{"id":18280215,"url":"https://github.com/mlbo/ros_tengine","last_synced_at":"2025-04-09T05:13:32.472Z","repository":{"id":118548962,"uuid":"434495240","full_name":"mlbo/ros_tengine","owner":"mlbo","description":null,"archived":false,"fork":false,"pushed_at":"2021-12-04T02:03:04.000Z","size":39976,"stargazers_count":2,"open_issues_count":1,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-02-14T23:28:50.766Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/mlbo.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-12-03T06:50:08.000Z","updated_at":"2023-05-24T02:48:53.000Z","dependencies_parsed_at":null,"dependency_job_id":"590965b0-38b7-479f-9a6d-13ee32476915","html_url":"https://github.com/mlbo/ros_tengine","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mlbo%2Fros_tengine","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mlbo%2Fros_tengine/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mlbo%2Fros_tengine/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mlbo%2Fros_tengine/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/mlbo","download_url":"https://codeload.github.com/mlbo/ros_tengine/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247980843,"owners_count":21027808,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-05T12:33:48.611Z","updated_at":"2025-04-09T05:13:32.446Z","avatar_url":"https://github.com/mlbo.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ROS_Tengine_NPU #\n\nThis is a ROS package for [Tengine](https://github.com/OAID/Tengine/blob/tengine-lite/), a high-performance neural network inference framework  by **[OPEN AI LAB](http://www.openailab.com)** optimized for embedded devices:\n\n- ARM NEON assembly level optimization\n- Sophisticated memory management and data structure design, very low memory footprint\n- Completely separated front-end/back-end design, Supports CPU, GPU, NPU and other heterogeneous computing units\n- Extensible model design, supports uint8/int8 quantization storage\n- Can import caffe/pytorch/mxnet/onnx/ncnn models\n\n## Setting up ##\n* Khadas VIM3 device\n* USB Camera\n* [Tengine Compile with TIM-VX ](https://tengine-docs.readthedocs.io/zh_CN/latest/source_compile/compile_timvx.html)\n### Library ###\n\n## ROS package ##\n```bash\ngit clone https://github.com/mlbo/ros_tengine.git\ncd ros_tengine\ngit submodule update --init\n```\n```bash\n├── Catkin_make.sh\n├── Clean.sh\n├── Run.sh\n└── src\n    ├── ros_tengine\n    │   ├── assets\n    │   │   └── models\n    │   │       └── yolov3_uint8.tmfile\n    │   ├── CMakeLists.txt\n    │   ├── include\n    │   │   └── ros_tengine\n    │   │       ├── c_api.h\n    │   │       ├── defines.h\n    │   │       ├── timer.hpp\n    │   │       ├── timvx_device.h\n    │   │       ├── types.hpp\n    │   │       ├── yolo.hpp\n    │   │       └── yolo_layer.hpp\n    │   ├── launch\n    │   │   └── yolov3.launch\n    │   ├── lib\n    │   │   └── libtengine-lite.so\n    │   ├── msg\n    │   │   ├── Euler.msg\n    │   │   ├── FaceObject.msg\n    │   │   ├── Object.msg\n    │   │   ├── Rectangle.msg\n    │   │   └── Vector2D.msg\n    │   ├── package.xml\n    │   └── src\n    │       ├── timer.cc\n    │       ├── yolo.cpp\n    │       ├── yolo_layer.cpp\n    │       └── yolov3_node.cpp\n    └── usb_cam\n```\n#### General launch parameters ####\n```xml\n\u003c!-- Usb Camera --\u003e\n    \u003cnode name=\"usb_cam\" pkg=\"usb_cam\" type=\"usb_cam_node\" output=\"screen\" \u003e\n        \u003cparam name=\"video_device\" value=\"/dev/video0\" /\u003e\n        \u003cparam name=\"image_width\" value=\"640\" /\u003e\n        \u003cparam name=\"image_height\" value=\"480\" /\u003e\n        \u003cparam name=\"pixel_format\" value=\"yuyv\" /\u003e\n        \u003cparam name=\"camera_frame_id\" value=\"usb_cam\" /\u003e\n        \u003cparam name=\"io_method\" value=\"mmap\"/\u003e\n    \u003c/node\u003e\n\u003c!-- Dispaly detect result true or false--\u003e\n    \u003carg name=\"display_output\" default=\"false\"/\u003e\n    \u003carg name=\"camera_topic\" default=\"/usb_cam/image_raw\"/\u003e\n    \u003cnode name=\"yolov3_node\" pkg=\"ros_tengine\" type=\"yolov3_node\" output=\"screen\"\u003e\n      \u003cparam name=\"model_file\" value=\"yolov3_uint8.tmfile\"/\u003e\n      \u003cparam name=\"display_output\" value=\"$(arg display_output)\"/\u003e\n      \u003cremap from=\"/usb_cam/image_raw\" to=\"$(arg camera_topic)\"/\u003e\n      \u003cparam name=\"probability_threshold\" value=\"0.5\"/\u003e\n    \u003c/node\u003e\n```\n## How to build ##\n```bash\nbash Catkin_make.sh\n```\n## How to run ##\n```bash\nbash Run.sh\n```\n## Result ##\n![](img/ros_tengine.png)\n\n## :v:  Acknowledgements ##\n[Tengine](https://github.com/OAID/Tengine/blob/tengine-lite/)\n\n[ros_ncnn](https://github.com/nilseuropa/ros_ncnn)\n\n[Insightface-NPU](https://github.com/mlbo/Insightface-NPU)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmlbo%2Fros_tengine","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmlbo%2Fros_tengine","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmlbo%2Fros_tengine/lists"}