Merge pull request #69 from RachelRen05/add_reid

Add reid

README.md

@@ -58,6 +58,7 @@ Currently, the inference feature list is supported:
 |Object Detection| object detection based on SSD-based trained models.|
 |Vehicle Detection| Vehicle and passenger detection based on Intel models.|
 |Object Segmentation| object detection and segmentation.|
+|Person Reidentification| Person Reidentification based on object detection.|
 
 ## ROS interfaces and outputs
 ### Topic
@@ -77,6 +78,8 @@ Currently, the inference feature list is supported:
 ```/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/devel/people_msgs/msg/ObjectsInMasks.msg))
+- Person Reidentification:
+```/ros2_openvino_toolkit/reidentified_persons```([people_msgs::msg::ReidentificationStamped](https://github.com/intel/ros2_openvino_toolkit/blob/devel/people_msgs/msg/ReidentificationStamped.msg))
 - Rviz Output:
 ```/ros2_openvino_toolkit/image_rviz```([sensor_msgs::msg::Image](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg))
 
@@ -112,6 +115,9 @@ 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/devel/data/images/object_segmentation.gif "object segmentation demo video")
 
+* Person Reidentification input from standard camera
+![person_reidentification_demo_video](https://github.com/intel/ros2_openvino_toolkit/blob/devel/data/images/person-reidentification.gif "person reidentification demo video")
+
 # Installation & Launching
 **NOTE:** Intel releases 2 different series of OpenVINO Toolkit, we call them as [OpenSource Version](https://github.com/opencv/dldt/) and [Tarball Version](https://software.intel.com/en-us/openvino-toolkit). This guidelie uses OpenSource Version as the installation and launching example. **If you want to use Tarball version, please follow [the guide for Tarball Version](https://github.com/intel/ros2_openvino_toolkit/blob/devel/doc/BINARY_VERSION_README.md).**
 
@@ -189,6 +195,8 @@ One-step installation scripts are provided for the dependencies' installation. P
 		python3 downloader.py --name age-gender-recognition-retail-0013
 		python3 downloader.py --name emotions-recognition-retail-0003
 		python3 downloader.py --name head-pose-estimation-adas-0001
+		python3 downloader.py --name person-detection-retail-0013
+		python3 downloader.py --name person-reidentification-retail-0076
 		```
 	* copy label files (excute _once_)<br>
 		```bash
@@ -225,6 +233,10 @@ One-step installation scripts are provided for the dependencies' installation. P
 	```bash
 	ros2 launch dynamic_vino_sample pipeline_video.launch.py
 	```
+* run person reidentification sample code input from StandardCamera.
+	```bash
+	ros2 launch dynamic_vino_sample pipeline_reidentification_oss.launch.py
+	```
 * run object detection service sample code input from Image  
   Run image processing service:
 	```bash

doc/BINARY_VERSION_README.md

@@ -178,6 +178,10 @@ This project is a ROS2 wrapper for CV API of [OpenVINO™](https://software.inte
 	```bash
 	ros2 launch dynamic_vino_sample pipeline_video.launch.py
 	```
+* run person reidentification sample code input from StandardCamera.
+	```bash
+	ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py
+	```
 * run object detection service sample code input from Image  
   Run image processing service:
 	```bash

sample/launch/pipeline_reidentification.launch.py

@@ -0,0 +1,44 @@
+# 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
+
+
+def generate_launch_description():
+    default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param',
+                                'pipeline_reidentification.yaml')
+    default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='dynamic_vino_sample', node_executable='pipeline_with_params',
+            arguments=['-config', default_yaml],
+            remappings=[
+                ('/openvino_toolkit/detected_objects', '/ros2_openvino_toolkit/detected_objects'),
+                ('/openvino_toolkit/reidentified_persons', '/ros2_openvino_toolkit/reidentified_persons'),
+                ('/openvino_toolkit/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])

sample/launch/pipeline_reidentification_oss.launch.py

@@ -0,0 +1,44 @@
+# 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
+
+
+def generate_launch_description():
+    default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param',
+                                'pipeline_reidentification_oss.yaml')
+    default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='dynamic_vino_sample', node_executable='pipeline_with_params',
+            arguments=['-config', default_yaml],
+            remappings=[
+                ('/openvino_toolkit/detected_objects', '/ros2_openvino_toolkit/detected_objects'),
+                ('/openvino_toolkit/reidentified_persons', '/ros2_openvino_toolkit/reidentified_persons'),
+                ('/openvino_toolkit/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])

sample/param/pipeline_reidentification.yaml

@@ -15,21 +15,13 @@ Pipelines:
       label: to/be/set/xxx.labels
       batch: 1
       confidence_threshold: 0.7
-    - name: PersonAttribsDetection
-      model: /opt/intel/computer_vision_sdk/deployment_tools/intel_models/person-attributes-recognition-crossroad-0031/FP32/person-attributes-recognition-crossroad-0031.xml
-      engine: CPU
-      label: to/be/set/xxx.labels
-      batch: 1
-      confidence_threshold: 0.5
   outputs: [ImageWindow, RViz, RosTopic]
   connects:
     - left: StandardCamera
       right: [ObjectDetection]
     - left: ObjectDetection
-      right: [PersonReidentification, PersonAttribsDetection]
+      right: [PersonReidentification]
     - left: PersonReidentification
       right: [ImageWindow, RViz, RosTopic]
-    - left: PersonAttribsDetection
-      right: [ImageWindow, RViz, RosTopic]
 
 OpenvinoCommon:

sample/param/pipeline_reidentification_oss.yaml

@@ -0,0 +1,27 @@
+Pipelines:
+- name: object
+  inputs: [StandardCamera]
+  infers:
+    - name: ObjectDetection
+      model: /opt/openvino_toolkit/open_model_zoo/model_downloader/Retail/object_detection/pedestrian/rmnet_ssd/0013/dldt/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/open_model_zoo/model_downloader/Retail/object_reidentification/pedestrian/rmnet_based/0076/dldt/person-reidentification-retail-0076.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+      confidence_threshold: 0.7
+  outputs: [ImageWindow, RViz, RosTopic]
+  connects:
+    - left: StandardCamera
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [PersonReidentification]
+    - left: PersonReidentification
+      right: [ImageWindow, RViz, RosTopic]
+
+OpenvinoCommon: