├── .gitignore ├── requirements.txt ├── rviz_dogs.png ├── .gitmodules ├── src ├── visualizer.py ├── utils.py └── detect.py ├── launch └── yolov6.launch ├── README.md ├── package.xml ├── CMakeLists.txt └── LICENSE /.gitignore: -------------------------------------------------------------------------------- 1 | venv 2 | .idea 3 | __pycache__ -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | yolov6 @ git+https://github.com/lukazso/YOLOv6.git 2 | -------------------------------------------------------------------------------- /rviz_dogs.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lukazso/yolov6-ros/HEAD/rviz_dogs.png -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "src/yolov6"] 2 | path = src/yolov6 3 | url = https://github.com/meituan/YOLOv6.git 4 | -------------------------------------------------------------------------------- /src/visualizer.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import cv2 3 | from typing import List 4 | 5 | 6 | def get_random_color(seed): 7 | gen = np.random.default_rng(seed) 8 | color = tuple(gen.choice(range(256), size=3)) 9 | color = tuple([int(c) for c in color]) 10 | return color 11 | 12 | 13 | def draw_detections(img: np.array, bboxes: List[List[int]], classes: List[int]): 14 | for bbox, cls in zip(bboxes, classes): 15 | x1, y1, x2, y2 = bbox 16 | 17 | color = get_random_color(int(cls)) 18 | img = cv2.rectangle( 19 | img, (int(x1), int(y1)), (int(x2), int(y2)), color, 3 20 | ) 21 | x_text = int(x1) 22 | y_text = max(15, int(y1 - 10)) 23 | img = cv2.putText( 24 | img, str(cls), (x_text, y_text), cv2.FONT_HERSHEY_SIMPLEX, 25 | 0.5, color, 1, cv2.LINE_AA 26 | ) 27 | 28 | return img 29 | -------------------------------------------------------------------------------- /launch/yolov6.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /src/utils.py: -------------------------------------------------------------------------------- 1 | import rospy 2 | import torch 3 | from std_msgs.msg import Header 4 | from sensor_msgs.msg import Image 5 | from vision_msgs.msg import Detection2DArray, Detection2D, BoundingBox2D, \ 6 | ObjectHypothesisWithPose 7 | from geometry_msgs.msg import Pose2D 8 | 9 | 10 | def create_header(): 11 | h = Header() 12 | h.stamp = rospy.Time.now() 13 | return h 14 | 15 | 16 | def create_detection_msg(img_msg: Image, detections: torch.Tensor) -> Detection2DArray: 17 | """ 18 | :param img_msg: original ros image message 19 | :param detections: torch tensor of shape [num_boxes, 6] where each element is 20 | [x1, y1, x2, y2, confidence, class_id] 21 | :returns: detections as a ros message of type Detection2DArray 22 | """ 23 | detection_array_msg = Detection2DArray() 24 | 25 | # header 26 | header = create_header() 27 | detection_array_msg.header = header 28 | for detection in detections: 29 | x1, y1, x2, y2, conf, cls = detection.tolist() 30 | single_detection_msg = Detection2D() 31 | single_detection_msg.header = header 32 | 33 | # src img 34 | single_detection_msg.source_img = img_msg 35 | 36 | # bbox 37 | bbox = BoundingBox2D() 38 | w = int(round(x2 - x1)) 39 | h = int(round(y2 - y1)) 40 | cx = int(round(x1 + w / 2)) 41 | cy = int(round(y1 + h / 2)) 42 | bbox.size_x = w 43 | bbox.size_y = h 44 | 45 | bbox.center = Pose2D() 46 | bbox.center.x = cx 47 | bbox.center.y = cy 48 | 49 | single_detection_msg.bbox = bbox 50 | 51 | # class id & confidence 52 | obj_hyp = ObjectHypothesisWithPose() 53 | obj_hyp.id = int(cls) 54 | obj_hyp.score = conf 55 | single_detection_msg.results = [obj_hyp] 56 | 57 | detection_array_msg.detections.append(single_detection_msg) 58 | 59 | return detection_array_msg 60 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ROS package for YOLOv6 2 | 3 | This repo contains a ROS noetic package for YOLOv6. It wraps the [official 4 | implementation](https://github.com/meituan/YOLOv6) into a ROS node (so most credit 5 | goes to the YOLOv6 creators). 6 | 7 | Maybe you are also interested in the [ROS package for YOLOv7](https://github.com/lukazso/yolov7-ros). 