/ncappzoo/caffe/AlexNet
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=alexnet camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=alexnet camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/caffe/GoogleNet
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=googlenet camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=googlenet camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/caffe/SqueezeNet
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=squeezenet camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=squeezenet camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/tensorflow/inception_v1
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v1 camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v1 camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/tensorflow/inception_v2
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v2 camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v2 camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/tensorflow/inception_v3
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v3 camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v3 camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/tensorflow/inception_v4
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v4 camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v4 camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
Compile NCS graph.
cd /opt/movidius/ncappzoo/tensorflow/mobilenets
make
Launch video streaming nodelet.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=mobilenet camera:=realsense
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=mobilenet camera:=usb
Launch image viewer to show the classification result on another console.
# Option 1: RealSense
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw"
# Option 2: USB camera
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/usb_cam/image_raw"
2 Run with Other ROS Supported Cameras
Though this ROS package is only tested on RealSense D400 series camera and Microsoft HD-300 USB camera, other ROS supported cameras probably work as well. You can try in this way:
Launch your preferred camera node.
#launch ROS master
roscore
#launch camera node on another console
rosrun <your-camera-pkg> <your-camera-node>
Launch video streaming nodelet and assign input_topic with the topic URL of your RGB camera.
# Launch video streaming nodelet
roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=googlenet camera:=others input_topic:=<your_rgb_camera_topic>
# Launch image viewer to show the classification result on another console
roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:=<your_rgb_camera_topic>
3 Other Arguments
| Arguments | Description | Default Value | Valid Values |
|---|---|---|---|
| device_index | ncs device index | 0 | 0~N-1(N is the maximum number of inserted NCS devices) |
| log_level | ncs log level | 0 | 0:Nothing / 1:Errors / 2:Verbose |
| cnn_type | indicate different cnn models | googlenet | alexnet / googlenet / squeezenet / inception_v1 / inception_v2 / inception_v3 / inception_v4 / mobilenet |
| top_n | the number of results to be shown, only valid for classification | 3 | 0~5 |
| input_topic | RGB camera topic to be subscribed | /camera/color/image_raw | only valid when "camera:=others" |
| output_topic | published topic of inference results | /movidius_ncs_nodelet/classified_objects | any valid topic name |
| camera | camera type | others | usb / realsense / others |
| color_width | frame width of RealSense D400 | 640 | any resolution that RealSense D400 supports |
| color_height | frame height of RealSense D400 | 480 | any resolution that RealSense D400 supports |
| image_width | frame width of USB camera | 640 | any resolution that USB camera supports |
| image_height | frame height of USB camera | 480 | any resolution that USB camera supports |
| video_device | USB camera device node | /dev/video0 | any available video device node |