Merge pull request #50 from knorth55/device-path

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "python/coral_usb/posenet"]
 	path = python/coral_usb/posenet
-	url = https://github.com/google-coral/project-posenet
+	url = https://github.com/knorth55/project-posenet.git

launch/edgetpu_face_detector.launch

@@ -2,6 +2,7 @@
   <arg name="INPUT_IMAGE"/>
   <arg name="IMAGE_TRANSPORT" default="raw"/>
   <arg name="model_file" default="$(find coral_usb)/models/mobilenet_ssd_v2_face_quant_postprocess_edgetpu.tflite"/>
+  <arg name="device_id" default="0" />
 
   <node name="edgetpu_face_detector"
         pkg="coral_usb" type="edgetpu_face_detector.py"
@@ -10,6 +11,7 @@
     <rosparam subst_value="true" >
       model_file: $(arg model_file)
       image_transport: $(arg IMAGE_TRANSPORT)
+      device_id: $(arg device_id)
     </rosparam>
   </node>
 </launch>

launch/edgetpu_human_pose_estimator.launch

@@ -2,6 +2,7 @@
   <arg name="INPUT_IMAGE"/>
   <arg name="IMAGE_TRANSPORT" default="raw"/>
   <arg name="model_file" default="$(find coral_usb)/python/coral_usb/posenet/models/mobilenet/posenet_mobilenet_v1_075_481_641_quant_decoder_edgetpu.tflite"/>
+  <arg name="device_id" default="0" />
 
   <node name="edgetpu_human_pose_estimator"
         pkg="coral_usb" type="edgetpu_human_pose_estimator.py"
@@ -10,6 +11,7 @@
     <rosparam subst_value="true" >
       model_file: $(arg model_file)
       image_transport: $(arg IMAGE_TRANSPORT)
+      device_id: $(arg device_id)
     </rosparam>
   </node>
 </launch>

launch/edgetpu_node_manager_params.yaml

@@ -12,12 +12,16 @@ edgetpu_node_manager:
 edgetpu_face_detector:
   model_file: package://coral_usb/models/mobilenet_ssd_v2_face_quant_postprocess_edgetpu.tflite
   image_transport: raw
+  device_id: 0
 edgetpu_object_detector:
   model_file: package://coral_usb/models/mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite
   label_file: package://coral_usb/models/coco_labels.txt
   image_transport: raw
+  device_id: 0
 edgetpu_human_pose_estimator:
   model_file: package://coral_usb/python/coral_usb/posenet/models/mobilenet/posenet_mobilenet_v1_075_481_641_quant_decoder_edgetpu.tflite
   image_transport: raw
+  device_id: 0
 edgetpu_semantic_segmenter:
   image_transport: raw
+  device_id: 0

launch/edgetpu_object_detector.launch

@@ -3,6 +3,7 @@
   <arg name="IMAGE_TRANSPORT" default="raw"/>
   <arg name="model_file" default="$(find coral_usb)/models/mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite"/>
   <arg name="label_file" default="$(find coral_usb)/models/coco_labels.txt"/>
+  <arg name="device_id" default="0" />
 
   <node name="edgetpu_object_detector"
         pkg="coral_usb" type="edgetpu_object_detector.py"
@@ -12,6 +13,7 @@
       model_file: $(arg model_file)
       label_file: $(arg label_file)
       image_transport: $(arg IMAGE_TRANSPORT)
+      device_id: $(arg device_id)
     </rosparam>
   </node>
 </launch>

launch/edgetpu_semantic_segmenter.launch

@@ -1,13 +1,15 @@
 <launch>
   <arg name="INPUT_IMAGE"/>
   <arg name="IMAGE_TRANSPORT" default="raw"/>
+  <arg name="device_id" default="0" />
 
