From a83c0cb03507db77bece49d6e8ea389b5bf2b750 Mon Sep 17 00:00:00 2001 From: Alberto Tudela Date: Fri, 25 Jun 2021 10:18:42 +0200 Subject: [PATCH] Update Readme and License --- LICENSE | 201 +++++++++++++++++++++++++++++++++++++++++++++++++ README.md | 219 +++++++++++++++++++++++++++++++++++------------------- 2 files changed, 345 insertions(+), 75 deletions(-) create mode 100644 LICENSE diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d7d95b2 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2021 Alberto Tudela + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index b935a25..dc80629 100644 --- a/README.md +++ b/README.md @@ -1,75 +1,144 @@ -object_detection_openvino -======================== - -An implementation of YOLO and Mobilenet-SSD object detection with a ROS interface and enhanced processor utilization (40-20 fps) using OpenVINO model optimization tools. -A depth camera is needed to perform 3d coordinates extraction. - -The work is based on [this](https://github.com/PINTO0309/OpenVINO-YoloV3). - -Requirements -============ -* OpenVINO 2020.3.2. - -Usage -===== - -Launch the node as follows: -``` -roslaunch object_detection_openvino object_detection_openvino.launch -``` - -Or if you can launch the node with the Intel RealSense camera: -``` -roslaunch object_detection_openvino object_detection_openvino_realsense.launch -``` - -Parameters ----------- - * ```~model_thresh``` - [float, default:0.3] - Detection threshold. - * ```~model_iou_thresh``` - [float, default:0.4] - Bounding box intersection overlaping threshold. - * ```~model_xml``` - Filepath to the network configuration file. - * ```~model_bin``` - Filepath to the network weigths fie. - * ```~model_labels``` - Filepath to the network labels file. - * ```~model_type``` - [std::string, default:YOLO] - Network type. Can be YOLO or SSD. - * ```~device_target``` - [std::string, default:CPU] - Device target. Can be CPU, GPU or a MYRIAD device. - * ```~show_fps``` - [bool, default:false] - Option to show the fps in the image. - -Subscriptions ----------- - * ```color_topic``` - [sensor_msgs/Image, default: /camera/color/image_raw] - Color image topic where detection will be performed. - * ```depth_topic``` - [sensor_msgs/Image, default: /camera/depth/image_raw] - Depth image topic for extracting 3d coordinates. - * ```info_topic``` - [sensor_msgs/CameraInfo, default: /camera/info] - Topic for the camera information. - -Publications ----------- - * ```image_detected_topic``` - [sensor_msgs/Image, default: detected_image] - Image with the bounding boxes sourrunding the objects detected. - * ```detection2d_topic``` - [object_detection_openvino/Detection2DArray, default: detection2d] - List with the objects detected in the image. - * ```detection3d_topic``` - [object_detection_openvino/Detection3DArray, default: detection3d] - List with the objects detected in the color and depth images. - * ```detection_markers``` - [visualization_msgs/MarkerArray] - 3d markers of the objects detected. +# object_detection_openvino + +## Overview + +An implementation of YOLO and Mobilenet-SSD object detection with a ROS interface and enhanced processor utilization using OpenVINO model optimization tools. It can be use with any Myriad X, i.e.: Intel Neural Compute Stick 2. +This package is designed on async api of [Intel OpenVINO](https://software.intel.com/en-us/openvino-toolkit) and allows an easy setup for **object detection**.

+If you provide a depth image (from an Intel RealSense Camera, for example) you can obtain 3d boxes and markers in [RViz]. + +**Keywords:** ROS, OpenVino, RealSense, object_detection + +### License + +The source code is released under a [Apache license 2.0](LICENSE). + +**Author: Alberto Tudela
** + +The object_detection_openvino package has been tested under [ROS] Melodic on 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. + +## Installation + +### Building from Source + +#### Dependencies + +- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics), +- [Intel OpenVINO 2020.3.355](https://software.intel.com/en-us/openvino-toolkit) + + sudo rosdep install --from-paths src + +#### Building + +To build from source, clone the latest version from this repository into your catkin workspace and compile the package using + + cd catkin_workspace/src + git clone https://gitlab.com/ajtudela/object_detection_openvino.git + cd ../ + rosdep install --from-paths . --ignore-src + catkin_make + +## Usage + +Run the main node using YOLO with: + + roslaunch object_detection_openvino yolo_cpu.launch + +Or if you can launch the same node with the Intel RealSense camera: + + roslaunch object_detection_openvino yolo_cpu_realsense.launch + +Optionally, there're other configurations in the launch folder. + +## Download weights file +The weights file is very large and needs to be downloaded separately. + +Download the weights file to object_detection_openvino/models/ to install it. + + wget https://gitlab.com/ajtudela/object_detection_openvino/-/blob/melodic-devel/models/downloadYoloModels.sh + +## Nodes + +### object_detection_openvino + +Perform object detection using OpenVino. + + +#### Subscribed Topics + +* **`/camera/color/image_raw`** ([sensor_msgs/Image]) + + Color image topic where detection will be performed. + +* **`/camera/depth/image_raw`** ([sensor_msgs/Image]) + + Depth image topic for extracting 3d coordinates. (Optional) + +* **`/camera/info`** ([sensor_msgs/CameraInfo]) + + Topic for the camera information. + +#### Published Topics + +* **`image_raw`** ([sensor_msgs/Image]) + + Image with the bounding boxes surrounding the detected objects. + +* **`detection_info`** ([vision_msgs/VisionInfo]) + + Provides meta-information about the detection pipeline: method, database location,... + +* **`detections`** ([vision_msgs/Detection2DArray] or [vision_msgs/Detection3DArray]) + + List with the detected objects in the image. + +* **`markers`** ([visualization_msgs/MarkerArray]) + + 3d markers of the objects detected. + +#### Parameters + +* **`model_thresh`** (float, default: 0.3) + + Detection threshold. + +* **`model_iou_thresh`** (float, default: 0.4) + + Bounding box intersection overlaping threshold. + +* **`model_xml`** (string, default: "-") + + Filepath to the network configuration file. + +* **`model_bin`** (string, default: "-") + + Filepath to the network weigths fie. + +* **`model_labels`** (string, default: "-") + + Filepath to the network labels file. + +* **`model_type`** (string, default: "YOLO") + + Network type. Can be YOLO or SSD. + +* **`device_target`** (string, default: "CPU") + + Device target. Can be CPU, GPU or a MYRIAD device. + +* **`show_fps`** (bool, default: false) + + Option to show the fps in the image. + +* **`output_image`** (bool, default: false) + + Output image of the detected objects. + + +[ROS]: http://www.ros.org +[Rviz]: http://wiki.ros.org/rviz +[sensor_msgs/Image]: http://docs.ros.org/api/sensor_msgs/html/msg/Image.html +[sensor_msgs/CameraInfo]: http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html +[vision_msgs/VisionInfo]: http://docs.ros.org/api/vision_msgs/html/msg/VisionInfo.html +[vision_msgs/Detection2DArray]: http://docs.ros.org/api/vision_msgs/html/msg/Detection2DArray.html +[vision_msgs/Detection3DArray]: http://docs.ros.org/api/vision_msgs/html/msg/Detection3DArray.html +[visualization_msgs/MarkerArray]: http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html