Difference between revisions of "TB3 Demos and Regression Tests"

From wikidb
Jump to: navigation, search
(Created page with "=== Core Functionality === * TurtleBot3_Run_Scripts Mapping and navigation * '''Passes''' === RealSense === * TB3_RealSense_Test on dell tests * '''Passed''' Real...")
 
(→‎ROS Movidius Applications)
 
(46 intermediate revisions by the same user not shown)
Line 1: Line 1:
−
=== Core Functionality ===
+
= USB Cam =
 +
 
 +
== Reference ==
 +
 
 +
* [[TR3 Standard USB Cameras]]
 +
* Pop up window of view out of /dev/video0
 +
 
 +
== Core Drivers ==
 +
 
 +
  $ roslaunch usb_cam usb_cam-test.launch
 +
 
 +
 
 +
= Navigation Functionality =
 +
 
 +
<b style="color: lime"> Mapping and Navigation </b>
  
 
* [[TurtleBot3_Run_Scripts]] Mapping and navigation
 
* [[TurtleBot3_Run_Scripts]] Mapping and navigation
 
* '''Passes'''
 
* '''Passes'''
  
−
=== RealSense ===
 
  
−
* [[TB3_RealSense_Test]] on dell tests
+
= RealSense =
−
* '''Passed'''  RealSense plugged in
+
 
 +
== Reference ==
 +
 
 +
* [[TB3_Install_ROS_RealSense_2]]
 +
 
 +
== Precondition ==
 +
 
 +
* D415 plugged in
 +
 
 +
== Core Drivers  ==
 +
<b style="color: lime"> Realsense viewer and Pointcloud </b>
 +
 
 +
  $ realsense-viewer
 +
or
 +
  $ rs-pointcloud
 +
 
 +
== ROS Realsense Wrapper ==
 +
 
 +
'''Terminal 1'''
 +
 
 +
  $ roscore
 +
 
 +
'''Terminal 2'''
 +
 
 +
  roslaunch realsense2_camera rs_camera.launch
 +
 
 +
'''Terminal 3'''
 +
  $ rosrun image_view image_view image:=/camera/color/image_raw
 +
or
 +
  $ rosrun image_view image_view image:=/camera/depth/image_rect_raw
 +
or Not Working
 +
  $ rqt_image_view
 +
 
 +
= ROS OpenCL Caffe with USB Cam =
 +
<b style="color: lime"> Live image classifier </b>
 +
 
 +
* [[TB3_ROS_OpenCL_Caffe#Demo_1]]
 +
* uses camera at /dev/vidio0
 +
 
 +
== Caffe ==
 +
 
 +
''' Terminal 1'''
 +
 
 +
  $ roscore
 +
 
 +
''' Terminal 2'''
 +
 
 +
  $ roslaunch opencl_caffe_launch usb_cam_viewer.launch
 +
 
 +
= Movidius Neural Compute Stick SDK 1.12 - Tensorflow example =
 +
 
 +
* [[TB3_Movidius_Neural_Compute_Stick_1.12.01.01]]
 +
* Movidius NCS plugged in
 +
 
 +
== Validation Run ==
 +
* '''Passed'''  
 +
 
 +
  $ cd ~/workspace/ncsdk-1.12.01.01/examples/tensorflow/inception_v3
 +
 
 +
  $ make all
 +
 
 +
[[NCS 1.12 Tensorflow Examples Make Log]]
 +
 
 +
= ROS Movidius Applications =
 +
<b style="color: lime"> Live image classifier with Movidius</b>
 +
 
 +
== Reference ==
 +
 
 +
* [[TB3_ROS_Intel_Movidius_NCS]]
 +
 
 +
== Preconditions ==
 +
 
 +
These do not require that cv2.so is removed.
 +
 
 +
== Tests ==
 +
 
 +
'''Terminal 1'''
 +
 
 +
  $ roscore
 +
 
 +
'''Terminal 2'''
 +
 
 +
  $ roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=mobilenetssd camera:=usb
 +
 
 +
'''Terminal 3'''
 +
 
 +
  $ roslaunch movidius_ncs_launch ncs_stream_detection_example.launch camera_topic:="/usb_cam/image_raw"
 +
 