   <node name="edgetpu_semantic_segmenter"
         pkg="coral_usb" type="edgetpu_semantic_segmenter.py"
         output="screen" respawn="true">
     <remap from="~input" to="$(arg INPUT_IMAGE)" />
     <rosparam subst_value="true" >
       image_transport: $(arg IMAGE_TRANSPORT)
+      device_id: $(arg device_id)
     </rosparam>
   </node>
 </launch>

python/coral_usb/detector_base.py

@@ -15,6 +15,9 @@
 
 from chainercv.visualizations import vis_bbox
 from cv_bridge import CvBridge
+from edgetpu.basic.edgetpu_utils import EDGE_TPU_STATE_ASSIGNED
+from edgetpu.basic.edgetpu_utils import EDGE_TPU_STATE_NONE
+from edgetpu.basic.edgetpu_utils import ListEdgeTpuPaths
 from edgetpu.detection.engine import DetectionEngine
 import PIL.Image
 from resource_retriever import get_filename
@@ -50,7 +53,18 @@ def __init__(self, model_file=None, label_file=None, namespace='~'):
         self.enable_visualization = rospy.get_param(
             namespace + 'enable_visualization', True)
 
-        self.engine = DetectionEngine(self.model_file)
+        device_id = rospy.get_param(namespace + 'device_id', None)
+        if device_id is None:
+            device_path = None
+        else:
+            device_path = ListEdgeTpuPaths(EDGE_TPU_STATE_NONE)[device_id]
+            assigned_device_paths = ListEdgeTpuPaths(EDGE_TPU_STATE_ASSIGNED)
+            if device_path in assigned_device_paths:
+                rospy.logwarn(
+                    'device {} is already assigned: {}'.format(
+                        device_id, device_path))
+
+        self.engine = DetectionEngine(self.model_file, device_path=device_path)
         if label_file is None:
             self.label_ids = None
             self.label_names = None

python/coral_usb/human_pose_estimator.py

@@ -14,6 +14,9 @@
 
 from chainercv.visualizations import vis_point
 from cv_bridge import CvBridge
+from edgetpu.basic.edgetpu_utils import EDGE_TPU_STATE_ASSIGNED
+from edgetpu.basic.edgetpu_utils import EDGE_TPU_STATE_NONE
+from edgetpu.basic.edgetpu_utils import ListEdgeTpuPaths
 from resource_retriever import get_filename
 import rospkg
 import rospy
@@ -59,7 +62,19 @@ def __init__(self, namespace='~'):
         self.enable_visualization = rospy.get_param(
             namespace + 'enable_visualization', True)
 
-        self.engine = PoseEngine(self.model_file, mirror=False)
+        device_id = rospy.get_param(namespace + 'device_id', None)
+        if device_id is None:
+            device_path = None
+        else:
+            device_path = ListEdgeTpuPaths(EDGE_TPU_STATE_NONE)[device_id]
+            assigned_device_paths = ListEdgeTpuPaths(EDGE_TPU_STATE_ASSIGNED)
+            if device_path in assigned_device_paths:
+                rospy.logwarn(
+                    'device {} is already assigned: {}'.format(
+                        device_id, device_path))
+
+        self.engine = PoseEngine(
+            self.model_file, mirror=False, device_path=device_path)
         self.resized_H = self.engine.image_height
         self.resized_W = self.engine.image_width
 

python/coral_usb/semantic_segmenter.py

@@ -16,6 +16,9 @@
 from chainercv.visualizations import vis_semantic_segmentation
 from cv_bridge import CvBridge
 from edgetpu.basic.basic_engine import BasicEngine
+from edgetpu.basic.edgetpu_utils import EDGE_TPU_STATE_ASSIGNED
+from edgetpu.basic.edgetpu_utils import EDGE_TPU_STATE_NONE
+from edgetpu.basic.edgetpu_utils import ListEdgeTpuPaths
 from resource_retriever import get_filename
 import rospkg
 import rospy
@@ -52,7 +55,18 @@ def __init__(self, namespace='~'):
         self.enable_visualization = rospy.get_param(
             namespace + 'enable_visualization', True)
 
-        self.engine = BasicEngine(self.model_file)
+        device_id = rospy.get_param(namespace + 'device_id', None)
+        if device_id is None:
+            device_path = None
+        else:
+            device_path = ListEdgeTpuPaths(EDGE_TPU_STATE_NONE)[device_id]
+            assigned_device_paths = ListEdgeTpuPaths(EDGE_TPU_STATE_ASSIGNED)
+            if device_path in assigned_device_paths:
+                rospy.logwarn(
+                    'device {} is already assigned: {}'.format(
+                        device_id, device_path))
+
+        self.engine = BasicEngine(self.model_file, device_path)
         self.input_shape = self.engine.get_input_tensor_shape()[1:3]
 
         if label_file is None: