Created
June 2, 2020 19:57
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DepthAI integration encapsulated in generator class
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from pathlib import Path | |
import consts.resource_paths | |
import cv2 | |
import depthai | |
class DepthAI: | |
def __init__(self): | |
if not depthai.init_device(consts.resource_paths.device_cmd_fpath): | |
raise RuntimeError("Error initializing device. Try to reset it.") | |
self.p = depthai.create_pipeline(config={ | |
"streams": ["metaout", "previewout"], | |
"ai": { | |
"blob_file": "/path/to/model.blob", | |
"blob_file_config": "/path/to/config.json" | |
} | |
}) | |
self.entries_prev = [] | |
def run(self): | |
while True: | |
nnet_packets, data_packets = self.p.get_available_nnet_and_data_packets() | |
for _, nnet_packet in enumerate(nnet_packets): | |
self.entries_prev = [] | |
for _, e in enumerate(nnet_packet.entries()): | |
if e[0]['image_id'] == -1.0 or e[0]['conf'] == 0.0: | |
break | |
if e[0]['conf'] > 0.5: | |
self.entries_prev.append(e[0]) | |
for packet in data_packets: | |
if packet.stream_name == 'previewout': | |
data = packet.getData() | |
data0 = data[0, :, :] | |
data1 = data[1, :, :] | |
data2 = data[2, :, :] | |
frame = cv2.merge([data0, data1, data2]) | |
img_h = frame.shape[0] | |
img_w = frame.shape[1] | |
results = [] | |
for e in self.entries_prev: | |
pt1 = int(e['x_min'] * img_w), int(e['y_min'] * img_h) | |
pt2 = int(e['x_max'] * img_w), int(e['y_max'] * img_h) | |
results.append((pt1, pt2)) | |
yield frame, results | |
def __del__(self): | |
del self.p | |
depthai.deinit_device() | |
d = DepthAI() | |
for frame, results in d.run(): | |
for pt1, pt2 in results: | |
cv2.rectangle(frame, pt1, pt2, (0, 0, 255), 2) | |
cv2.imshow('previewout', frame) | |
if cv2.waitKey(1) == ord('q'): | |
break | |
del d |
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