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RPI5 object detection with MediaPipe
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# Copyright 2023 The MediaPipe Authors. All Rights Reserved. | |
# | |
# Licensed under the Apache License, Version 2.0 (the "License"); | |
# you may not use this file except in compliance with the License. | |
# You may obtain a copy of the License at | |
# | |
# http://www.apache.org/licenses/LICENSE-2.0 | |
# | |
# Unless required by applicable law or agreed to in writing, software | |
# distributed under the License is distributed on an "AS IS" BASIS, | |
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
# See the License for the specific language governing permissions and | |
# limitations under the License. | |
"""Main scripts to run object detection.""" | |
# Adapted from the following by Philip van Allen, December 2023 | |
# https://github.com/googlesamples/mediapipe/blob/main/examples/object_detection/raspberry_pi/detect.py | |
# obtain the efficientdet.tflite model from here | |
# https://developers.google.com/mediapipe/solutions/vision/object_detector/index#models | |
import argparse | |
import sys | |
import time | |
import cv2 | |
import mediapipe as mp | |
import numpy as np | |
from mediapipe.tasks import python | |
from mediapipe.tasks.python import vision | |
from utils import visualize | |
from picamera2 import Picamera2 | |
# Global variables to calculate FPS | |
COUNTER, FPS = 0, 0 | |
START_TIME = time.time() | |
def run(model: str, max_results: int, score_threshold: float, width: int, height: int) -> None: | |
"""Continuously run inference on images acquired from the camera. | |
Args: | |
model: Name of the TFLite object detection model. | |
max_results: Max number of detection results. | |
score_threshold: The score threshold of detection results. | |
# camera_id: The camera id to be passed to OpenCV. | |
width: The width of the frame captured from the camera. | |
height: The height of the frame captured from the camera. | |
""" | |
picam2 = Picamera2() | |
picam2.configure(picam2.create_preview_configuration(main={"format": 'RGB888', "size": (width, height)})) | |
picam2.start() | |
# Visualization parameters | |
row_size = 50 # pixels | |
left_margin = 24 # pixels | |
text_color = (255, 255, 255) # white | |
font_size = 1 | |
font_thickness = 1 | |
fps_avg_frame_count = 10 | |
detection_frame = None | |
detection_result_list = [] | |
def save_result(result: vision.ObjectDetectorResult, unused_output_image: mp.Image, timestamp_ms: int): | |
global FPS, COUNTER, START_TIME | |
# Calculate the FPS | |
if COUNTER % fps_avg_frame_count == 0: | |
FPS = fps_avg_frame_count / (time.time() - START_TIME) | |
START_TIME = time.time() | |
detection_result_list.append(result) | |
COUNTER += 1 | |
# Initialize the object detection model | |
base_options = python.BaseOptions(model_asset_path=model) | |
options = vision.ObjectDetectorOptions(base_options=base_options, | |
running_mode=vision.RunningMode.LIVE_STREAM, | |
max_results=max_results, score_threshold=score_threshold, | |
result_callback=save_result) | |
detector = vision.ObjectDetector.create_from_options(options) | |
# Continuously capture images from the camera and run inference | |
while True: | |
original_image = picam2.capture_array() | |
# Convert the image from BGR to RGB as required by the TFLite model. | |
rgb_image = cv2.cvtColor(original_image, cv2.COLOR_BGR2RGB) | |
mp_image = mp.Image(image_format=mp.ImageFormat.SRGB, data=rgb_image) | |
# Run object detection using the model. | |
detector.detect_async(mp_image, time.time_ns() // 1_000_000) | |
# Show the FPS | |
fps_text = 'FPS = {:.1f}'.format(FPS) | |
text_location = (left_margin, row_size) | |
cv2.putText(original_image, fps_text, text_location, cv2.FONT_HERSHEY_DUPLEX, | |
font_size, text_color, font_thickness, cv2.LINE_AA) | |
if detection_result_list: | |
# print(detection_result_list) | |
original_image = visualize(original_image, detection_result_list[0]) | |
detection_frame = original_image | |
detection_result_list.clear() | |
if detection_frame is not None: | |
cv2.imshow('object_detection', detection_frame) | |
# Stop the program if the ESC key is pressed. | |
if cv2.waitKey(1) == 27: | |
break | |
detector.close() | |
cv2.destroyAllWindows() | |
def main(): | |
parser = argparse.ArgumentParser( | |
formatter_class=argparse.ArgumentDefaultsHelpFormatter) | |
parser.add_argument( | |
'--model', | |
help='Path of the object detection model.', | |
required=False, | |
default='efficientdet.tflite') | |
parser.add_argument( | |
'--maxResults', | |
help='Max number of detection results.', | |
required=False, | |
default=5) | |
parser.add_argument( | |
'--scoreThreshold', | |
help='The score threshold of detection results.', | |
required=False, | |
type=float, | |
default=0.25) | |
# Finding the camera ID can be very reliant on platform-dependent methods. | |
# One common approach is to use the fact that camera IDs are usually indexed sequentially by the OS, starting from 0. | |
# Here, we use OpenCV and create a VideoCapture object for each potential ID with 'cap = cv2.VideoCapture(i)'. | |
# If 'cap' is None or not 'cap.isOpened()', it indicates the camera ID is not available. | |
# parser.add_argument( | |
# '--cameraId', help='Id of camera.', required=False, type=int, default=0) | |
parser.add_argument( | |
'--frameWidth', | |
help='Width of frame to capture from camera.', | |
required=False, | |
type=int, | |
default=1280) | |
parser.add_argument( | |
'--frameHeight', | |
help='Height of frame to capture from camera.', | |
required=False, | |
type=int, | |
default=720) | |
args = parser.parse_args() | |
run(args.model, int(args.maxResults), | |
args.scoreThreshold, args.frameWidth, args.frameHeight) | |
if __name__ == '__main__': | |
main() |
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