Merge pull request #171 from LewisLiuPub/prep_v0.7.0

Prep v0.7.0
intel · Dec 9, 2019 · 25bddbb · 25bddbb
2 parents bc1327c + 684dad0
commit 25bddbb
Show file tree

Hide file tree

Showing 7 changed files with 35 additions and 33 deletions.
diff --git a/dynamic_vino_lib/CMakeLists.txt b/dynamic_vino_lib/CMakeLists.txt
@@ -43,7 +43,7 @@ set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
 
 
 message(STATUS "Looking for inference engine configuration file at: ${CMAKE_PREFIX_PATH}")
-find_package(InferenceEngine 1.1)
+find_package(InferenceEngine REQUIRED)
 if(NOT InferenceEngine_FOUND)
     message(FATAL_ERROR "")
 endif()

diff --git a/dynamic_vino_lib/package.xml b/dynamic_vino_lib/package.xml
@@ -15,12 +15,14 @@ limitations under the License.
 
 <package format="2">
   <name>dynamic_vino_lib</name>
-  <version>0.3.0</version>
+  <version>0.7.0</version>
   <description>a ROS2 wrapper package for Intel OpenVINO</description>
   <maintainer email="[email protected]">Weizhi Liu</maintainer>
-  <maintainer email="[email protected]">Chao Li</maintainer>
-  <maintainer email="[email protected]">Hongkun Chen</maintainer>
-  <maintainer email="[email protected]">Yang Lu</maintainer>
+  <author email="[email protected]">Chao Li</author>
+  <author email="[email protected]">Hongkun Chen</author>
+  <author email="[email protected]">Yang Lu</author>
+  <author email="[email protected]">Xuyang Chen</author>
+  <author email="[email protected]">Rachel Ren</author>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/dynamic_vino_lib/src/engines/engine_manager.cpp b/dynamic_vino_lib/src/engines/engine_manager.cpp
@@ -57,6 +57,9 @@ std::shared_ptr<Engines::Engine> Engines::EngineManager::createEngine_V2019R2_pl
   const std::string & device, const std::shared_ptr<Models::BaseModel> & model)
 {
   InferenceEngine::Core core;
+  if ((device.find("CPU") != std::string::npos)) {
+    core.AddExtension(std::make_shared<InferenceEngine::Extensions::Cpu::CpuExtensions>(), device);
+  }
   auto executable_network = core.LoadNetwork(model->getNetReader()->getNetwork(), device);
   auto request = executable_network.CreateInferRequestPtr();
 

diff --git a/dynamic_vino_lib/src/pipeline.cpp b/dynamic_vino_lib/src/pipeline.cpp
@@ -186,31 +186,28 @@ void Pipeline::runOnce()
 {
   initInferenceCounter();
 
-  // auto t0 = std::chrono::high_resolution_clock::now();
-  if(width_ != 0 || height_ != 0){
-    for (auto pos = next_.equal_range(input_device_name_); pos.first != pos.second; ++pos.first) {
-      std::string detection_name = pos.first->second;
-      auto detection_ptr = name_to_detection_map_[detection_name];
-      detection_ptr->enqueue(frame_, cv::Rect(width_ / 2, height_ / 2, width_, height_));
-      increaseInferenceCounter();
-      detection_ptr->submitRequest();
-    }
-
-    for (auto & pair : name_to_output_map_) {
-      pair.second->feedFrame(frame_);
-    }
-    countFPS();
-  }
-
   if (!input_device_->read(&frame_)) {
     // throw std::logic_error("Failed to get frame from cv::VideoCapture");
     // slog::warn << "Failed to get frame from input_device." << slog::endl;
-    width_ = 0;
-    height_ = 0;
-  } else {
-    width_ = frame_.cols;
-    height_ = frame_.rows;
+    return; //do nothing if now frame read out
   }
+  width_ = frame_.cols;
+  height_ = frame_.rows;
+
+  // auto t0 = std::chrono::high_resolution_clock::now();
+  for (auto pos = next_.equal_range(input_device_name_); pos.first != pos.second; ++pos.first) {
+    std::string detection_name = pos.first->second;
+    auto detection_ptr = name_to_detection_map_[detection_name];
+    detection_ptr->enqueue(frame_, cv::Rect(width_ / 2, height_ / 2, width_, height_));
+    increaseInferenceCounter();
+    detection_ptr->submitRequest();
+  }
+
+  for (auto &pair : name_to_output_map_)
+  {
+    pair.second->feedFrame(frame_);
+  }
+  countFPS();
 
   std::unique_lock<std::mutex> lock(counter_mutex_);
   cv_.wait(lock, [self = this]() {return self->counter_ == 0;});
@@ -306,7 +303,7 @@ void Pipeline::decreaseInferenceCounter()
 }
 
 void Pipeline::countFPS()
-{  
+{
   frame_cnt_++;
   auto t_end = std::chrono::high_resolution_clock::now();
   typedef std::chrono::duration<double, std::ratio<1, 1000>> ms;

diff --git a/people_msgs/package.xml b/people_msgs/package.xml
@@ -15,7 +15,7 @@ limitations under the License.
 
 <package format="3">
   <name>people_msgs</name>
-  <version>0.3.0</version>
+  <version>0.7.0</version>
   <description>A package containing people message definitions.</description>
   <author email="[email protected]">Weizhi Liu</author>
   <author email="[email protected]">Chao Li</author>

diff --git a/pipeline_srv_msgs/package.xml b/pipeline_srv_msgs/package.xml
@@ -15,14 +15,13 @@ limitations under the License.
 
 <package format="3">
   <name>pipeline_srv_msgs</name>
-  <version>0.3.0</version>
+  <version>0.7.0</version>
   <description>A package containing pipeline service message definitions.</description>
   <author email="[email protected]">Yang Lu</author>
   <author email="[email protected]">Weizhi Liu</author>
   <author email="[email protected]">Chao Li</author>
   <author email="[email protected]">Hongkun Chen</author>
   <maintainer email="[email protected]">Weizhi Liu</maintainer>
-  <maintainer email="[email protected]">Weizhi Li</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/sample/package.xml b/sample/package.xml
@@ -15,11 +15,12 @@ limitations under the License.
 
 <package format="2">
   <name>dynamic_vino_sample</name>
-  <version>0.3.0</version>
+  <version>0.7.0</version>
   <description>a ROS2 wrapper package for Intel OpenVINO</description>
   <maintainer email="[email protected]">Weizhi Liu</maintainer>
-  <maintainer email="[email protected]">Chao Li</maintainer>
-  <maintainer email="[email protected]">Yang Lu</maintainer>
+  <author email="[email protected]">Chao Li</author>
+  <author email="[email protected]">Yang Lu</author>
+  <author email="[email protected]">Rachel Ren</author>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>