将 yolov5-deepport 封装到 ROS.zip

# YoloV5 DeepSORT Pytorch ROS <img src="./doc/track_all.gif" width="400"/> <img src="./doc/track_pedestrians.gif" width="400"/> ## Introduction This repository implements ROS packages to detect objects using `ROS`, `yolov5`, and to classify and track single objects using `Deepport algorithms`. The source code of this repository is as follows. * [mikel-brostrom/Yolov5_DeepSort_Pytorch](https://github.com/mikel-brostrom/Yolov5_DeepSort_Pytorch.git) * [ultralytics/yolov5](https://github.com/ultralytics/yolov5) This repository is described in `Korean` and `English`, and please refer to the following link. * [한국어](./doc/README_KOR.md) * [English](/README.md) ## Tutorials * [Train Custom Data(External Link)](https://github.com/ultralytics/yolov5/wiki/Train-Custom-Data) * [Training the RE-ID model(External Link)](https://github.com/ZQPei/deep_sort_pytorch#training-the-re-id-model) ## Before You Run Node ### 1. Configuring the Python3 environment for ROS Melodic * YoloV5 runs in `Python 3 environments`. Therefore, before running the package, you must configure the node using Python 3 to run in the `ROS Medloic environment`. ```s sudo apt-get install python3-pip python3-all-dev python3-yaml python3-rospkg sudo apt-get install ros-melodic-desktop-full --fix-missing sudo pip3 install rospkg catkin_pkg ``` * Error occurs when using `cv_bridge` in python3 environment. Therefore, you should rebuild the `cv_bridge` according to the melodic version. ```s sudo apt-get install python-catkin-tools python3-catkin-pkg-modules # Create catkin workspace mkdir catkin_workspace cd catkin_workspace catkin init # Instruct catkin to set cmake variables catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so # Instruct catkin to install built packages into install place. It is $CATKIN_WORKSPACE/install folder catkin config --install # Clone cv_bridge src git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv # Find version of cv_bridge in your repository apt-cache show ros-melodic-cv-bridge | grep Version Version: 1.13.0-0bionic.20210505.032238 # Checkout right version in git repo. In our case it is 1.13.0 cd src/vision_opencv/ git checkout 1.13.0 cd ../../ # Build catkin build cv_bridge # Extend environment with new package echo "source install/setup.bash --extend" >> bashrc ``` ### 2. ROS Node Package Download * Run clone with a repository that is dependent. ```s cd your_workspace/src git clone --recurse-submodules https://github.com/jungsuyun/yolov5_deepsort_ros.git cd .. catkin_make ``` If you did not do `--recurse-submodules`, you must run `git submodule update --init`. * Ensure that all dependency information in Node is met. The package works with Python 3.6 or later and requires several dependency packages to be installed. ```s pip3 install "numpy>=1.18.5,<1.20" "matplotlib>=3.2.2,<4" pip3 install yolov5 pip3 install -r requirements.txt ``` * Github [prevents you from uploading more than 100MB of files](https://docs.github.com/en/github/managing-large-files/working-with-large-files/conditions-for-large-files). Therefore, you should download the weight file associated with Deepport. * [Download the Depsort-specific weight file](https://drive.google.com/drive/folders/1xhG0kRH1EX5B9_Iz8gQJb7UNnn_riXi6). Download the ckpt.t7 file to the path `scripts/deep_sort_pytorch/deep_sort/deep/checkpoint/`. ## Run YoloV5 Deepsort Node ### 1. Run Detection Node * The yolov5 detection node runs as follows: ```s roslaunch yolov5_deepsort detector.launch ``` By default, the image topic that performs detection is `/image_raw`. If you want to change the Subscribe image topic, you need to modify the following part of `detector.launch`. ```xml <arg name="image_topic" default="/image_raw"/> ``` If you want to detect only one or a few objects, not multiple objects, you need to modify the following parts of `detector.launch`. If you want to detect the entire class, you must enter None, and if you want to detect only a specific class, you must enter the class name. ```xml <arg name="class_name" default='None'/> <!-- <arg name="class_name" default='person'/> --> ``` ### 2. Run Deep Sort Node * yolov5 depthort node runs as follows: ```s roslaunch yolov5_deepsort tracker.launch ``` By default, the image topic that performs detection is `/image_raw`. If you want to change the Subscribe image topic, you need to modify the following part of `detector.launch`. ```xml <arg name="image_topic" default="/image_raw"/> ``` The initial value of the class that performs tracking is `person`. If you want to track another class, you need to modify the next part of 'detector.launch'. ```xml <arg name="class_name" default='person'/> ``` ### 3. Subscribe Topic * [/image_raw](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html) : Subscribe Image topic to detect objects. ### 4. Published Topic * [/detected_objects_in_image](https://github.com/jungsuyun/yolov5_deepsort_ros/blob/melodic/msg/BoundingBox.msg) * string Class * float64 probability * int64 xmin * int64 ymin * int64 xmax * int64 ymax * [/detections_image_topic](https://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html) : Issue Image topic with bounding box, class name entered. ## TroubleShooting #### ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost) This error occurs when a python package related to cv_bridge_boost is not found. Open the cv_bridge/CMakelist.txt file in the folder where you installed the cv_bridge package and modify `found_package(Boost REQUIRED python3)` as follows: ```CMake find_package(Boost REQUIRED python3-py36) ``` Then build and run cv_bridge again. #### ImportError: cannot import name 'BoundingBox' This error is caused by not building yolov5_deepport package. Go to catkin_ws, `catkin_make` and run the package again.