Latest revision as of 21:04, 9 March 2019

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

Mapping and Navigation

• TurtleBot3_Run_Scripts Mapping and navigation
• Passes

RealSense

Reference

• TB3_Install_ROS_RealSense_2

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

• 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

Live image classifier with Movidius

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