def create_pipeline(video):
pipeline = dai.Pipeline()
palm = pipeline.create(dai.node.NeuralNetwork)
palm.setBlobPath("models/palm.blob")
palm.setNumInferenceThreads(2)
palm.input.setBlocking(False)
palm.input.setQueueSize(2)
if video:
palm_in = pipeline.create(dai.node.XLinkIn)
palm_in.setStreamName("palm_in")
palm_in.setMaxDataSize(128 * 128 * 3)
palm_in.out.link(palm.input)
else:
cam = pipeline.create(dai.node.ColorCamera)
cam.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
cam.setInterleaved(False)
cam.setPreviewSize(preview_size)
cam_out = pipeline.create(dai.node.XLinkOut)
cam_out.setStreamName("rgb")
cam.preview.link(cam_out.input)
manip = pipeline.create(dai.node.ImageManip)
manip.initialConfig.setResize(128, 128)
cam.preview.link(manip.inputImage)
manip.out.link(palm.input)
# cam.preview.link(face_det.input)
palm_out = pipeline.create(dai.node.XLinkOut)
palm_out.setStreamName("palm_nn")
palm.out.link(palm_out.input)
return pipeline
def create_pipeline(self, model_blob):
self.pipeline = dai.Pipeline()
face_detector_in = self.pipeline.createXLinkIn()
face_detector_in.setStreamName("face_detector_in")
face_detector = self.pipeline.createNeuralNetwork()
face_detector.setBlobPath(model_blob["detector"])
face_detector_out = self.pipeline.createXLinkOut()
face_detector_out.setStreamName("face_detector_out")
age_gender_in = self.pipeline.createXLinkIn()
age_gender_in.setStreamName("age_gender_in")
age_gender_nn = self.pipeline.createNeuralNetwork()
age_gender_nn.setBlobPath(model_blob["age_gender"])
age_gender_out = self.pipeline.createXLinkOut()
age_gender_out.setStreamName("age_gender_out")
face_detector_in.out.link(face_detector.input)
face_detector.out.link(face_detector_out.input)
age_gender_in.out.link(age_gender_nn.input)
age_gender_nn.out.link(age_gender_out.input)
def create_rgb_cam_pipeline():
print("Creating pipeline: RGB CAM -> XLINK OUT")
pipeline = dai.Pipeline()
cam = pipeline.createColorCamera()
control_in = pipeline.createXLinkIn()
control_in.setStreamName('control_r')
xout_preview = pipeline.createXLinkOut()
xout_video = pipeline.createXLinkOut()
cam.setPreviewSize(540, 540)
cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
xout_preview.setStreamName('rgb_preview')
xout_video .setStreamName('rgb_video')
control_in.out.link(cam.inputControl)
cam.preview .link(xout_preview.input)
cam.video .link(xout_video.input)
streams = ['rgb_preview', 'rgb_video']
return pipeline, streams
def create_pipeline():
# Start defining a pipeline
pipeline = dai.Pipeline()
# Define a source - color camera
camRgb = pipeline.createColorCamera()
camRgb.setPreviewSize(300, 300)
camRgb.setInterleaved(False)
camRgb.setFps(40)
# Define a neural network that will make predictions based on the source frames
nn = pipeline.createMobileNetDetectionNetwork()
nn.setConfidenceThreshold(0.5)
nn.setBlobPath(str(Path("models/model.blob").resolve().absolute()))
nn.setNumInferenceThreads(2)
# nn.input.setBlocking(False)
if args.camera:
camRgb.preview.link(nn.input)
else:
detection_in = pipeline.createXLinkIn()
detection_in.setStreamName("detection_in")
detection_in.out.link(nn.input)
# Create outputs
xoutRgb = pipeline.createXLinkOut()
xoutRgb.setStreamName("rgb")
camRgb.preview.link(xoutRgb.input)
nnOut = pipeline.createXLinkOut()
nnOut.setStreamName("nn")
nn.out.link(nnOut.input)
return pipeline
def photo(name):
pipeline = depthai.Pipeline()
cam = pipeline.createColorCamera()
cam.setPreviewSize(300, 300)
cam.setResolution(
depthai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setCamId(0)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
device = depthai.Device()
device.startPipeline(pipeline)
cam_out = device.getOutputQueue("cam_out", 1, True)
mkdir(name)
count = 0
while (True):