8 | 9 | ![Example image from RVIZ](rviz_dogs.png) 10 | 11 | ## Requirements & Getting Started 12 | 13 | Following ROS packages are required: 14 | - [vision_msgs](http://wiki.ros.org/vision_msgs) 15 | - [geometry_msgs](http://wiki.ros.org/geometry_msgs) 16 | 17 | First, clone the repo into your catkin workspace and build the package: 18 | ``` 19 | git clone https://github.com/lukazso/yolov6-ros.git ~/catkin_ws/src/ 20 | cd ~/catkin_ws 21 | catkin build yolov6-ros 22 | ``` 23 | 24 | The Python requirements are listed in the `requirements.txt`. You can simply 25 | install them as 26 | ``` 27 | pip install -r requirements.txt 28 | ``` 29 | 30 | Download the YOLOv6 weights from the [official repository](https://github.com/meituan/YOLOv6). 31 | 32 | The package has been tested under Ubuntu 20.04 and Python 3.8.10. 33 | 34 | ## Usage 35 | Before you launch the node, adjust the parameters in the 36 | [launch file](launch/yolov6.launch). For example, you need to set the path to your 37 | YOLOv6 weights and the image topic to which this node should listen to. The launch 38 | file also contains a description for each parameter. 39 | 40 | ``` 41 | roslaunch yolov6-ros yolov6.launch 42 | ``` 43 | 44 | Each time a new image is received it is then fed into YOLOv6. 45 | 46 | ### Notes 47 | - The detections are published using the [vision_msgs/Detection2DArray](http://docs.ros.org/en/api/vision_msgs/html/msg/Detection2DArray.html) message type. 48 | - The detections will be published under `/yolov6/out_topic`. 49 | - If you set the `visualize` parameter to `true`, the detections will be drawn into 50 | the image, which is then published under `/yolov6/out_topic/visualization`. 51 | 52 | ## Coming Soon 53 | - Additional weights for automotive datasets 54 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | yolov6-ros 4 | 0.0.0 5 | The yolov6-ros package 6 | 7 | 8 | 9 | 10 | root 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | roscpp 53 | rospy 54 | sensor_msgs 55 | std_msgs 56 | vision_msgs 57 | geometry_msgs 58 | roscpp 59 | rospy 60 | sensor_msgs 61 | std_msgs 62 | vision_msgs 63 | geometry_msgs 64 | roscpp 65 | rospy 66 | sensor_msgs 67 | std_msgs 68 | vision_msgs 69 | geometry_msgs 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | -------------------------------------------------------------------------------- /src/detect.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | 3 | import os 4 | from typing import Tuple, Union 5 | 6 | from yolov6.layers.common import DetectBackend 7 | from yolov6.utils.nms import non_max_suppression 8 | from yolov6.core.inferer import Inferer 9 | 10 | import torch 11 | import cv2 12 | from torchvision.transforms import ToTensor 13 | import numpy as np 14 | import rospy 15 | 16 | from vision_msgs.msg import Detection2DArray, Detection2D, BoundingBox2D 17 | from sensor_msgs.msg import Image 18 | from cv_bridge import CvBridge 19 | 20 | from utils import create_detection_msg 21 | from visualizer import draw_detections 22 | 23 | 24 | def rescale(ori_shape: Tuple[int, int], boxes: Union[torch.Tensor, np.ndarray], 25 | target_shape: Tuple[int, int]): 26 | """Rescale the output to the original image shape 27 | :param ori_shape: original width and height [width, height]. 28 | :param boxes: original bounding boxes as a torch.Tensor or np.array or shape 29 | [num_boxes, >=4], where the first 4 entries of each element have to be 30 | [x1, y1, x2, y2]. 31 | :param target_shape: target width and height [width, height]. 