OpenVINO: updated grasp detector to use base Classifier

This patch updated the "GraspDetector" to use the base Classifier. The base Classifier was created as a shared pointer, which will be released by system. Thus no need to explitly release "classifier_" in the destructor "~GraspDetector()". The base Classifer will create the right classifier (Caffe or OpenVINO) based on build option. The Caffe Classifer is modified to be derived from the base Classifer. Signed-off-by: Sharron LIU <[email protected]>
iluvnepal · Sep 6, 2018 · 002c229 · 002c229
1 parent 4becf29
commit 002c229
Show file tree

Hide file tree

Showing 4 changed files with 13 additions and 19 deletions.
diff --git a/include/gpd/caffe_classifier.h b/include/gpd/caffe_classifier.h
@@ -33,7 +33,6 @@
 #ifndef CAFFE_CLASSIFIER_H_
 #define CAFFE_CLASSIFIER_H_
 
-
 // System
 #include <string>
 #include <vector>
@@ -46,6 +45,7 @@
 // OpenCV
 #include <opencv2/core/core.hpp>
 
+#include "gpd/classifier.h"
 
 /** CaffeClassifier class
  *
@@ -54,7 +54,7 @@
  * This class classifies grasps as viable or not using a convolutional neural network (CNN) in the Caffe framework.
  *
  */
-class CaffeClassifier
+class CaffeClassifier : public Classifier
 {
   public:
 
@@ -63,7 +63,7 @@ class CaffeClassifier
      * \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
      */
-    CaffeClassifier(const std::string& model_file, const std::string& weights_file, bool use_gpu = true);
+    CaffeClassifier(const std::string& model_file, const std::string& weights_file, Classifier::Device device);
 
     /**
      * \brief Classify grasp candidates as viable grasps or not.

diff --git a/include/gpd/grasp_detector.h b/include/gpd/grasp_detector.h
@@ -37,11 +37,6 @@
 #include <algorithm>
 #include <vector>
 
-// Caffe
-#include "caffe/caffe.hpp"
-#include "caffe/layers/memory_data_layer.hpp"
-#include "caffe/util/io.hpp"
-
 // PCL
 #include <pcl/common/common.h>
 #include <pcl/filters/statistical_outlier_removal.h>
@@ -60,7 +55,7 @@
 #include <gpg/plot.h>
 
 // Custom
-#include "../gpd/caffe_classifier.h"
+#include "gpd/classifier.h"
 #include "../gpd/clustering.h"
 #include "../gpd/learning.h"
 
@@ -91,7 +86,6 @@ class GraspDetector
     delete candidates_generator_;
     delete learning_;
     delete clustering_;
-    delete classifier_;
   }
 
   /**
@@ -184,7 +178,7 @@ class GraspDetector
   CandidatesGenerator* candidates_generator_; ///< pointer to object for grasp candidate generation
   Learning* learning_; ///< pointer to object for grasp image creation
   Clustering* clustering_; ///< pointer to object for clustering geometrically aligned grasps
-  CaffeClassifier* classifier_; ///< pointer to object for classification of candidates
+  std::shared_ptr<Classifier> classifier_; ///< pointer to object for classification of candidates
 
   Learning::ImageParameters image_params_; // grasp image parameters
 

diff --git a/src/gpd/caffe_classifier.cpp b/src/gpd/caffe_classifier.cpp
@@ -1,15 +1,15 @@
 #include "../../include/gpd/caffe_classifier.h"
 
 
-CaffeClassifier::CaffeClassifier(const std::string& model_file, const std::string& weights_file, bool use_gpu)
+CaffeClassifier::CaffeClassifier(const std::string& model_file, const std::string& weights_file, Classifier::Device device)
 {
   // Initialize Caffe.
-  if (use_gpu)
+  switch (device)
   {
+  case Classifier::Device::eGPU:
     caffe::Caffe::set_mode(caffe::Caffe::GPU);
-  }
-  else
-  {
+    break;
+  default:
     caffe::Caffe::set_mode(caffe::Caffe::CPU);
   }
 

diff --git a/src/gpd/grasp_detector.cpp b/src/gpd/grasp_detector.cpp
@@ -49,13 +49,13 @@ GraspDetector::GraspDetector(ros::NodeHandle& node)
 
   // Read classification parameters and create classifier.
   std::string model_file, weights_file;
-  bool use_gpu;
+  int device;
   node.param("model_file", model_file, std::string(""));
   node.param("trained_file", weights_file, std::string(""));
   node.param("min_score_diff", min_score_diff_, 500.0);
   node.param("create_image_batches", create_image_batches_, true);
-  node.param("use_gpu", use_gpu, true);
-  classifier_ = new CaffeClassifier(model_file, weights_file, use_gpu);
+  node.param("device", device, 0);
+  classifier_ = Classifier::create(model_file, weights_file, static_cast<Classifier::Device>(device));
 
   // Read grasp image parameters.
   node.param("image_outer_diameter", image_params_.outer_diameter_, hand_search_params.hand_outer_diameter_);