def create_session_config(log_device_placement=False,
enable_graph_rewriter=False,
gpu_mem_fraction=0.95,
use_tpu=False,
xla_jit_level=tf.OptimizerOptions.OFF,
inter_op_parallelism_threads=0,
intra_op_parallelism_threads=0):
"""The TensorFlow Session config to use."""
if use_tpu:
graph_options = tf.GraphOptions()
else:
if enable_graph_rewriter:
rewrite_options = rewriter_config_pb2.RewriterConfig()
rewrite_options.layout_optimizer = rewriter_config_pb2.RewriterConfig.ON
graph_options = tf.GraphOptions(rewrite_options=rewrite_options)
else:
graph_options = tf.GraphOptions(
optimizer_options=tf.OptimizerOptions(
opt_level=tf.OptimizerOptions.L1,
do_function_inlining=False,
global_jit_level=xla_jit_level))
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=gpu_mem_fraction)
config = tf.ConfigProto(
allow_soft_placement=True,
graph_options=graph_options,
gpu_options=gpu_options,
log_device_placement=log_device_placement,
inter_op_parallelism_threads=inter_op_parallelism_threads,
intra_op_parallelism_threads=intra_op_parallelism_threads,
isolate_session_state=True)
return config
def get_session(params, isolate_session_state=True):
"""Builds and returns a `tf.Session`."""
config = tf.ConfigProto(
isolate_session_state=isolate_session_state,
allow_soft_placement=True,
graph_options=tf.GraphOptions(optimizer_options=tf.OptimizerOptions(
opt_level=tf.OptimizerOptions.L0,
do_common_subexpression_elimination=False,
do_function_inlining=False,
do_constant_folding=False)))
return tf.Session(target=params.master, config=config)
def main():
# current camera frame
global frame, annotatedFrame, frameQueue, currentFps, selectedIdx, selectedClassName, objectDistance, boxes, scores, stats
global currentMode, M_AUTOMANEUVER, M_AUTONAV, M_MANUAL
# print(cv2.getBuildInformation())
print("Loading model")
detection_graph = tf.Graph()
with detection_graph.as_default():
od_graph_def = tf.GraphDef()
with tf.gfile.GFile(CHKPT_PATH, 'rb') as fid:
serialized_graph = fid.read()
od_graph_def.ParseFromString(serialized_graph)
tf.import_graph_def(od_graph_def, name='')
label_map = label_map_util.load_labelmap(LABELS_PATH)
categories = label_map_util.convert_label_map_to_categories(
label_map, max_num_classes=2, use_display_name=True)
category_index = label_map_util.create_category_index(categories)
print("Starting main python module")
if not DEBUG_DISABLE_FLIGHT:
flightData = Drone(updateFlightInfo)
process = Thread(target=flight.flightMain, args=(flightData, ))
process.start()
ip = '0.0.0.0'
server = ThreadedHTTPServer((ip, 9090), CamHandler)
target = Thread(target=server.serve_forever, args=())
i = 0
# To flip the image, modify the flip_method parameter (0 and 2 are the most common)
#print(gstreamer_pipeline(flip_method=0))
cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=2),
cv2.CAP_GSTREAMER)
fpsSmoothing = 70
lastUpdate = time.time()
try:
if cap.isOpened():
print("CSI Camera opened")
graph_options = tf.GraphOptions(
optimizer_options=tf.OptimizerOptions(
opt_level=tf.OptimizerOptions.L1, ))
OptConfig = tf.ConfigProto(graph_options=graph_options)
with detection_graph.as_default():
with tf.Session(graph=detection_graph,
config=OptConfig) as sess:
# Definite input and output Tensors for detection_graph
image_tensor = detection_graph.get_tensor_by_name(
'image_tensor:0')
# Each box represents a part of the image where a particular object
# was detected.
detection_boxes = detection_graph.get_tensor_by_name(
'detection_boxes:0')
# Each score represent how level of confidence for each of the objects.
# Score is shown on the result image, together with the class
# label.
detection_scores = detection_graph.get_tensor_by_name(
'detection_scores:0')
detection_classes = detection_graph.get_tensor_by_name(
'detection_classes:0')
num_detections = detection_graph.get_tensor_by_name(
'num_detections:0')
i = 0
print("TensorFlow session loaded.")
while mainThreadRunning:
ret_val, img = cap.read()
frame = img
# convert OpenCV's BGR to RGB as the model
# was trained on RGB images
color_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# resize image to model size of 360x270
color_frame = cv2.resize(color_frame, (360, 270),
interpolation=cv2.INTER_CUBIC)
image_np_expanded = np.expand_dims(color_frame, axis=0)
# Actual detection
(boxes, scores, classes, num) = sess.run(
[
detection_boxes, detection_scores,
detection_classes, num_detections
],
feed_dict={image_tensor: image_np_expanded})
# Draw boxes using TF library, should be off during competition
if useBoxVisualization:
vis_util.visualize_boxes_and_labels_on_image_array(
frame,
np.squeeze(boxes),
np.squeeze(classes).astype(np.int32),
np.squeeze(scores),
category_index,
use_normalized_coordinates=True,
line_thickness=4,
min_score_thresh=MIN_CONFIDENCE)
# Now that we have the detected BBoxes, it's time to determine our current obstacle
# First, gather stats about the bounding boxes
# squeezing makes it so you can do access box[i] directly instead of having to
# access box[0][i]
boxes = np.squeeze(boxes)
classes = np.squeeze(classes)
scores = np.squeeze(scores)
stats = []
j = 0
# This is 15ft, any object farther than that is a misidentification
lowestDistance = 15
if DEBUG_DUMP_DETECTIONS:
print("Boxes // Classes // Scores")
print(boxes)
print(classes)
print(scores)
# Reset selections
selectedIdx = None
if len(boxes) > 0:
for j in range(0, len(boxes)):
if scores[j] >= MIN_CONFIDENCE:
stats.insert(
j, getBoxStats(boxes[j], classes[j]))
# print("box[%d] distance is %f" % (j, stats[j]['distance']))
if stats[j]['distance'] < lowestDistance:
selectedIdx = j
selectedClassName = classToString(
classes[j])
objectDistance = stats[j]['distance']
lowestDistance = objectDistance
#print("Selected box[%d]: distance %f class %s conf %f" % (j, objectDistance, selectedClassName, scores[j]))
else:
# Skip calculations on this box if it does not meet
# confidence threshold
stats.insert(j, 0)
if not DEBUG_DISABLE_FLIGHT:
if selectedIdx is not None:
flightData.upData(stats[selectedIdx],
selectedClassName)
else:
flightData.upData(None, "None")
# add the HUD to the current image
annotatedFrame = applyHud()
# currentFrameTime = time.time()
#if frameQueue.full():
# with frameQueue.mutex:
# frameQueue.queue.clear()
frameQueue.put(annotatedFrame.copy())
if i == 0:
target.start()
print("Starting MJPEG stream")
i += 1
# FPS smoothing algorithm
frameTime = time.time() - lastUpdate
frameFps = 1 / frameTime
currentFps += (frameFps - currentFps) / fpsSmoothing
lastUpdate = time.time()
cap.release()
else:
print("FATAL: Unable to open camera")
except KeyboardInterrupt:
sys.exit()
