Multiple ncs refactoring

movidius_ncs_example/CMakeLists.txt

@@ -1,11 +1,11 @@
 # Copyright (c) 2017 Intel Corporation
-# 
+#
 # 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.
@@ -42,13 +42,15 @@ add_executable(${PROJECT_NAME}_image_classification src/image_classification.cpp
 add_executable(${PROJECT_NAME}_image_detection src/image_detection.cpp)
 add_executable(${PROJECT_NAME}_stream_classification src/stream_classification.cpp)
 add_executable(${PROJECT_NAME}_stream_detection src/stream_detection.cpp)
+add_executable(${PROJECT_NAME}_single_device_classification src/single_device_classification.cpp)
+add_executable(${PROJECT_NAME}_multiple_devices_classification src/multiple_devices_classification.cpp)
 
 add_dependencies(${PROJECT_NAME}_image_classification
-                 ${${PROJECT_NAME}_EXPORTED_TARGETS} 
+                 ${${PROJECT_NAME}_EXPORTED_TARGETS}
                  ${catkin_EXPORTED_TARGETS})
 
 add_dependencies(${PROJECT_NAME}_image_detection
-                 ${${PROJECT_NAME}_EXPORTED_TARGETS} 
+                 ${${PROJECT_NAME}_EXPORTED_TARGETS}
                  ${catkin_EXPORTED_TARGETS})
 
 add_dependencies(${PROJECT_NAME}_stream_classification
@@ -59,6 +61,14 @@ add_dependencies(${PROJECT_NAME}_stream_detection
                  ${${PROJECT_NAME}_EXPORTED_TARGETS}
                  ${catkin_EXPORTED_TARGETS})
 
+add_dependencies(${PROJECT_NAME}_single_device_classification
+                 ${${PROJECT_NAME}_EXPORTED_TARGETS}
+                 ${catkin_EXPORTED_TARGETS})
+
+add_dependencies(${PROJECT_NAME}_multiple_devices_classification
+                 ${${PROJECT_NAME}_EXPORTED_TARGETS}
+                 ${catkin_EXPORTED_TARGETS})
+
 target_link_libraries(${PROJECT_NAME}_image_classification
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
@@ -78,6 +88,17 @@ target_link_libraries(${PROJECT_NAME}_stream_detection
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
 )
+
+target_link_libraries(${PROJECT_NAME}_single_device_classification
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+)
+
+target_link_libraries(${PROJECT_NAME}_multiple_devices_classification
+  ${catkin_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+)
+
 # Flags
 if(UNIX OR APPLE)
   # Linker flags.
@@ -119,7 +140,8 @@ if(UNIX OR APPLE)
 endif()
 
 install(TARGETS ${PROJECT_NAME}_image_classification ${PROJECT_NAME}_image_detection
-  ${PROJECT_NAME}_stream_classification ${PROJECT_NAME}_stream_detection
+  ${PROJECT_NAME}_stream_classification ${PROJECT_NAME}_stream_detection ${PROJECT_NAME}_single_device_classification
+  ${PROJECT_NAME}_multiple_devices_classification
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

movidius_ncs_example/src/image_classification.cpp

@@ -16,9 +16,48 @@
 
 #include <opencv2/highgui.hpp>
 #include <cv_bridge/cv_bridge.h>
+
 #include <ros/ros.h>
 #include <object_msgs/ClassifyObject.h>
 
+#include <vector>
+#include <dirent.h>
+
+#include <boost/date_time/posix_time/posix_time.hpp>
+#include <chrono>
+
+#define LINESPACING 30
+
+std::vector<std::string> getImagePath(std::string image_dir)
+{
+  if (image_dir.back() != '/')
+  {
+    image_dir += "/";
+  }
+
+  std::vector<std::string> files;
+
+  DIR* dir;
+  struct dirent* ptr;
+
+  if ((dir = opendir(image_dir.c_str())) == NULL)
+  {
+    perror("Open Dir error...");
+    exit(1);
+  }
+
+  while ((ptr = readdir(dir)) != NULL)
+  {
+    if (strcmp(ptr->d_name, ".") == 0 || strcmp(ptr->d_name, "..") == 0)
+      continue;
+    else if (ptr->d_type == 8)
+      files.push_back(image_dir + ptr->d_name);
+  }
+  closedir(dir);
+
+  return files;
+}
+
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "movidius_ncs_example");
@@ -29,31 +68,52 @@ int main(int argc, char** argv)
     return -1;
   }
 
+  std::vector<std::string> images_path = getImagePath(*(argv + 1));
+
   ros::NodeHandle n;
   ros::ServiceClient client;
   client = n.serviceClient<object_msgs::ClassifyObject>("/movidius_ncs_image/classify_object");
   object_msgs::ClassifyObject srv;
 
-  cv_bridge::CvImage cv_image;
-  sensor_msgs::Image ros_image;
-  cv_image.image = cv::imread(argv[1]);
-  cv_image.encoding = "bgr8";
-  cv_image.toImageMsg(ros_image);
-  srv.request.image = ros_image;
+  srv.request.images_path = images_path;
+
+  boost::posix_time::ptime start = boost::posix_time::microsec_clock::local_time();
 
   if (!client.call(srv))
   {
     ROS_ERROR("failed to call service ClassifyObject");
     return 1;
   }
 
-  for (unsigned int i = 0; i < srv.response.objects.objects_vector.size(); i++)
+  boost::posix_time::ptime end = boost::posix_time::microsec_clock::local_time();
+  boost::posix_time::time_duration msdiff = end - start;
+
+  for (unsigned int i = 0; i < srv.response.objects.size(); i++)
   {
-    ROS_INFO("%d: object: %s\nprobability: %lf%%", i,
-             srv.response.objects.objects_vector[i].object_name.c_str(),
-             srv.response.objects.objects_vector[i].probability * 100);
+    cv_bridge::CvImage cv_image;
+    cv_image.image = cv::imread(images_path[i]);
+    cv_image.encoding = "bgr8";
+    int cnt = 0;
+
+    ROS_INFO("Classification result for image No.%u:", i + 1);
+    for (unsigned int j = 0; j < srv.response.objects[i].objects_vector.size(); j++)
+    {
+      std::stringstream ss;
+      ss << srv.response.objects[i].objects_vector[j].object_name << ": "
+         << srv.response.objects[i].objects_vector[j].probability * 100 << "%";
+
+      ROS_INFO("%d: object: %s\nprobability: %lf%%", j, srv.response.objects[i].objects_vector[j].object_name.c_str(),
+               srv.response.objects[i].objects_vector[j].probability * 100);
+
+      cv::putText(cv_image.image, ss.str(), cvPoint(LINESPACING, LINESPACING * (++cnt)), cv::FONT_HERSHEY_SIMPLEX, 0.5,
+                  cv::Scalar(0, 255, 0), 1);
+    }
+
+    cv::imshow("image_classification", cv_image.image);
+    cv::waitKey(0);
   }
 
-  ROS_INFO("inference time: %fms", srv.response.objects.inference_time_ms);
+  ROS_INFO("inference %lu images during %ld ms", srv.response.objects.size(), msdiff.total_milliseconds());
+
   return 0;
 }

movidius_ncs_example/src/image_detection.cpp

@@ -13,6 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
@@ -21,6 +22,42 @@
 
 #include <object_msgs/DetectObject.h>
 
+#include <vector>
+#include <dirent.h>
+
+#include <boost/date_time/posix_time/posix_time.hpp>
+#include <chrono>
+
+std::vector<std::string> getImagePath(std::string image_dir)
+{
+  if (image_dir.back() != '/')
+  {
+    image_dir += "/";
+  }
+
+  std::vector<std::string> files;
+
+  DIR* dir;
+  struct dirent* ptr;
+
+  if ((dir = opendir(image_dir.c_str())) == NULL)
+  {
+    perror("Open Dir error...");
+    exit(1);
+  }
+
+  while ((ptr = readdir(dir)) != NULL)
+  {
+    if (strcmp(ptr->d_name, ".") == 0 || strcmp(ptr->d_name, "..") == 0)
+      continue;
+    else if (ptr->d_type == 8)
+      files.push_back(image_dir + ptr->d_name);
+  }
+  closedir(dir);
+
+  return files;
+}
+
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "movidius_ncs_example");
@@ -31,58 +68,70 @@ int main(int argc, char** argv)
     return -1;
   }
 
+  std::vector<std::string> images_path = getImagePath(*(argv + 1));
+
   ros::NodeHandle n;
   ros::ServiceClient client;
   client = n.serviceClient<object_msgs::DetectObject>("/movidius_ncs_image/detect_object");
   object_msgs::DetectObject srv;
 
-  cv_bridge::CvImage cv_image;
-  sensor_msgs::Image ros_image;
-  cv_image.image = cv::imread(argv[1]);
-  cv_image.encoding = "bgr8";
-  cv_image.toImageMsg(ros_image);
-  int width = cv_image.image.cols;
-  int height = cv_image.image.rows;
+  srv.request.images_path = images_path;
 
-  srv.request.image = ros_image;
+  boost::posix_time::ptime start = boost::posix_time::microsec_clock::local_time();
 
   if (!client.call(srv))
   {
     ROS_ERROR("failed to call service DetectObject");
     return 1;
   }
 
