define function getHeader() [#issue122]

.github/workflows/dev-ov_2020-3.yml

@@ -0,0 +1,72 @@
+name: dev-ov.2020.3-CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the dev-ov2020.3 branch
+on:
+  push:
+    branches: [ dev-ov2020.3 ]
+  pull_request:
+    branches: [ dev-ov2020.3 ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-18.04
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v2
+
+    # install ros melodic
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: melodic
+    - run: "source /opt/ros/melodic/setup.bash"
+
+    # install openvino 2020.3
+    - name: install openvino 2020.3
+      run: |
+        sudo apt update && sudo apt install curl gnupg2 lsb-release
+        curl -s https://apt.repos.intel.com/openvino/2020/GPG-PUB-KEY-INTEL-OPENVINO-2020 |sudo apt-key add -
+        echo "deb https://apt.repos.intel.com/openvino/2020 all main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2020.list
+        sudo apt update
+        sudo apt-cache search openvino
+        sudo apt-get install -y \
+          intel-openvino-runtime-ubuntu18-2020.3.341 \
+          intel-openvino-ie-samples-2020.3.341 \
+          intel-openvino-omz-dev-2020.3.341 \
+          intel-openvino-omz-tools-2020.3.341 \
+          intel-openvino-gstreamer-rt-ubuntu-bionic-2020.3.341 \
+          intel-openvino-gva-dev-ubuntu-bionic-2020.3.341 \
+          intel-openvino-gva-rt-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-bin-python-tools-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-rt-core-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-rt-cpu-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-rt-gna-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-rt-gpu-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-rt-hddl-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-rt-vpu-ubuntu-bionic-2020.3.341 \
+          intel-openvino-ie-sdk-ubuntu-bionic-2020.3.341 \
+          intel-openvino-opencv-lib-ubuntu-bionic-2020.3.341
+        sudo apt-get install -y libgflags-dev
+        ls -lh /opt/intel/openvino
+        source /opt/intel/openvino/bin/setupvars.sh
+
+    # build ros openvino toolkit
+    - name: build ros openvino toolkit
+      run: |
+        mkdir -p ~/catkin_ws/src
+        cp -rf ${GITHUB_WORKSPACE} ~/catkin_ws/src
+        cd ~/catkin_ws/src
+        git clone https://github.com/intel/object_msgs.git
+        cd ~/catkin_ws/
+        source /opt/ros/melodic/setup.bash
+        source /opt/intel/openvino/bin/setupvars.sh
+        export CPU_EXTENSION_LIB+=/opt/intel/openvino_2020.3.341/deployment_tools/inference_engine/lib/intel64/libinference_engine.so
+        export GFLAGS_LIB+=/usr/lib/x86_64-linux-gnu/libgflags_nothreads.a
+        env
+        catkin_make
+

.gitignore

@@ -0,0 +1,2 @@
+dynamic_vino_lib/html/*
+dynamic_vino_lib/latex/*

data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels

@@ -0,0 +1,2 @@
+vehicle
+license

data/labels/object_detection/yolov2-voc.labels

@@ -0,0 +1,20 @@
+Aeroplane
+Bicycle
+Bird
+Boat
+Bottle
+Bus
+Car
+Cat
+Chair
+Cow
+DiningTable
+Dog
+Horse
+Motorbike
+Person
+PottedPlant
+Sheep
+Sofa
+Train
+TV/Monitor

doc/BINARY_VERSION_README.md

@@ -13,11 +13,11 @@ This project is a ROS wrapper for CV API of [OpenVINO™](https://software.intel
 * Demo application to show above detection and recognitions
 
 ## 2. Prerequisite
-- An x86_64 computer running Ubuntu 16.04. Below processors are supported:
+- An x86_64 computer running Ubuntu 18.04. Below processors are supported:
 	* 6th-8th Generation Intel® Core™
 	* Intel® Xeon® v5 family
 	* Intel®  Xeon® v6 family
-- ROS Kinetic
+- ROS [Dashing](https://github.com/ros2/ros2)
 
