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Yolov5-OpenCV-Cpp-Python-ROS

中文README

This code is adapted from yolov5-opencv-cpp-python.

Example of performing inference with ultralytics YOLO V5, OpenCV 4.5.4 DNN, C++ and Python.

In this adapted version, the C++ is compiled using CMake to easier define the environmental variables. Futhermore, this code is adapted to receive ROS image messages and display the detections.

Code explanation

  • Variable net_path defines the onnx network path.
  • Variable class_path defines the class-file path.
  • The ros node listens on /image to get input images.

NOTE: The code depends on the output dimension of your network model, which means the variables dimensions and rows in ros.cpp should be the exact same size of output dimensions.

Prerequisites

Make sure you have already on your system:

  • Any modern Linux OS (tested on Ubuntu 18.04)
  • OpenCV 4.5.4+
  • Python 3.7+ (only if you are intended to run the python program)
  • GCC 9.0+ (only if you are intended to run the C++ program)
  • ROS melodic

IMPORTANT!!! Note that OpenCV versions prior to 4.5.4 will not work at all.

Running the ROS/C++ program

The C++/ROS code is here.

git clone https://github.com/YellowAndGreen/Yolov5-OpenCV-Cpp-Python-ROS.git
cd Yolov5-OpenCV-Cpp-Python-ROS/Yolo_ROS
mkdir build && cd build
cmake ../
make
./yolo_ros

Running the python script

The python code is here.

git clone https://github.com/YellowAndGreen/Yolov5-OpenCV-Cpp-Python-ROS.git
cd Yolov5-OpenCV-Cpp-Python-ROS
python python/yolo.py

If your machine/OpenCV install are CUDA capable you can try out running using the GPU:

git clone https://github.com/YellowAndGreen/Yolov5-OpenCV-Cpp-Python-ROS.git
cd Yolov5-OpenCV-Cpp-Python-ROS
python python/yolo.py cuda
python python/yolo-tiny.py cuda

Running the C++ program

The C++ code is here.

git clone https://github.com/YellowAndGreen/Yolov5-OpenCV-Cpp-Python-ROS.git
cd Yolov5-OpenCV-Cpp-Python-ROS/cpp
mkdir build && cd build
cmake ../
make
./yolo_example

Which YOLO version should I use?

This repository uses YOLO V5 but it is not the only YOLO version out there. You can read this article to learn more about YOLO versions and choose the more suitable one for you.

Exporting yolo v5 models to .onnx format

Check here: ultralytics/yolov5#251

My commands were:

git clone https://github.com/ultralytics/yolov5
cd yolov5
pip install -r requirements.txt

And then to convert the model:

$ python3 export.py --weights yolov5n.pt --img 640 --include onnx
export: data=data/coco128.yaml, weights=['yolov5n.pt'], imgsz=[640], batch_size=1, device=cpu, half=False, inplace=False, train=False, optimize=False, int8=False, dynamic=False, simplify=False, opset=12, verbose=False, workspace=4, nms=False, agnostic_nms=False, topk_per_class=100, topk_all=100, iou_thres=0.45, conf_thres=0.25, include=['onnx']
YOLOv5 🚀 v6.0-192-g436ffc4 torch 1.10.1+cu102 CPU

Fusing layers... 
Model Summary: 213 layers, 1867405 parameters, 0 gradients

PyTorch: starting from yolov5n.pt (4.0 MB)

ONNX: starting export with onnx 1.10.2...
/home/user/workspace/smartcam/yolov5/models/yolo.py:57: TracerWarning: Converting a tensor to a Python boolean might cause the trace to be incorrect. We can't record the data flow of Python values, so this value will be treated as a constant in the future. This means that the trace might not generalize to other inputs!
  if self.onnx_dynamic or self.grid[i].shape[2:4] != x[i].shape[2:4]:
ONNX: export success, saved as yolov5n.onnx (7.9 MB)

Export complete (1.33s)
Results saved to /home/doleron/workspace/smartcam/yolov5
Visualize with https://netron.app
Detect with `python detect.py --weights yolov5n.onnx` or `model = torch.hub.load('ultralytics/yolov5', 'custom', 'yolov5n.onnx')
Validate with `python val.py --weights yolov5n.onnx`
$