frame = np.array(cam_out.get().getData()).reshape(
(3, 300, 300)).transpose(1, 2, 0).astype(np.uint8)
cv2.imshow("capture", frame)
k = cv2.waitKey(1) & 0xFF
if k == ord('q'):
break
if k == ord('s'):
cv2.imwrite(f"./images/{name}/{name}_{count}.jpg", frame)
print("成功保存一张图片")
count += 1
cv2.destroyAllWindows()
def create_spi_demo_pipeline():
print("Creating SPI pipeline: ")
print("COLOR CAM -> ENCODER -> SPI OUT")
pipeline = dai.Pipeline()
cam_color = pipeline.createColorCamera()
spiout_preview = pipeline.createSPIOut()
videnc = pipeline.createVideoEncoder()
# set up color camera and link to NN node
cam_color.setPreviewSize(300, 300)
cam_color.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam_color.setInterleaved(False)
cam_color.setCamId(0)
cam_color.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
# VideoEncoder
videnc.setDefaultProfilePreset(1920, 1080, 30,
dai.VideoEncoderProperties.Profile.MJPEG)
# Link plugins CAM -> ENCODER -> SPI OUT
cam_color.video.link(videnc.input)
spiout_preview.setStreamName("spipreview")
spiout_preview.setBusId(0)
videnc.bitstream.link(spiout_preview.input)
return pipeline
def create_pipeline_ssd():
global useOAKDCam
print("Creating pipeline...")
pipeline = depthai.Pipeline()
if useOAKDCam:
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(544, 320)
cam.setResolution(
depthai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(depthai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
# NeuralNetwork
print("Creating Person Detection Neural Network...")
detection_in = pipeline.createXLinkIn()
detection_in.setStreamName("detection_in")
detection_nn = pipeline.createNeuralNetwork()
detection_nn.setBlobPath(
str(
Path(
"../OSSDC-VisionAI-Datasets/pretrained/oakd-mobile-ssd/mobilenet.blob"
).resolve().absolute()))
detection_nn_xout = pipeline.createXLinkOut()
detection_nn_xout.setStreamName("detection_nn")
detection_in.out.link(detection_nn.input)
detection_nn.out.link(detection_nn_xout.input)
print("Pipeline created.")
return pipeline
def do(self):
try:
import depthai
pipeline = depthai.Pipeline()
rootGraph = self.pyFlowInstance.graphManager.get().findRootGraph()
device_nodes = list(
filter(lambda node: isinstance(node, DeviceNode),
rootGraph.getNodesList()))
for node in device_nodes:
node.build_pipeline(pipeline)
for node in device_nodes:
node.build_connections()
self.found, self.device_info = depthai.XLinkConnection.getFirstDevice(
depthai.XLinkDeviceState.X_LINK_UNBOOTED)
if not self.found:
raise RuntimeError("Device not found")
self.device = depthai.Device(pipeline, self.device_info, True)
self.device.startPipeline()
self.host_nodes = list(
filter(lambda node: isinstance(node, HostNode),
rootGraph.getNodesList()))
for node in self.host_nodes:
node.run_node(self.device)
except Exception as e:
traceback.print_exc()
QMessageBox.warning(self.pyFlowInstance, "Warning", str(e))
def getPipeline():
# Start defining a pipeline
pipeline = dai.Pipeline()
# Define a source - color camera
cam_rgb = pipeline.createColorCamera()
# For the demo, just set a larger RGB preview size for OAK-D
cam_rgb.setPreviewSize(300, 300)
cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_rgb.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam_rgb.setInterleaved(False)
detector = pipeline.createMobileNetDetectionNetwork()
detector.setConfidenceThreshold(0.5)
detector.setBlobPath(blobconverter.from_zoo(name="mobilenet-ssd",
shaves=6))
cam_rgb.preview.link(detector.input)
# Create output
xout_rgb = pipeline.createXLinkOut()
xout_rgb.setStreamName("rgb")
detector.passthrough.link(xout_rgb.input)
xout_nn = pipeline.createXLinkOut()
xout_nn.setStreamName("nn")
detector.out.link(xout_nn.input)
return pipeline
def create_pipeline(camera):
print("Creating pipeline...")
