intel · LewisLiuPub · Dec 31, 2022 · Dec 20, 2022 · Dec 20, 2022 · Dec 22, 2022
diff --git a/README.md b/README.md
@@ -4,7 +4,7 @@
 * [➤ Overview](#overview)
 	* [ROS2 Version Supported](#ros2-version-supported)
 	* [Inference Features Supported](#inference-features-supported)
-* [➤ Prerequisite](#prerequisite-for-ros2-branch)	
+* [➤ Prerequisite](#prerequisite)	
 * [➤ Introduction](#introduction)
 	* [Design Architecture](#design-architecture)
 	* [Logic Flow](#logic-flow)
@@ -241,6 +241,7 @@ For the snapshot of demo results, refer to the following picture.
 * OpenVINO api 2.0: Refer to the OpenVINO document for [OpenVINO_api_2.0](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html) for latest api 2.0 transition guide.
 
 # FAQ
+* [How to get the IR file for yolov5?](./doc/quick_start/tutorial_for_yolov5_converted.md)
 * [How to build OpenVINO by source?](https://github.com/openvinotoolkit/openvino/wiki#how-to-build)
 * [How to build RealSense by source?](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
 * [What is the basic command of Docker CLI?](https://docs.docker.com/engine/reference/commandline/docker/)

diff --git a/data/labels/object_detection/coco.names b/data/labels/object_detection/coco.names
@@ -0,0 +1,80 @@
+person
+bicycle
+car
+motorbike
+aeroplane
+bus
+train
+truck
+boat
+traffic light
+fire hydrant
+stop sign
+parking meter
+bench
+bird
+cat
+dog
+horse
+sheep
+cow
+elephant
+bear
+zebra
+giraffe
+backpack
+umbrella
+handbag
+tie
+suitcase
+frisbee
+skis
+snowboard
+sports ball
+kite
+baseball bat
+baseball glove
+skateboard
+surfboard
+tennis racket
+bottle
+wine glass
+cup
+fork
+knife
+spoon
+bowl
+banana
+apple
+sandwich
+orange
+broccoli
+carrot
+hot dog
+pizza
+donut
+cake
+chair
+sofa
+pottedplant
+bed
+diningtable
+toilet
+tvmonitor
+laptop
+mouse
+remote
+keyboard
+cell phone
+microwave
+oven
+toaster
+sink
+refrigerator
+book
+clock
+vase
+scissors
+teddy bear
+hair drier
+toothbrush
diff --git a/doc/quick_start/tutorial_for_yolov5_converted.md b/doc/quick_start/tutorial_for_yolov5_converted.md
@@ -0,0 +1,88 @@
+# Tutorial_For_yolov5_Converted
+
+# Introduction
+This document describes a method to convert YOLOv5 nano PyTorch weight files with the. pt extension to ONNX weight files, and a method to convert ONNX weight files to IR files using the OpenVINO model optimizer. This method can help OpenVINO users optimize YOLOv5n for deployment in practical applications.
+
+## Reference Phrase
+|Term|Description|
+|---|---|
+|OpenVINO|Open Visual Inference & Neural Network Optimization|
+|ONNX|Open Neural Network Exchange|
+|YOLO|You Only Look Once|
+|IR|Intermediate Representation|
+
+## Reference Document
+|Doc|Link|
+|---|---|
+|OpenVINO|[openvino_2_0_transition_guide](https://docs.openvino.ai/latest/openvino_2_0_transition_guide.html)|
+|YOLOv5|[yolov5](https://github.com/ultralytics/yolov5)|
+
+# Convert Weight File to ONNX
+* Copy YOLOv5 Repository from GitHub
+```
+git clone https://github.com/ultralytics/yolov5.git
+```
+
+* Set Environment for Installing YOLOv5
+```
+cd yolov5
+python3 -m venv yolo_env            // Create a virtual python environment
+source yolo_env/bin/activate        // Activate environment
+pip install -r requirements.txt     // Install yolov5 prerequisites
+pip install onnx                    // Install ONNX
+```
+
+* Download PyTorch Weights
+```
+mkdir model_convert && cd model_convert
+wget https://github.com/ultralytics/yolov5/releases/download/v6.2/yolov5n.pt
+```
+
+* Convert PyTorch weights to ONNX weights
+YOLOv5 repository provides export.py script, which can be used to convert PyTorch weight to ONNX weight.
+```
+cd ..
+python3 export.py --weights model_convert/yolov5n.pt --include onnx
+```
+
+# Convert ONNX files to IR files
+After obtaining the ONNX weight file from the previous section [Convert Weight File to ONNX](#convert-weight-file-to-onnx), we can use the model optimizer to convert it to an IR file.
+
+* Install the OpenVINO Model Optimizer Environment
+To use the model optimizer, you need to run the following command to install some necessary components (if you are still in the yolo_env virtual environment, you need to run the **deactivate** command to exit the environment or start a new terminal).
+```
+python3 -m venv ov_env                      // Create openVINO virtual environment
+source ov_env/bin/activate                  // Activate environment
+python -m pip install --upgrade pip         // Upgrade pip
+pip install openvino[onnx]==2022.1.0        // Install OpenVINO for ONNX
+pip install openvino-dev[onnx]==2022.1.0    // Install OpenVINO Dev Tool for ONNX
+```
+
+* Generate IR file
+```
+cd model_convert
+mo --input_model yolov5n.onnx
+```
+Then we will get three files: yolov5n.xml, yolov5n.bin, and yolov5n.mapping under the model_convert folder.
+
+# Move to the Recommended Model Path
+```
+cd ~/yolov5/model_convert
+mkdir -p  /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/
+sudo cp yolov5n.bin yolov5n.mapping yolov5n.xml /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/
+```
+
+# FAQ
+
+<p>
+<details>
+<summary>How to install the python3-venv package?</summary>
+
+On Debian/Ubuntu systems, you need to install the python3-venv package using the following command.
+```
+apt-get update
+apt-get install python3-venv
+```
+You may need to use sudo with that command. After installing, recreate your virtual environment.
+</details>
+</p>
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,7 +1,7 @@
 # ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80
 
