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UPS 6000 and UP Xtreme i11 Robot Kits
Create Your Own Robot Kit
Perception
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Simulation
Benchmarking and Profiling
EI for AMR Container on a Virtual Machine
Fibocom’s FM350 5G Module Integration
Change Existing and Add New Docker* Images to the EI for AMR SDK
Troubleshooting for Robot Tutorials
Spatial Partitioning and Search Operations with Octrees
Constructing a Convex Hull Polygon for a 3D Point Cloud
Detecting Specific Models and Their Parameters in 3D Point Clouds
Plane Model Segmentation
Surface Reconstruction with Intel® oneAPI Base Toolkit's Moving Least Squares (MLS)
Intel® oneAPI Base Toolkit's Iterative Closest Point (ICP)
KdTree Search Using Intel® oneAPI Base Toolkit's KdTree FLANN
Downsampling 3D Point Clouds with a Voxelized Grid
Filtering Point Clouds with a Passthrough Filter
PCL Optimizations Outside of Docker* Images
Optimized PCL Known Limitation
Optimized PCL Troubleshooting
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OpenVINO™ Benchmarking Tool
This tutorial tells you how to run the benchmark application on an 11th Generation Intel® Core™ processor with an integrated GPU. It uses the asynchronous mode to estimate deep learning inference engine performance and latency.
Start Docker* Container
Check if your installation has the eiforamr-full-flavour-sdk Docker* image.
docker images |grep eiforamr-full-flavour-sdk #if you have it installed, the result is: eiforamr-full-flavour-sdk
NOTE:If the image is not installed, continuing with these steps triggers a build that takes longer than an hour (sometimes, a lot longer depending on the system resources and internet connection).If the image is not installed, Intel recommends installing the Robot Complete Kit with the Get Started Guide for Robots.
Go to the AMR_containers folder:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
Start the Docker* container as root:
./run_interactive_docker.sh eiforamr-full-flavour-sdk:<TAG> root
Set Environment Variables
The environment variables must be set before you can compile and run OpenVINO™ applications.
Run the following script:
source /opt/intel/openvino/bin/setupvars.sh --or-- source <OPENVINO_INSTALL_DIR>/bin/setupvars.sh
Build Benchmark Application
Change directory and build the benchmark application using the cmake script file using the following commands:
cd /opt/intel/openvino/inference_engine/samples/cpp ./build_samples.sh
Once the build is successful, access the benchmark application in the following directory:
cd /root/inference_engine_cpp_samples_build/intel64/Release -- or -- cd <INSTALL_DIR>/inference_engine_cpp_samples_build/intel64/ReleaseThe benchmark_app application is available inside the Release folder.
Input File
Select an image file or a sample video file to provide an input to the benchmark application from the following directory:
cd /root/inference_engine_cpp_samples_build/intel64/Release
Application Syntax and Options
The benchmark application syntax is as follows:
./benchmark_app [OPTION]
In this tutorial, we recommend you select the following options:
./benchmark_app -m <model> -i <input> -d <device> -nireq <num_reqs> -nthreads <num_threads> -b <batch> where: <model>-------------The complete path to the model .xml file <input>-------------The path to the folder containing image or sample video file. <device>------------The device type can be GPU or CPU etc., <num_reqs>----------No of parallel inference requests <num_threads>-------No of threads to use for inference on the CPU (throughput mode) <batch>-------------Batch size
For complete details on the available options, run the following command:
./benchmark_app -h
Run the Application
The benchmark application is executed as seen below. This tutorial uses the following settings:
Benchmark application is executed on frozen_inference_graph model.
Number of parallel inference requests is set as 8.
Number of CPU threads to use for inference is set as 8.
Device type is GPU.
./benchmark_app -d GPU -i ~/<dir>/input/ -m /home/eiforamr/workspace/object_detection/src/object_detection/models/ssd_mobilenet_v2_coco/frozen_inference_graph.xml -nireq 8 -nthreads 8 ./benchmark_app -d GPU -i /home/eiforamr/data_samples/media_samples/plates_720.mp4 -m /home/eiforamr/workspace/object_detection/src/object_detection/models/ssd_mobilenet_v2_coco/frozen_inference_graph.xml -nireq 8 -nthreads 8
Expected output:
[Step 1/11] Parsing and validating input arguments
[ INFO ] Parsing input parameters
[ INFO ] Files were added: 1
[ INFO ] /home/eiforamr/data_samples/media_samples/plates_720.mp4
[Step 2/11] Loading Inference Engine
[ INFO ] InferenceEngine:
API version ............ 2.1
Build .................. 2021.2.0-1877-176bdf51370-releases/2021/2
Description ....... API
[ INFO ] Device info:
GPU
clDNNPlugin version ......... 2.1
Build ........... 2021.2.0-1877-176bdf51370-releases/2021/2
[Step 3/11] Setting device configuration
[ WARNING ] -nstreams default value is determined automatically for GPU device. Although the automatic selection usually provides a reasonable performance,but it still may be non-optimal for some cases, for more information look at README.
[Step 4/11] Reading network files
[ INFO ] Loading network files
[ INFO ] Read network took 89.49 ms
[Step 5/11] Resizing network to match image sizes and given batch
[ INFO ] Network batch size: 1
[Step 6/11] Configuring input of the model
[Step 7/11] Loading the model to the device
[ INFO ] Load network took 44714.68 ms
[Step 8/11] Setting optimal runtime parameters
[Step 9/11] Creating infer requests and filling input blobs with images
[ INFO ] Network input 'image_tensor' precision U8, dimensions (NCHW): 1 3 300 300
[ WARNING ] No supported image inputs found! Please check your file extensions: bmp, dib, jpeg, jpg, jpe, jp2, png, pbm, pgm, ppm, sr, ras, tiff, tif
[ INFO ] Infer Request 0 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 1 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 2 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 3 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 4 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 5 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 6 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[ INFO ] Infer Request 7 filling
[ INFO ] Fill input 'image_tensor' with random values (image is expected)
[Step 10/11] Measuring performance (Start inference asynchronously, 8 inference requests using 2 streams for GPU, limits: 60000 ms duration)
[ INFO ] First inference took 10.01 ms
[Step 11/11] Dumping statistics report
Count: 9456 iterations
Duration: 60066.11 ms
Latency: 51.33 ms
Throughput: 157.43 FPS
Benchmark Report
Sample execution results using an 11th Gen Intel® Core™ i7-1185GRE @ 2.80 GHz.
Read network time (ms) |
89 |
Load network time (ms) |
44714.68 |
First inference time (ms) |
10.01 |
Total execution time (ms) |
60066.11 |
Total num of iterations |
9456 |
Latency (ms) |
51.33 |
Throughput (FPS) |
157.43 |
NOTE:
Performance results are based on testing as of dates shown in configurations and may not reflect all publicly available updates. No product or component can be absolutely secure. Performance varies by use, configuration and other factors. Learn more at Intel® Performance Index.
Troubleshooting
For general robot issues, go to: Troubleshooting for Robot Tutorials.
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