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DepthAI running mobilenet on rotated rgb frames
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#!/usr/bin/env python3 | |
import cv2 | |
import depthai as dai | |
from pathlib import Path | |
import numpy as np | |
nnPathDefault = str((Path(__file__).parent / Path('models/mobilenet-ssd_openvino_2021.2_6shave.blob')).resolve().absolute()) | |
# MobilenetSSD label texts | |
labelMap = ["background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow", | |
"diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"] | |
# Create pipeline | |
pipeline = dai.Pipeline() | |
# Rotate color frames | |
camRgb = pipeline.createColorCamera() | |
camRgb.setPreviewSize(640, 400) | |
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) | |
camRgb.setInterleaved(False) | |
manipRgb = pipeline.createImageManip() | |
rgbRr = dai.RotatedRect() | |
rgbRr.center.x, rgbRr.center.y = camRgb.getPreviewWidth() // 2, camRgb.getPreviewHeight() // 2 | |
rgbRr.size.width, rgbRr.size.height = camRgb.getPreviewHeight(), camRgb.getPreviewWidth() | |
rgbRr.angle = 90 | |
manipRgb.initialConfig.setCropRotatedRect(rgbRr, False) | |
camRgb.preview.link(manipRgb.inputImage) | |
cropManip = pipeline.createImageManip() | |
cropManip.initialConfig.setResize(300, 300) | |
manipRgb.out.link(cropManip.inputImage) | |
manipRgbOut = pipeline.createXLinkOut() | |
manipRgbOut.setStreamName("manip_rgb") | |
cropManip.out.link(manipRgbOut.input) | |
nn = pipeline.createMobileNetDetectionNetwork() | |
# Define a neural network that will make predictions based on the source frames | |
nn.setConfidenceThreshold(0.5) | |
nn.setBlobPath(nnPathDefault) | |
nn.input.setBlocking(False) | |
cropManip.out.link(nn.input) | |
nnOut = pipeline.createXLinkOut() | |
nnOut.setStreamName("det") | |
nn.out.link(nnOut.input) | |
with dai.Device(pipeline) as device: | |
qRgb = device.getOutputQueue(name="manip_rgb", maxSize=8, blocking=False) | |
qDet = device.getOutputQueue(name="det", maxSize=8, blocking=False) | |
detections = [] | |
# nn data (bounding box locations) are in <0..1> range - they need to be normalized with frame width/height | |
def frameNorm(frame, bbox): | |
normVals = np.full(len(bbox), frame.shape[0]) | |
normVals[::2] = frame.shape[1] | |
return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int) | |
def displayFrame(name, frame): | |
color = (255, 0, 0) | |
for detection in detections: | |
bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax)) | |
cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color) | |
cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color) | |
cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2) | |
# Show the frame | |
cv2.imshow(name, frame) | |
while True: | |
inDet = qDet.tryGet() | |
if inDet is not None: | |
detections = inDet.detections | |
inRgb = qRgb.tryGet() | |
if inRgb is not None: | |
frame = inRgb.getCvFrame() | |
displayFrame("Color rotated", frame) | |
if cv2.waitKey(1) == ord('q'): | |
break |
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