 - [OpenVINO™ Toolkit](https://software.intel.com/en-us/openvino-toolkit)
 - RGB Camera, e.g. RealSense D400 Series or standard USB camera or Video/Image File
@@ -38,9 +38,9 @@ This project is a ROS wrapper for CV API of [OpenVINO™](https://software.intel
 ```
 **Note**:You can also choose to follow the steps below to build the environment step by step.
 
-- Install ROS Kinetic Desktop-Full ([guide](http://wiki.ros.org/kinetic/Installation/Ubuntu))
+- Install ROS Dashing Desktop-Full ([guide](https://index.ros.org/doc/ros2/Installation/Dashing/))
 
-- Install [OpenVINO™ Toolkit](https://software.intel.com/en-us/openvino-toolkit) ([guide](https://software.intel.com/en-us/articles/OpenVINO-Install-Linux)). Choose "2018 R4" when download tarball.
+- Install [OpenVINO™ Toolkit](https://software.intel.com/en-us/openvino-toolkit) ([guide](https://software.intel.com/en-us/articles/OpenVINO-Install-Linux)). 
 
 	**Note**: Please use  *root privileges* to run the installer when installing the core components.
 - Install OpenCL Driver for GPU
@@ -70,9 +70,8 @@ sudo ./install_NEO_OCL_driver.sh
 		sudo apt update
 		sudo apt install libjasper1 libjasper-dev
 		```
-- Install Intel® RealSense™ SDK 2.0 [(tag v2.17.1)](https://github.com/IntelRealSense/librealsense/tree/v2.17.1)
-	* [Install from source code](https://github.com/IntelRealSense/librealsense/blob/v2.17.1/doc/installation.md)(Recommended)
-	* [Install from package](https://github.com/IntelRealSense/librealsense/blob/v2.17.1/doc/distribution_linux.md)
+- Install Intel® RealSense™ SDK 2.0 [(tag v2.30.0)](https://github.com/IntelRealSense/librealsense/tree/v2.30.0)
+	* [Install from package](https://github.com/IntelRealSense/librealsense/blob/v2.30.0/doc/distribution_linux.md)
 
 - Other Dependencies
 ```bash
@@ -89,8 +88,8 @@ sudo ln -sf libboost_python-py35.so libboost_python3.so
 - Build sample code under openvino toolkit
 ```bash
 # root is required instead of sudo
-source /opt/intel/computer_vision_sdk/bin/setupvars.sh
-cd /opt/intel/computer_vision_sdk/deployment_tools/inference_engine/samples/
+source /opt/intel/openvino/bin/setupvars.sh
+cd /opt/intel/openvino/deployment_tools/inference_engine/samples/
 mkdir build
 cd build
 cmake ..
@@ -99,8 +98,8 @@ make
 
 - Set Environment CPU_EXTENSION_LIB and GFLAGS_LIB
 ```bash
-export CPU_EXTENSION_LIB=/opt/intel/computer_vision_sdk/deployment_tools/inference_engine/samples/build/intel64/Release/lib/libcpu_extension.so
-export GFLAGS_LIB=/opt/intel/computer_vision_sdk/deployment_tools/inference_engine/samples/build/intel64/Release/lib/libgflags_nothreads.a
+export CPU_EXTENSION_LIB=/opt/intel/openvino/deployment_tools/inference_engine/samples/build/intel64/Release/lib/libcpu_extension.so
+export GFLAGS_LIB=/opt/intel/openvino/deployment_tools/inference_engine/samples/build/intel64/Release/lib/libgflags_nothreads.a
 ```
 
 - Install ROS_OpenVINO packages
@@ -122,7 +121,7 @@ source /opt/ros/kinetic/setup.bash
 # Ubuntu 18.04
 source /opt/ros/melodic/setup.bash
 