32 | """ 33 | xscale = target_shape[1] / ori_shape[1] 34 | yscale = target_shape[0] / ori_shape[0] 35 | 36 | boxes[:, [0, 2]] *= xscale 37 | boxes[:, [1, 3]] *= yscale 38 | 39 | return boxes 40 | 41 | 42 | class YoloV6: 43 | def __init__(self, weights, conf_thresh: float = 0.5, iou_thresh: float = 0.45, 44 | device: str = "cuda"): 45 | self.conf_thresh = conf_thresh 46 | self.iou_thresh = iou_thresh 47 | self.device = device 48 | self.model = DetectBackend(weights, device=device) 49 | 50 | def inference(self, img: torch.Tensor): 51 | """ 52 | :param img: tensor [c, h, w] 53 | :returns: tensor of shape [num_boxes, 6], where each item is represented as 54 | [x1, y1, x2, y2, confidence, class_id] 55 | """ 56 | img = img.unsqueeze(0) 57 | pred_results = self.model(img) 58 | detections = non_max_suppression( 59 | pred_results, conf_thres=self.conf_thresh, iou_thres=self.iou_thresh 60 | ) 61 | if detections: 62 | detections = detections[0] 63 | return detections 64 | 65 | 66 | class Yolov6Publisher: 67 | def __init__(self, img_topic: str, weights: str, conf_thresh: float = 0.5, 68 | iou_thresh: float = 0.45, pub_topic: str = "yolov6_detections", 69 | device: str = "cuda", 70 | img_size: Union[Tuple[int, int], None] = (640, 640), 71 | queue_size: int = 1, visualize: bool = False): 72 | """ 73 | :param img_topic: name of the image topic to listen to 74 | :param weights: path/to/yolo_weights.pt 75 | :param conf_thresh: confidence threshold 76 | :param iou_thresh: intersection over union threshold 77 | :param pub_topic: name of the output topic (will be published under the 78 | namespace '/yolov6') 79 | :param device: device to do inference on (e.g., 'cuda' or 'cpu') 80 | :param queue_size: queue size for publishers 81 | :visualize: flag to enable publishing the detections visualized in the image 82 | :param img_size: (height, width) to which the img is resized before being 83 | fed into the yolo network. Final output coordinates will be rescaled to 84 | the original img size. 85 | """ 86 | self.img_size = img_size 87 | self.device = device 88 | 89 | vis_topic = pub_topic + "visualization" if pub_topic.endswith("/") else \ 90 | pub_topic + "/visualization" 91 | self.visualization_publisher = rospy.Publisher( 92 | vis_topic, Image, queue_size=queue_size 93 | ) if visualize else None 94 | 95 | self.bridge = CvBridge() 96 | 97 | self.tensorize = ToTensor() 98 | self.model = YoloV6( 99 | weights=weights, conf_thresh=conf_thresh, iou_thresh=iou_thresh, 100 | device=device 101 | ) 102 | self.img_subscriber = rospy.Subscriber( 103 | img_topic, Image, self.process_img_msg 104 | ) 105 | self.detection_publisher = rospy.Publisher( 106 | pub_topic, Detection2DArray, queue_size=queue_size 107 | ) 108 | 109 | def process_img_msg(self, img_msg: Image): 110 | """ callback function for publisher """ 111 | np_img_orig = self.bridge.imgmsg_to_cv2( 112 | img_msg, desired_encoding='passthrough' 113 | ) 114 | 115 | # handle possible different img formats 116 | if len(np_img_orig.shape) == 2: 117 | np_img_orig = np.stack([np_img_orig] * 3, axis=2) 118 | 119 | h_orig, w_orig, c = np_img_orig.shape 120 | if c == 1: 121 | np_img_orig = np.concatenate([np_img_orig] * 3, axis=2) 122 | c = 3 123 | 124 | # automatically resize the image to the next smaller possible size 125 | w_scaled, h_scaled = self.img_size 126 | 127 | # w_scaled = w_orig - (w_orig % 8) 128 | np_img_resized = cv2.resize(np_img_orig, (w_scaled, h_scaled)) 129 | 130 | # conversion to torch tensor (copied from original yolov6 repo) 131 | img = np_img_resized.transpose((2, 0, 1))[::-1] # HWC to CHW, BGR to RGB 132 | img = torch.from_numpy(np.ascontiguousarray(img)) 133 | img = img.float() # uint8 to fp16/32 134 | img /= 255 # 0 - 255 to 0.0 - 1. 135 | img = img.to(self.device) 136 | 137 | # inference & rescaling the output to original img size 138 | detections = self.model.inference(img) 139 | detections[:, :4] = rescale( 140 | [h_scaled, w_scaled], detections[:, :4], [h_orig, w_orig]) 141 | detections[:, :4] = detections[:, :4].round() 142 | 143 | # publishing 144 | detection_msg = create_detection_msg(img_msg, detections) 145 | self.detection_publisher.publish(detection_msg) 146 | 147 | # visualizing if required 148 | if self.visualization_publisher: 149 | bboxes = [[int(x1), int(y1), int(x2), int(y2)] 150 | for x1, y1, x2, y2 in detections[:, :4].tolist()] 151 | classes = [int(c) for c in detections[:, 5].tolist()] 152 | vis_img = draw_detections(np_img_orig, bboxes, classes) 