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Merge pull request atenpas#47 from sharronliu/master
Enable OpenVINO option for GPD
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2018 Intel Corporation | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef CLASSIFIER_H_ | ||
| #define CLASSIFIER_H_ | ||
|
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| // System | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
|
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| // OpenCV | ||
| #include <opencv2/core/core.hpp> | ||
|
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| /** Classifier class | ||
| * | ||
| * \brief Abstract base class for classifier that Classify grasp candidates as viable grasps or not | ||
| * | ||
| */ | ||
| class Classifier | ||
| { | ||
| public: | ||
|
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| enum class Device : uint8_t { | ||
| eCPU = 0, | ||
| eGPU = 1, | ||
| eVPU = 2, | ||
| eFPGA = 3 | ||
| }; | ||
|
|
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| /** | ||
| * \brief Create Classifier per build option. | ||
| * - If "USE_OPENVINO", an OpenVINO classifier will be created | ||
| * - Otherwise a Caffe classifier will be created | ||
| * \param model_file The location of the file that describes the network model | ||
| * \param weights_file The location of the file that contains the network weights | ||
| * \param device The target device where the network computation executes | ||
| */ | ||
| static std::shared_ptr<Classifier> create(const std::string& model_file, const std::string& weights_file, Device device = Device::eCPU); | ||
|
|
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| /** | ||
| * \brief Classify grasp candidates as viable grasps or not. | ||
| * \param image_list the list of grasp images | ||
| * \return the classified grasp candidates | ||
| */ | ||
| virtual std::vector<float> classifyImages(const std::vector<cv::Mat>& image_list) = 0; | ||
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| virtual int getBatchSize() const = 0; | ||
| }; | ||
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| #endif /* CLASSIFIER_H_ */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2018 Intel Corporation | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
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| #ifndef OPENVINO_CLASSIFIER_H_ | ||
| #define OPENVINO_CLASSIFIER_H_ | ||
|
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| // System | ||
| #include <string> | ||
| #include <vector> | ||
|
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| // OpenVINO | ||
| #include <inference_engine.hpp> | ||
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| // OpenCV | ||
| #include <opencv2/opencv.hpp> | ||
|
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| #include <gpd/classifier.h> | ||
|
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| #define MODELS_DIR "@MODELS_DIR@" | ||
|
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| /** CaffeClassifier class | ||
| * | ||
| * \brief Classify grasp candidates as viable grasps or not | ||
| * | ||
| * This class classifies grasps as viable or not using a convolutional neural network (CNN) in the Caffe framework. | ||
| * | ||
| */ | ||
| class OpenVINOClassifier : public Classifier | ||
| { | ||
| public: | ||
|
|
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| /** | ||
| * \brief Constructor. | ||
| * \param model_dir The directory that contains the openvino network model | ||
| * \param device The target device where the computation executes | ||
| */ | ||
| OpenVINOClassifier(Classifier::Device device); | ||
|
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| std::vector<float> classifyImages(const std::vector<cv::Mat>& image_list); | ||
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| int getBatchSize() const; | ||
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| private: | ||
| static std::map<Classifier::Device, InferenceEngine::TargetDevice> device_map_; | ||
| std::vector<cv::Mat> batch_image_list_; | ||
| InferenceEngine::Blob::Ptr input_blob_, output_blob_; | ||
| InferenceEngine::CNNNetwork network_; | ||
| InferenceEngine::InferRequest infer_request_; | ||
| InferenceEngine::InferencePlugin plugin_; | ||
| }; | ||
|
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| #endif /* OPENVINO_CLASSIFIER_H_ */ |
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