Movidius analytics launch doesn't publish all topics

[fiorano10]

I'm running a single movidius with a D435 on Ubuntu 16.04 i7-5550U (2-core), 8GB RAM, when I run the analytics_opencl_caffe.launch, it publishes all the topics

/object_analytics/detection /object_analytics/localization /object_analytics/pointcloud /object_analytics/rgb /object_analytics/segmentation /object_analytics/tracking

But when I launch analytics_movidius_ncs.launch, I get some of the topics being published, after rerunning the launch file multiple times, I get all the topics published. Do I need to add more NCS? Or could it be something else?

[Peter9606]

I have seen that issue many times, you should re-plug in the ncs device and re-launch object analytics again.

[fiorano10]

Okay, but is there a fix coming? Or is there a workaround? Hardware reset maybe?

[Peter9606]

Next time see the issue, please paste the log out, so I can figure out which issue it is.

[fiorano10]

There is no printed issue, it just doesn't publish some of the topics. I saw the rqt_console, there is nothing published in ROS_INFO/WARN/ERROR either.

[Peter9606]

It might be a different issue, can you reproduce it by launch ros movidius ncs only?

[fiorano10]

I just launch realsense_ros_camera rs_rgbd.launch and analytics_movidius_ncs.launch Also, If I launch just launchanalytics_movidius_ncs.launch, even then it publishes some topics one time, and other topics other times, and after a few runs, it publishes all of them.

[Peter9606]

If I launch just launchanalytics_movidius_ncs.launch, even then it publishes some topics one time, and other topics other times, and after a few runs, it publishes all of them.

A little confused about this. Let me put it this way:

1. Can you reproduce this using ros_opencl_caffe as backend ?
2. Do you see the same problem when only launch "ros_movidis_ncs" package following this part

[fiorano10]

1. If I use ros_opencl_caffe as backend, then no. It publishes all the topics everytime.
2. I will test this tomorrow afternoon, and update you @Peter9606 UPDATE: I was able to run roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=inception_v3 camera:=realsense roslaunch movidius_ncs_launch ncs_stream_classification_example.launch camera_topic:="/camera/color/image_raw" And it did publish the topic /movidius_ncs/classified_objects

[Peter9606]

@fiorano10 , truly sorry, I gave you a wrong link which is pointing to classification rather than detection. would you please do it again using "mobilenetssd" described in "Detection for Video"

[fiorano10]

@Peter9606 , I tried running just the detection, and it published the topics /classified_objects, and /detected_objects, but there were no msgs being published on the topic. Also the image viewer doesn't open.

[Peter9606]

Can you log an issue under ros_intel_movidius_ncs project?

[fiorano10]

@Peter9606
After updating the movidius_ncs package, the object_analytics_detection publishes messages to the topic but it doesn't publish the other topics, such as localization, tracking, and segmentation.

[Peter9606]

Can you give me a snapshot of rqt_graph?

[fiorano10]

Here you go rqt_graph(img) and rqt_graph(svg) It's not publishing /object_analytics/tracking

[fiorano10]

@Peter9606 Also, I’m running 2 Movidius, what should be the running frequency for Detection, Tracking, and Localization?

[Peter9606]

@fiorano10 Movidius only accelerates the performance of detection. Currently detection and localization(actually it's segmentation) are the bottle neck of the overall performance, ant they are at the same FPS. Increasing Movidius can improve the performance of detection & tracking but doesn't help localization(segmentation) at all.

[fiorano10]

@Peter9606 Right now running the object_analytics launch doesn't seem to care about the no. of Movidius, and runs at about 6-7 FPS. But at rare instances, the detection runs @20 FPS, tracking @10 FPS, and the localization @~6-7 FPS. Does it make sense?

[Peter9606]

I don't know much about multiple NCS supporting of Movidius, you should check with its current developer .

But at rare instances, the detection runs @20 FPS, tracking @10 FPS, and the localization @~6-7 FPS. Does it make sense?

Yes, it does make sense. One thing I should point out, is that current bottleneck - segmentation needs higher CPU computation, so if with more powerful CPU, you can slightly improve the localization to about 8~9 FPS.

[fiorano10]

Would the i7-6770HQ remove that bottleneck? Or do I need a Xtreme edition or maybe even a Xeon?

[Peter9606]

Per my understanding, the PointCloudLibrary which is used to segment point cloud doesn't lie on multi-cpu or multi-core, so as long as the CPU clock rate approaches, the result won't change too much. It isn't official record, but I got pretty same FPS using Intel(R) Core(TM) i7-4770 CPU @ 3.40GHz as Intel(R) Xeon(R) CPU E3-1275 v5 @3.60GHz recorded in readme.

[fiorano10]

@Peter9606 Any update on the topics not being published issue? The results in the readme are based on using 1 Movidius, right?

[Peter9606]

The results in the readme are based on using 1 Movidius, right?

Correct.

Any update on the topics not being published issue?

I think ros_movidius_ncs maintainer is working on this.

[fiorano10]

@Peter9606 When I run the movidius_ncs_detection with 2 Movidius NCS it runs at 20HZ. But when I launch the analytics_movidius_ncs.launch in Object Analytics, it runs at 10HZ irrespective of the no. of NCS connected.

[Peter9606]

@fiorano10 , do you mind to log another issue about that, so we can focus on one topic per thread.

[Peter9606]

@fiorano10 do you still see the issues described in this thread ?

[fiorano10]

Not anymore, thanks @Peter9606 👍