-source /opt/intel/computer_vision_sdk/bin/setupvars.sh
+source /opt/intel/openvino/bin/setupvars.sh
 export OpenCV_DIR=$HOME/code/opencv/build
 cd ~/catkin_ws
 catkin_make
@@ -133,59 +132,76 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 
 ## 5. Running the Demo
 * Preparation
+	* Configure the Neural Compute Stick USB Driver
+	```bash
+	cd ~/Downloads
+	cat <<EOF > 97-usbboot.rules
+	SUBSYSTEM=="usb", ATTRS{idProduct}=="2150", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+	SUBSYSTEM=="usb", ATTRS{idProduct}=="2485", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+	SUBSYSTEM=="usb", ATTRS{idProduct}=="f63b", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+	EOF
+	sudo cp 97-usbboot.rules /etc/udev/rules.d/
+	sudo udevadm control --reload-rules
+	sudo udevadm trigger
+	sudo ldconfig
+	rm 97-usbboot.rules
+	```
+	* download [Object Detection model](https://github.com/intel/ros_openvino_toolkit/tree/devel/doc/OBJECT_DETECTION.md)
 	* download and convert a trained model to produce an optimized Intermediate Representation (IR) of the model 
-		```bash
-		#object segmentation model
-		 cd /opt/intel/computer_vision_sdk/deployment_tools/model_optimizer/install_prerequisites
-		 sudo ./install_prerequisites.sh
-		 mkdir -p ~/Downloads/models
-		 cd ~/Downloads/models
-		 wget http://download.tensorflow.org/models/object_detection/mask_rcnn_inception_v2_coco_2018_01_28.tar.gz
-		 tar -zxvf mask_rcnn_inception_v2_coco_2018_01_28.tar.gz
-		 cd mask_rcnn_inception_v2_coco_2018_01_28
-		 python3 /opt/intel/computer_vision_sdk/deployment_tools/model_optimizer/mo_tf.py --input_model frozen_inference_graph.pb --tensorflow_use_custom_operations_config /opt/intel/computer_vision_sdk/deployment_tools/model_optimizer/extensions/front/tf/mask_rcnn_support.json --tensorflow_object_detection_api_pipeline_config pipeline.config --reverse_input_channels --output_dir ./output/
-		 sudo mkdir -p /opt/models
-		 sudo ln -sf ~/Downloads/models/mask_rcnn_inception_v2_coco_2018_01_28 /opt/models/
-		 #object detection model
-		 cd /opt/intel/computer_vision_sdk/deployment_tools/model_downloader
-		 sudo python3 ./downloader.py --name mobilenet-ssd
-		 #FP32 precision model
-		 sudo python3 /opt/intel/computer_vision_sdk/deployment_tools/model_optimizer/mo.py --input_model /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/mobilenet-ssd.caffemodel --output_dir /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP32 --mean_values [127.5,127.5,127.5] --scale_values [127.5]
-		 #FP16 precision model
-		 sudo python3 /opt/intel/computer_vision_sdk/deployment_tools/model_optimizer/mo.py --input_model /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/mobilenet-ssd.caffemodel --output_dir /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP16 --data_type=FP16 --mean_values [127.5,127.5,127.5] --scale_values [127.5]
-      ```
+	```bash
+	#object segmentation model
+	cd /opt/intel/openvino/deployment_tools/model_optimizer/install_prerequisites
+	sudo ./install_prerequisites.sh
+	mkdir -p ~/Downloads/models
+	cd ~/Downloads/models
+	wget http://download.tensorflow.org/models/object_detection/mask_rcnn_inception_v2_coco_2018_01_28.tar.gz
+	tar -zxvf mask_rcnn_inception_v2_coco_2018_01_28.tar.gz
+	cd mask_rcnn_inception_v2_coco_2018_01_28
+	#FP32
+	sudo python3 /opt/intel/openvino/deployment_tools/model_optimizer/mo_tf.py --input_model frozen_inference_graph.pb --tensorflow_use_custom_operations_config /opt/intel/openvino/deployment_tools/model_optimizer/extensions/front/tf/mask_rcnn_support.json --tensorflow_object_detection_api_pipeline_config pipeline.config --reverse_input_channels --output_dir /opt/openvino_toolkit/models/segmentation/output/FP32
+	#FP16
+	sudo python3 /opt/intel/openvino/deployment_tools/model_optimizer/mo_tf.py --input_model frozen_inference_graph.pb --tensorflow_use_custom_operations_config /opt/intel/openvino/deployment_tools/model_optimizer/extensions/front/tf/mask_rcnn_support.json --tensorflow_object_detection_api_pipeline_config pipeline.config --reverse_input_channels --data_type=FP16 --output_dir /opt/openvino_toolkit/models/segmentation/output/FP16
+	```
+	* download the optimized Intermediate Representation (IR) of model (excute once)
+	```bash
+	cd /opt/intel/openvino/deployment_tools/tools/model_downloader
+	sudo python3 downloader.py --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output
+	sudo python3 downloader.py --name age-gender-recognition-retail-0013 --output_dir /opt/openvino_toolkit/models/age-gender-recognition/output
+	sudo python3 downloader.py --name emotions-recognition-retail-0003 --output_dir /opt/openvino_toolkit/models/emotions-recognition/output
+	sudo python3 downloader.py --name head-pose-estimation-adas-0001 --output_dir /opt/openvino_toolkit/models/head-pose-estimation/output