153 | vis_msg = self.bridge.cv2_to_imgmsg(vis_img) 154 | self.visualization_publisher.publish(vis_msg) 155 | 156 | 157 | if __name__ == "__main__": 158 | rospy.init_node("yolov6_node") 159 | 160 | ns = rospy.get_name() + "/" 161 | 162 | weights_path = rospy.get_param(ns + "weights_path") 163 | img_topic = rospy.get_param(ns + "img_topic") 164 | out_topic = rospy.get_param(ns + "out_topic") 165 | conf_thresh = rospy.get_param(ns + "conf_thresh") 166 | iou_thresh = rospy.get_param(ns + "iou_thresh") 167 | queue_size = rospy.get_param(ns + "queue_size") 168 | img_size = rospy.get_param(ns + "img_size") 169 | visualize = rospy.get_param(ns + "visualize") 170 | device = rospy.get_param(ns + "device") 171 | 172 | # some sanity checks 173 | if not os.path.isfile(weights_path): 174 | raise FileExistsError("Weights not found.") 175 | 176 | if not ("cuda" in device or "cpu" in device): 177 | raise ValueError("Check your device.") 178 | 179 | publisher = Yolov6Publisher( 180 | img_topic=img_topic, 181 | pub_topic=out_topic, 182 | weights=weights_path, 183 | device=device, 184 | visualize=visualize, 185 | conf_thresh=conf_thresh, 186 | iou_thresh=iou_thresh, 187 | img_size=(img_size, img_size), 188 | queue_size=queue_size 189 | ) 190 | 191 | rospy.spin() 192 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(yolov6-ros) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | # add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | roscpp 12 | rospy 13 | sensor_msgs 14 | std_msgs 15 | vision_msgs 16 | geometry_msgs 17 | ) 18 | 19 | ## System dependencies are found with CMake's conventions 20 | # find_package(Boost REQUIRED COMPONENTS system) 21 | 22 | 23 | ## Uncomment this if the package has a setup.py. This macro ensures 24 | ## modules and global scripts declared therein get installed 25 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 26 | # catkin_python_setup() 27 | 28 | ################################################ 29 | ## Declare ROS messages, services and actions ## 30 | ################################################ 31 | 32 | ## To declare and build messages, services or actions from within this 33 | ## package, follow these steps: 34 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 35 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 36 | ## * In the file package.xml: 37 | ## * add a build_depend tag for "message_generation" 38 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 39 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 40 | ## but can be declared for certainty nonetheless: 41 | ## * add a exec_depend tag for "message_runtime" 42 | ## * In this file (CMakeLists.txt): 43 | ## * add "message_generation" and every package in MSG_DEP_SET to 44 | ## find_package(catkin REQUIRED COMPONENTS ...) 45 | ## * add "message_runtime" and every package in MSG_DEP_SET to 46 | ## catkin_package(CATKIN_DEPENDS ...) 47 | ## * uncomment the add_*_files sections below as needed 48 | ## and list every .msg/.srv/.action file to be processed 49 | ## * uncomment the generate_messages entry below 50 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 51 | 52 | ## Generate messages in the 'msg' folder 53 | # add_message_files( 54 | # FILES 55 | # Message1.msg 56 | # Message2.msg 57 | # ) 58 | 59 | ## Generate services in the 'srv' folder 60 | # add_service_files( 61 | # FILES 62 | # Service1.srv 63 | # Service2.srv 64 | # ) 65 | 66 | ## Generate actions in the 'action' folder 67 | # add_action_files( 68 | # FILES 69 | # Action1.action 70 | # Action2.action 71 | # ) 72 | 73 | ## Generate added messages and services with any dependencies listed here 74 | # generate_messages( 75 | # DEPENDENCIES 76 | # sensor_msgs# std_msgs 77 | # ) 78 | 79 | ################################################ 80 | ## Declare ROS dynamic reconfigure parameters ## 81 | ################################################ 82 | 83 | ## To declare and build dynamic reconfigure parameters within this 84 | ## package, follow these steps: 85 | ## * In the file package.xml: 86 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 87 | ## * In this file (CMakeLists.txt): 88 | ## * add "dynamic_reconfigure" to 89 | ## find_package(catkin REQUIRED COMPONENTS ...) 