 +
= Depreciated Movidius Applications =
 +
 
 +
* [[TB3_Movidius_Applications]]
 +
* '''TBD'''
 +
* Movidius NCS plugged in
 +
* /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so
 +
* Shows image of an elephant
 +
   
 +
  $ cd ~/workspace/ncappzoo/tensorflow/mobilenets
 +
 
 +
  $ python3 ../../apps/image-classifier/image-classifier.py --graph ./model/graph --dim 224 224 --mean 127.5 --scale 0.00789 --colormode "RGB" --labels ./model/labels.txt --image ../../data/images/pic_053.jpg
 +
 
 +
Or in Live Image View
 +
 
 +
* [[TB3_Movidius_Applications]]
 +
* '''TBD'''
 +
* Movidius NCS plugged in
 +
* '''remove''' /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so
 +
* Shows image of an elephant
 +
 +
$ cd ~/workspace/ncappzoo/apps/live-image-classifier/
 +
 +
$ python3 live-image-classifier.py --graph ../../tensorflow/mobilenets/model/graph --labels ../../tensorflow/mobilenets/model/labels.txt --mean 127.5 --scale 0.00789 --dim 224 224 --colormode="RGB"
 +
 
 +
Live Image View App Zoo Age Example
 +
 
 +
* '''TBD'''
 +
 
 +
  $ cd ~/workspace/ncappzoo/apps/live-image-classifier/
 +
 
 +
  $ make all

Latest revision as of 21:04, 9 March 2019

USB Cam

Reference

Core Drivers

 $ roslaunch usb_cam usb_cam-test.launch


Navigation Functionality

Mapping and Navigation


RealSense

Reference

Precondition

  • D415 plugged in

Core Drivers

Realsense viewer and Pointcloud 

 $ realsense-viewer

or 

 $ rs-pointcloud

ROS Realsense Wrapper

Terminal 1 

 $ roscore

Terminal 2 

 roslaunch realsense2_camera rs_camera.launch

Terminal 3 

 $ rosrun image_view image_view image:=/camera/color/image_raw

or 

 $ rosrun image_view image_view image:=/camera/depth/image_rect_raw

or Not Working 

 $ rqt_image_view

ROS OpenCL Caffe with USB Cam

Live image classifier

Caffe

Terminal 1 

 $ roscore

Terminal 2 

 $ roslaunch opencl_caffe_launch usb_cam_viewer.launch

Movidius Neural Compute Stick SDK 1.12 - Tensorflow example

Validation Run

  • Passed 
 $ cd ~/workspace/ncsdk-1.12.01.01/examples/tensorflow/inception_v3
 
 $ make all

NCS 1.12 Tensorflow Examples Make Log

ROS Movidius Applications

Live image classifier with Movidius

Reference

Preconditions

These do not require that cv2.so is removed.

Tests

Terminal 1 

 $ roscore

Terminal 2 

 $ roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=mobilenetssd camera:=usb

Terminal 3 

 $ roslaunch movidius_ncs_launch ncs_stream_detection_example.launch camera_topic:="/usb_cam/image_raw"

Depreciated Movidius Applications

  • TB3_Movidius_Applications
  • TBD
  • Movidius NCS plugged in
  • /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so
  • Shows image of an elephant 
 $ cd ~/workspace/ncappzoo/tensorflow/mobilenets
 
 $ python3 ../../apps/image-classifier/image-classifier.py --graph ./model/graph --dim 224 224 --mean 127.5 --scale 0.00789 --colormode "RGB" --labels ./model/labels.txt --image ../../data/images/pic_053.jpg

Or in Live Image View

  • TB3_Movidius_Applications
  • TBD
  • Movidius NCS plugged in
  • remove /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so
  • Shows image of an elephant 
$ cd ~/workspace/ncappzoo/apps/live-image-classifier/

$ python3 live-image-classifier.py --graph ../../tensorflow/mobilenets/model/graph --labels ../../tensorflow/mobilenets/model/labels.txt --mean 127.5 --scale 0.00789 --dim 224 224 --colormode="RGB"

Live Image View App Zoo Age Example

  • TBD 
 $ cd ~/workspace/ncappzoo/apps/live-image-classifier/
 
 $ make all
Retrieved from "http://zdome.net/wiki/index.php?title=TB3_Demos_and_Regression_Tests&oldid=4877"