diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 963589c..eaf115c 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -7,6 +7,7 @@ Changelog for package object_detection_openvino * First ROS2 (Galactic) version. * Update to OpenVino 2021.4. * Remove hardcoded COCO labels size. +* Update README. 3.2.2 (26-05-2022) ------------------ diff --git a/README.md b/README.md index c0bbbae..0818381 100644 --- a/README.md +++ b/README.md @@ -1,16 +1,16 @@ # object_detection_openvino -![ROS](https://img.shields.io/badge/ros-melodic-blue?style=for-the-badge&logo=ros&logoColor=white) +![ROS2](https://img.shields.io/badge/ros2-galactic-purple?logo=ros&logoColor=white) ![OpenCV](https://img.shields.io/badge/opencv-%23white.svg?style=for-the-badge&logo=opencv&logoColor=white) ![License](https://img.shields.io/badge/license-Apache%202-blue?style=for-the-badge) ## 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. +An implementation of YOLO and Mobilenet-SSD object detection with a [ROS2] 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 pointcloud image (from an Intel RealSense Camera, for example) you can obtain 3d boxes and markers in [RViz]. +If you provide a pointcloud image (from an Intel RealSense Camera, for example) you can obtain 3d boxes and markers in [Rviz2]. -**Keywords:** ROS, OpenVino, RealSense, OpenCV, object_detection +**Keywords:** ROS, ROS2, OpenVino, RealSense, OpenCV, object_detection ### License @@ -18,7 +18,7 @@ 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 [Ubuntu] 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. +The object_detection_openvino package has been tested under [Rviz2] Galactic on [Ubuntu] 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. ## Installation @@ -27,33 +27,25 @@ The object_detection_openvino package has been tested under [ROS] Melodic on [Ub #### 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) (toolkit for deep learning), +- [Intel OpenVINO 2021.4.1](https://software.intel.com/en-us/openvino-toolkit) (toolkit for deep learning), - [OpenCV 3](https://opencv.org/) (Computer Vision library), - [Boost](https://www.boost.org/) (C++ source libraries) - 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 + cd colcon_workspace/src git clone https://gitlab.com/ajtudela/object_detection_openvino.git cd ../ - rosdep install --from-paths . --ignore-src - catkin_make + rosdep install -i --from-path src --rosdistro galactic -y + colcon build --symlink-install ## 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: +Run the main node with: - roslaunch object_detection_openvino yolo_cpu_realsense.launch - -Optionally, there're other configurations in the launch folder. + ros2 launch object_detection_openvino default.launch.py ## Download weights file The weights file is very large and needs to be downloaded separately. @@ -144,18 +136,14 @@ Perform object detection using OpenVino. Option to show the fps in the image. -## Nodelet - -### object_detection_openvino_nodelet - -Same funtionality as the node mention above but converted as a nodelet for a vision pipeline. A nodelet manager is required. +## Future work +- [ ] Convert nodes to LifeCycleNodes. [Ubuntu]: https://ubuntu.com/ -[ROS]: http://www.ros.org -[Rviz]: http://wiki.ros.org/rviz +[ROS2]: https://docs.ros.org/en/galactic/ +[Rviz2]: https://github.com/ros2/rviz [sensor_msgs/Image]: http://docs.ros.org/api/sensor_msgs/html/msg/Image.html [sensor_msgs/PointCloud2]: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.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