+	sudo python3 downloader.py --name person-detection-retail-0013 --output_dir /opt/openvino_toolkit/models/person-detection/output
+	sudo python3 downloader.py --name person-reidentification-retail-0076 --output_dir /opt/openvino_toolkit/models/person-reidentification/output
+	sudo python3 downloader.py --name vehicle-license-plate-detection-barrier-0106 --output_dir /opt/openvino_toolkit/models/vehicle-license-plate-detection/output
+	sudo python3 downloader.py --name vehicle-attributes-recognition-barrier-0039 --output_dir /opt/openvino_toolkit/models/vehicle-attributes-recongnition/output
+	sudo python3 downloader.py --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output
+	sudo python3 downloader.py --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output
+	sudo python3 downloader.py --name face-reidentification-retail-0095 --output_dir /opt/openvino_toolkit/models/face-reidentification/output
+	```	
 	* copy label files (excute _once_)<br>
-		```bash
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/intel/computer_vision_sdk/deployment_tools/intel_models/emotions-recognition-retail-0003/FP32
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/intel/computer_vision_sdk/deployment_tools/intel_models/emotions-recognition-retail-0003/FP16
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/intel/computer_vision_sdk/deployment_tools/intel_models/face-detection-adas-0001/FP32
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/intel/computer_vision_sdk/deployment_tools/intel_models/face-detection-adas-0001/FP16
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels ~/Downloads/models/mask_rcnn_inception_v2_coco_2018_01_28/output
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/object_detection/mobilenet-ssd.labels /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP32
-		sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/object_detection/mobilenet-ssd.labels /opt/intel/computer_vision_sdk/deployment_tools/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP16
-		```
-	* set ENV LD_LIBRARY_PATH and environment
-		```bash
-		source /opt/intel/computer_vision_sdk/bin/setupvars.sh
-		export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/intel/computer_vision_sdk/deployment_tools/inference_engine/samples/build/intel64/Release/lib
-		```
-* run face detection sample code input from StandardCamera.(connect Intel® Neural Compute Stick 2)
 	```bash
-	roslaunch vino_launch pipeline_people_myriad.launch
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/segmentation/output/FP32/
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/segmentation/output/FP16/
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/
+	sudo cp /opt/openvino_toolkit/ros_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/
 	```
-* run face detection sample code input from Image.
+	* set ENV LD_LIBRARY_PATH and environment
 	```bash
-	roslaunch vino_launch pipeline_image.launch
+	source /opt/intel/openvino/bin/setupvars.sh
+	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/intel/openvino/deployment_tools/inference_engine/samples/build/intel64/Release/lib
 	```
-* run object detection sample code input from RealSenseCamera.(connect Intel® Neural Compute Stick 2)
+* run face detection sample code input from StandardCamera.(connect Intel® Neural Compute Stick 2)
 	```bash
-	roslaunch vino_launch pipeline_object.launch
+	roslaunch vino_launch pipeline_people.launch
 	```
-* run object detection sample code input from RealSenseCameraTopic.(connect Intel® Neural Compute Stick 2)
+* run face detection sample code input from Image.
 	```bash
-	roslaunch vino_launch pipeline_object_topic.launch
+	roslaunch vino_launch pipeline_image.launch
 	```
-* run object segmentation sample code input from RealSenseCameraTopic.(connect Intel® Neural Compute Stick 2)
+* run object segmentation sample code input from RealSenseCameraTopic.
 	```bash
 	roslaunch vino_launch pipeline_segmentation.launch
 	```
@@ -197,6 +213,14 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 	```bash
 	roslaunch vino_launch pipeline_reidentification.launch
 	```
+* run face re-identification with facial landmarks from realsense camera
+	```bash
+	roslaunch vino_launch pipeline_face_reidentification.launch
+	```
+* run vehicle detection sample code input from StandardCamera.
+	```bash
+	roslaunch vino_launch pipeline_vehicle_detection.launch  
+	```
 * run object detection service sample code input from Image  
   Run image processing service:
 	```bash
@@ -228,3 +252,4 @@ sudo ln -s ~/catkin_ws/src/ros_openvino_toolkit /opt/openvino_toolkit/ros_openvi
 
 ###### *Any security issue should be reported using process at https://01.org/security*
 
+