diff --git a/README.md b/README.md index 83c5343..c5e914c 100644 --- a/README.md +++ b/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 diff --git a/tutorials/tutorial_openvino.md b/tutorials/tutorial_openvino.md new file mode 100644 index 0000000..6280f42 --- /dev/null +++ b/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 with the specific location +source /bin/setupvars.sh +# launch the grasp detection +roslaunch gpd tutorial1.launch device:=0 +```