ROS_Tengine_NPU

This is a ROS package for Tengine, a high-performance neural network inference framework by OPEN AI LAB optimized for embedded devices:

ARM NEON assembly level optimization
Sophisticated memory management and data structure design, very low memory footprint
Completely separated front-end/back-end design, Supports CPU, GPU, NPU and other heterogeneous computing units
Extensible model design, supports uint8/int8 quantization storage
Can import caffe/pytorch/mxnet/onnx/ncnn models

Setting up

Khadas VIM3 device
USB Camera
Tengine Compile with TIM-VX
Library

ROS package

git clone https://github.com/mlbo/ros_tengine.git
cd ros_tengine
git submodule update --init

├── Catkin_make.sh
├── Clean.sh
├── Run.sh
└── src
    ├── ros_tengine
    │   ├── assets
    │   │   └── models
    │   │       └── yolov3_uint8.tmfile
    │   ├── CMakeLists.txt
    │   ├── include
    │   │   └── ros_tengine
    │   │       ├── c_api.h
    │   │       ├── defines.h
    │   │       ├── timer.hpp
    │   │       ├── timvx_device.h
    │   │       ├── types.hpp
    │   │       ├── yolo.hpp
    │   │       └── yolo_layer.hpp
    │   ├── launch
    │   │   └── yolov3.launch
    │   ├── lib
    │   │   └── libtengine-lite.so
    │   ├── msg
    │   │   ├── Euler.msg
    │   │   ├── FaceObject.msg
    │   │   ├── Object.msg
    │   │   ├── Rectangle.msg
    │   │   └── Vector2D.msg
    │   ├── package.xml
    │   └── src
    │       ├── timer.cc
    │       ├── yolo.cpp
    │       ├── yolo_layer.cpp
    │       └── yolov3_node.cpp
    └── usb_cam

General launch parameters

<!-- Usb Camera -->
    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
        <param name="video_device" value="/dev/video0" />
        <param name="image_width" value="640" />
        <param name="image_height" value="480" />
        <param name="pixel_format" value="yuyv" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="mmap"/>
    </node>
<!-- Dispaly detect result true or false-->
    <arg name="display_output" default="false"/>
    <arg name="camera_topic" default="/usb_cam/image_raw"/>
    <node name="yolov3_node" pkg="ros_tengine" type="yolov3_node" output="screen">
      <param name="model_file" value="yolov3_uint8.tmfile"/>
      <param name="display_output" value="$(arg display_output)"/>
      <remap from="/usb_cam/image_raw" to="$(arg camera_topic)"/>
      <param name="probability_threshold" value="0.5"/>
    </node>