OpenVINO: added tutorial for openvino

This patch tells the steps to enable openvino:
+ guides to install OpenVINO
+ guides to verify OpenVINO installation
+ build GPD with OpenVINO
+ launch GPD with target device

Signed-off-by: Sharron LIU <[email protected]>

README.md

@@ -109,6 +109,7 @@ The output should look similar to the screenshot shown below.
 
 1. [Detect Grasps With an RGBD camera](tutorials/tutorial_1_grasps_camera.md)
 2. [Detect Grasps on a Specific Object](tutorials/tutorial_2_grasp_select.md)
+3. [Detect Grasps with OpenVINO](tutorials/tutorial_openvino.md)
 
 
 ## 7) Parameters

tutorials/tutorial_openvino.md

@@ -0,0 +1,35 @@
+# Tutorial Enable OpenVINO
+
+In this tutorial, we introduce how to enable OpenVINO option for grasp detection.
+
+## 1. Install OpenVINO toolkit
+OpenVINO supports multiple host OS. We verified with Linux.
+[Installing the OpenVINO Toolkit for Linux](https://software.intel.com/en-us/articles/OpenVINO-Install-Linux)
+
+## 2. Verify OpenVINO installation
+Try to run the demo scripts.
+[Verify the Demo Scripts](https://software.intel.com/en-us/articles/OpenVINO-Install-Linux#inpage-nav-3-5)
+Then try to run OpenVINO inference example applications.
+[Build the Samples](https://software.intel.com/en-us/articles/OpenVINO-InferEngine#inpage-nav-6),
+[Running the Samples](https://software.intel.com/en-us/articles/OpenVINO-InferEngine#inpage-nav-7)
+
+## 3. Build GPD with OpenVINO
+Once OpenVINO installed, build GPD with option "USE_OPENVINO" ([OFF]|ON)
+```
+catkin_make -DCMAKE_BUILD_TYPE=Release -DUSE_OPENVINO=ON --pkg gpd
+```
+
+## 4. Launch GPD with OpenVINO
+The launch process is similar to [Detect Grasps With an RGBD camera](tutorials/tutorial_1_grasps_camera.md),
+just with an additional param "device" ([0:CPU]|1:GPU|2:VPU|3:FPGA) to specify the target device to execute the
+grasp detection.
+```
+# launch the openni camera for pointcloud2
+roslaunch openni2_launch openni2.launch
+# start rviz
+rosrun rviz rviz
+# setup OpenVINO environment variables, replacing <OPENVINO_INSTALL_DIR> with the specific location
+source <OPENVINO_INSTALL_DIR>/bin/setupvars.sh
+# launch the grasp detection
+roslaunch gpd tutorial1.launch device:=0
+```