90 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 91 | ## and list every .cfg file to be processed 92 | 93 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 94 | # generate_dynamic_reconfigure_options( 95 | # cfg/DynReconf1.cfg 96 | # cfg/DynReconf2.cfg 97 | # ) 98 | 99 | ################################### 100 | ## catkin specific configuration ## 101 | ################################### 102 | ## The catkin_package macro generates cmake config files for your package 103 | ## Declare things to be passed to dependent projects 104 | ## INCLUDE_DIRS: uncomment this if your package contains header files 105 | ## LIBRARIES: libraries you create in this project that dependent projects also need 106 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 107 | ## DEPENDS: system dependencies of this project that dependent projects also need 108 | catkin_package( 109 | # INCLUDE_DIRS include 110 | # LIBRARIES yolov6-ros 111 | # CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs 112 | # DEPENDS system_lib 113 | ) 114 | 115 | ########### 116 | ## Build ## 117 | ########### 118 | 119 | ## Specify additional locations of header files 120 | ## Your package locations should be listed before other locations 121 | include_directories( 122 | # include 123 | ${catkin_INCLUDE_DIRS} 124 | ) 125 | 126 | ## Declare a C++ library 127 | # add_library(${PROJECT_NAME} 128 | # src/${PROJECT_NAME}/yolov6-ros.cpp 129 | # ) 130 | 131 | ## Add cmake target dependencies of the library 132 | ## as an example, code may need to be generated before libraries 133 | ## either from message generation or dynamic reconfigure 134 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 135 | 136 | ## Declare a C++ executable 137 | ## With catkin_make all packages are built within a single CMake context 138 | ## The recommended prefix ensures that target names across packages don't collide 139 | # add_executable(${PROJECT_NAME}_node src/yolov6-ros_node.cpp) 140 | 141 | ## Rename C++ executable without prefix 142 | ## The above recommended prefix causes long target names, the following renames the 143 | ## target back to the shorter version for ease of user use 144 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 145 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 146 | 147 | ## Add cmake target dependencies of the executable 148 | ## same as for the library above 149 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 150 | 151 | ## Specify libraries to link a library or executable target against 152 | # target_link_libraries(${PROJECT_NAME}_node 153 | # ${catkin_LIBRARIES} 154 | # ) 155 | 156 | ############# 157 | ## Install ## 158 | ############# 159 | 160 | # all install targets should use catkin DESTINATION variables 161 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 162 | 163 | ## Mark executable scripts (Python etc.) for installation 164 | ## in contrast to setup.py, you can choose the destination 165 | # catkin_install_python(PROGRAMS 166 | # scripts/my_python_script 167 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 168 | # ) 169 | 170 | ## Mark executables for installation 171 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html 172 | # install(TARGETS ${PROJECT_NAME}_node 173 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 174 | # ) 175 | 176 | ## Mark libraries for installation 177 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html 178 | # install(TARGETS ${PROJECT_NAME} 179 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 180 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 181 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} 182 | # ) 183 | 184 | ## 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Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------