-  for (unsigned int i = 0; i < srv.response.objects.objects_vector.size(); i++)
+  boost::posix_time::ptime end = boost::posix_time::microsec_clock::local_time();
+  boost::posix_time::time_duration msdiff = end - start;
+
+  for (unsigned int i = 0; i < srv.response.objects.size(); i++)
   {
-    std::stringstream ss;
-    ss << srv.response.objects.objects_vector[i].object.object_name << ": "
-       << srv.response.objects.objects_vector[i].object.probability * 100 << "%";
-
-    ROS_INFO("%d: object: %s", i, srv.response.objects.objects_vector[i].object.object_name.c_str());
-    ROS_INFO("prob: %f", srv.response.objects.objects_vector[i].object.probability);
-    ROS_INFO("location: (%d, %d, %d, %d)",
-             srv.response.objects.objects_vector[i].roi.x_offset,
-             srv.response.objects.objects_vector[i].roi.y_offset,
-             srv.response.objects.objects_vector[i].roi.width,
-             srv.response.objects.objects_vector[i].roi.height);
-
-    int xmin = srv.response.objects.objects_vector[i].roi.x_offset;
-    int ymin = srv.response.objects.objects_vector[i].roi.y_offset;
-    int w = srv.response.objects.objects_vector[i].roi.width;
-    int h = srv.response.objects.objects_vector[i].roi.height;
-
-    int xmax = ((xmin + w) < width)? (xmin + w) : width;
-    int ymax = ((ymin + h) < height)? (ymin + h) : height;
-
-    cv::Point left_top = cv::Point(xmin, ymin);
-    cv::Point right_bottom = cv::Point(xmax, ymax);
-    cv::rectangle(cv_image.image, left_top, right_bottom, cv::Scalar(0, 255, 0), 1, cv::LINE_8, 0);
-    cv::rectangle(cv_image.image, cvPoint(xmin, ymin), cvPoint(xmax, ymin + 20), cv::Scalar(0, 255, 0), -1);
-    cv::putText(cv_image.image, ss.str(), cvPoint(xmin + 5, ymin + 20), cv::FONT_HERSHEY_PLAIN,
-                1, cv::Scalar(0, 0, 255), 1);
-  }
-    ROS_INFO("inference time: %fms", srv.response.objects.inference_time_ms);
+    cv_bridge::CvImage cv_image;
+    cv_image.image = cv::imread(images_path[i]);
+    cv_image.encoding = "bgr8";
+    int width = cv_image.image.cols;
+    int height = cv_image.image.rows;
+
+    ROS_INFO("Detection result for image No.%u:", i + 1);
+
+    for (unsigned int j = 0; j < srv.response.objects[i].objects_vector.size(); j++)
+    {
+      std::stringstream ss;
+      ss << srv.response.objects[i].objects_vector[j].object.object_name << ": "
+         << srv.response.objects[i].objects_vector[j].object.probability * 100 << "%";
+
+      ROS_INFO("%d: object: %s", j, srv.response.objects[i].objects_vector[j].object.object_name.c_str());
+      ROS_INFO("prob: %f", srv.response.objects[i].objects_vector[j].object.probability);
+      ROS_INFO("location: (%d, %d, %d, %d)", srv.response.objects[i].objects_vector[j].roi.x_offset,
+               srv.response.objects[i].objects_vector[j].roi.y_offset,
+               srv.response.objects[i].objects_vector[j].roi.width,
+               srv.response.objects[i].objects_vector[j].roi.height);
+
+      int xmin = srv.response.objects[i].objects_vector[j].roi.x_offset;
+      int ymin = srv.response.objects[i].objects_vector[j].roi.y_offset;
+      int w = srv.response.objects[i].objects_vector[j].roi.width;
+      int h = srv.response.objects[i].objects_vector[j].roi.height;
+
+      int xmax = ((xmin + w) < width) ? (xmin + w) : width;
+      int ymax = ((ymin + h) < height) ? (ymin + h) : height;
+
+      cv::Point left_top = cv::Point(xmin, ymin);
+      cv::Point right_bottom = cv::Point(xmax, ymax);
+      cv::rectangle(cv_image.image, left_top, right_bottom, cv::Scalar(0, 255, 0), 1, cv::LINE_8, 0);
+      cv::rectangle(cv_image.image, cvPoint(xmin, ymin), cvPoint(xmax, ymin + 20), cv::Scalar(0, 255, 0), -1);
+      cv::putText(cv_image.image, ss.str(), cvPoint(xmin + 5, ymin + 20), cv::FONT_HERSHEY_PLAIN, 1,
+                  cv::Scalar(0, 0, 255), 1);
+    }
+
     cv::imshow("image_detection", cv_image.image);
     cv::waitKey(0);
-    return 0;
+  }
+
+  ROS_INFO("inference %lu images during %ld ms", srv.response.objects.size(), msdiff.total_milliseconds());
+
+  return 0;
 }