-ARG ROS_VERSION
-FROM osrf/ros:${ROS_VERSION}
+ARG ROS_PRE_INSTALLED_PKG
+FROM osrf/ros:${ROS_PRE_INSTALLED_PKG}
 ARG VERSION
 
 # setting proxy env --option 
@@ -10,8 +10,10 @@ ARG VERSION
 # ENV HTTPS_PROXY="your_proxy"
 # ENV FTP_PROXY="your_proxy"
 
-LABEL maintainer="Jiawei Wu <jiawei.wu@intel.com>"
+# author information
+LABEL author="Jiawei Wu <jiawei.wu@intel.com>"
 
+# default shell type
 SHELL ["/bin/bash", "-c"]
 
 # ignore the warning
@@ -54,7 +56,6 @@ pyyaml \
 requests \
 && apt-get install -y --no-install-recommends libboost-all-dev
 WORKDIR /usr/lib/x86_64-linux-gnu
-RUN ln -sf libboost_python-py36.so libboost_python37.so
 RUN pip install --upgrade pip
 RUN pip install openvino-dev[tensorflow2]==2022.1
 
@@ -63,9 +64,7 @@ WORKDIR /root
 RUN mkdir -p catkin_ws/src
 WORKDIR /root/catkin_ws/src
 RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \
-&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git \ 
-&& git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git \
-&& git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git 
+&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git
 RUN apt-get install ros-${VERSION}-diagnostic-updater
 WORKDIR /root/catkin_ws
 RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

diff --git a/docker/docker_instructions_ov2.0.md b/docker/docker_instructions_ov2.0.md
@@ -12,20 +12,20 @@ Refer to: [Docker_install_guide](https://docs.docker.com/engine/install/ubuntu/)
 ```
 cd ~/ros2_openvino_toolkit/docker/Dockerfile
 vi ~/ros2_openvino_toolkit/docker/Dockerfile
-docker build --build-arg ROS_VERSION=<EXPECT_ROS_BASE_IMAGE> --build-arg VERSION=<EXPECT_ROS_VERSION> --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 .
+docker build --build-arg ROS_PRE_INSTALLED_PKG=<EXPECT_ROS_PRE_INSTALLED_PKG> --build-arg VERSION=<EXPECT_ROS_VERSION> --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 .
 ```
 For example:
 * Build image for ros_galactic
 ```
 cd ~/ros2_openvino_toolkit/docker/Dockerfile
 vi ~/ros2_openvino_toolkit/docker/Dockerfile
-docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 .
+docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 .
 ```
 * Build image for ros_foxy
 ```
 cd ~/ros2_openvino_toolkit/docker/Dockerfile
 vi ~/ros2_openvino_toolkit/docker/Dockerfile
-docker build --build-arg ROS_VERSION=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 .
+docker build --build-arg ROS_PRE_INSTALLED_PKG=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 .
 ```
 
 ## 3. Download and load docker image

diff --git a/dynamic_vino_lib/CMakeLists.txt b/dynamic_vino_lib/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (c) 2018-2020 Intel Corporation
+# Copyright (c) 2018-2022 Intel Corporation
 
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -217,7 +217,7 @@ add_library(${PROJECT_NAME} SHARED
         src/models/vehicle_attribs_detection_model.cpp
         src/models/license_plate_detection_model.cpp
         src/models/object_detection_ssd_model.cpp
-        src/models/object_detection_yolov2_model.cpp
+        src/models/object_detection_yolov5_model.cpp
         src/outputs/image_window_output.cpp
         src/outputs/ros_topic_output.cpp
         src/outputs/rviz_output.cpp

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/engines/engine_manager.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018-2019 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/age_gender_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_filter.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_inference.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/base_reidentification.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/emotions_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/face_reidentification.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/head_pose_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/inference_manager.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/landmarks_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/license_plate_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/object_segmentation_maskrcnn.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_attribs_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/person_reidentification.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inferences/vehicle_attribs_detection.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/base_input.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_input.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp b/dynamic_vino_lib/include/dynamic_vino_lib/inputs/image_topic.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2018-2022 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.