SingleStickSSDwithPiCam_OpenVINO_NCS2.py

import sys
import numpy as np
import cv2
from os import system
import io, time
from os.path import isfile, join
import re
import picamera
from imutils.video.pivideostream import PiVideoStream
from imutils.video import FPS
from picamera.array import PiRGBArray
from picamera import PiCamera
import imutils

fps = ""
detectfps = ""
framecount = 0
detectframecount = 0
time1 = 0
time2 = 0

LABELS = ('background',
          'aeroplane', 'bicycle', 'bird', 'boat',
          'bottle', 'bus', 'car', 'cat', 'chair',
          'cow', 'diningtable', 'dog', 'horse',
          'motorbike', 'person', 'pottedplant',
          'sheep', 'sofa', 'train', 'tvmonitor')

camera_width = 640
camera_height = 480

print("loading net")
net = cv2.dnn.readNet('lrmodel/MobileNetSSD/MobileNetSSD_deploy.xml', 'lrmodel/MobileNetSSD/MobileNetSSD_deploy.bin')
print("... done.")
net.setPreferableTarget(cv2.dnn.DNN_TARGET_MYRIAD)

try:

    vs = PiVideoStream((camera_width, camera_height)).start()

    time.sleep(2)


    while True:
        t1 = time.perf_counter()

        color_image = vs.read()
        height = color_image.shape[0]
        width = color_image.shape[1]

        blob = cv2.dnn.blobFromImage(color_image, 0.007843, size=(300, 300), mean=(127.5,127.5,127.5), swapRB=False, crop=False)
        net.setInput(blob)
        out = net.forward()
        out = out.flatten()

        for box_index in range(100):
            if out[box_index + 1] == 0.0:
                break
            base_index = box_index * 7
            if (not np.isfinite(out[base_index]) or
                not np.isfinite(out[base_index + 1]) or
                not np.isfinite(out[base_index + 2]) or
                not np.isfinite(out[base_index + 3]) or
                not np.isfinite(out[base_index + 4]) or
                not np.isfinite(out[base_index + 5]) or
                not np.isfinite(out[base_index + 6])):
                   continue

            if box_index == 0:
                detectframecount += 1

            x1 = max(0, int(out[base_index + 3] * height))
            y1 = max(0, int(out[base_index + 4] * width))
            x2 = min(height, int(out[base_index + 5] * height))
            y2 = min(width, int(out[base_index + 6] * width))

            object_info_overlay = out[base_index:base_index + 7]

            min_score_percent = 60
            source_image_width = width
            source_image_height = height

            base_index = 0
            class_id = object_info_overlay[base_index + 1]
            percentage = int(object_info_overlay[base_index + 2] * 100)
            if (percentage <= min_score_percent):
                continue

            box_left = int(object_info_overlay[base_index + 3] * source_image_width)
            box_top = int(object_info_overlay[base_index + 4] * source_image_height)
            box_right = int(object_info_overlay[base_index + 5] * source_image_width)
            box_bottom = int(object_info_overlay[base_index + 6] * source_image_height)
            label_text = LABELS[int(class_id)] + " (" + str(percentage) + "%)"

            box_color = (255, 128, 0)
            box_thickness = 1
            cv2.rectangle(color_image, (box_left, box_top), (box_right, box_bottom), box_color, box_thickness)

            label_background_color = (125, 175, 75)
            label_text_color = (255, 255, 255)

            label_size = cv2.getTextSize(label_text, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)[0]
            label_left = box_left
            label_top = box_top - label_size[1]
            if (label_top < 1):
                label_top = 1
            label_right = label_left + label_size[0]
            label_bottom = label_top + label_size[1]
            cv2.rectangle(color_image, (label_left - 1, label_top - 1), (label_right + 1, label_bottom + 1), label_background_color, -1)
            cv2.putText(color_image, label_text, (label_left, label_bottom), cv2.FONT_HERSHEY_SIMPLEX, 0.5, label_text_color, 1)

        cv2.putText(color_image, fps,       (width-170,15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (38,0,255), 1, cv2.LINE_AA)
        cv2.putText(color_image, detectfps, (width-170,30), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (38,0,255), 1, cv2.LINE_AA)

        cv2.namedWindow('Pi Camera', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('Pi Camera', cv2.resize(color_image, (width, height)))

        if cv2.waitKey(1)&0xFF == ord('q'):
           break

        # FPS calculation
        framecount += 1
        if framecount >= 15:
            fps       = "(Playback) {:.1f} FPS".format(time1/15)
            detectfps = "(Detection) {:.1f} FPS".format(detectframecount/time2)
            framecount = 0
            detectframecount = 0
            time1 = 0
            time2 = 0
        t2 = time.perf_counter()
        elapsedTime = t2-t1
        time1 += 1/elapsedTime
        time2 += elapsedTime

except:
    import traceback
    traceback.print_exc()

finally:
    vs.stop()
    print("\n\nFinished\n\n")