pipeline = depthai.Pipeline()
if camera:
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(300, 300)
cam.setResolution(
depthai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(depthai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
first_model(
pipeline, cam,
"models/face-detection-retail-0004_openvino_2020_1_4shave.blob",
"face")
else:
models(
pipeline,
"models/face-detection-retail-0004_openvino_2020_1_4shave.blob",
"face")
models(pipeline,
"models/face_landmark_160x160_openvino_2020_1_4shave.blob",
"land68")
return pipeline
def create_spi_demo_pipeline(nnPath):
print("Creating SPI pipeline: ")
print("COLOR CAM -> DetectionNetwork -> SPI OUT")
pipeline = dai.Pipeline()
# set up NN node
nn1 = pipeline.createNeuralNetwork()
nn1.setBlobPath(nnPath)
# set up color camera and link to NN node
colorCam = pipeline.createColorCamera()
colorCam.setPreviewSize(300, 300)
colorCam.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
colorCam.setInterleaved(False)
colorCam.setCamId(0)
colorCam.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
colorCam.preview.link(nn1.input)
# set up SPI out node and link to nn1
spiOut = pipeline.createSPIOut()
spiOut.setStreamName("spimetaout")
spiOut.setBusId(0)
nn1.out.link(spiOut.input)
return pipeline
def create_pipeline():
print("Creating pipeline...")
pipeline = depthai.Pipeline()
# NeuralNetwork
print("Creating Person Detection Neural Network...")
detection_in = pipeline.createXLinkIn()
detection_in.setStreamName("detection_in")
detection_nn = pipeline.createNeuralNetwork()
detection_nn.setBlobPath(
str(
Path("models/person-detection-retail-0013.blob").resolve().
absolute()))
detection_nn_xout = pipeline.createXLinkOut()
detection_nn_xout.setStreamName("detection_nn")
detection_in.out.link(detection_nn.input)
detection_nn.out.link(detection_nn_xout.input)
# NeuralNetwork
print("Creating Person Reidentification Neural Network...")
reid_in = pipeline.createXLinkIn()
reid_in.setStreamName("reid_in")
reid_nn = pipeline.createNeuralNetwork()
reid_nn.setBlobPath(
str(
Path("models/person-reidentification-retail-0031.blob").resolve().
absolute()))
reid_nn_xout = pipeline.createXLinkOut()
reid_nn_xout.setStreamName("reid_nn")
reid_in.out.link(reid_nn.input)
reid_nn.out.link(reid_nn_xout.input)
print("Pipeline created.")
return pipeline
def create_pipeline(video, model_name, model_w, model_h):
"""
Create a pipeline that uses neural networks to detect objects in an image
:param video: True if you want to use a video file, False if you want to use the camera
:param model_name: The name of the model to use
:param model_w: The width of the model's input image
:param model_h: The height of the model's input image
:return: The pipeline object.
"""
print("Creating pipeline...")
pipeline = dai.Pipeline()
# NeuralNetwork
yoloDet = pipeline.createNeuralNetwork()
if Path(model_name).suffix == "blob":
yoloDet.setBlobPath(model_name)
else:
yoloDet.setBlobPath(
blobconverter.from_onnx(
model=MODELS.get(model_name, model_name),
optimizer_params=[
"--scale_values=[58.395, 57.12 , 57.375]",
"--mean_values=[123.675, 116.28 , 103.53]",
],
shaves=shaves,
)
)
yolox_det_nn_xout = pipeline.createXLinkOut()
yolox_det_nn_xout.setStreamName("yolox_det_nn")
yoloDet.out.link(yolox_det_nn_xout.input)
if video:
yolox_det_in = pipeline.createXLinkIn()
yolox_det_in.setStreamName("yolox_det_in")
yolox_det_in.setMaxDataSize(model_w * model_h * 3)
yolox_det_in.out.link(yoloDet.input)
else:
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(preview_size)
cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
manip = pipeline.createImageManip()
manip.setMaxOutputFrameSize(model_w * model_h * 3)
manip.initialConfig.setResizeThumbnail(model_w, model_h, 114, 114, 114)
manip.initialConfig.setFrameType(dai.RawImgFrame.Type.BGR888p)
cam.preview.link(manip.inputImage)
manip.out.link(yoloDet.input)
# cam.preview.link(yoloDet.input)
return pipeline
def create_pipeline(self, model_blob):
self.pipeline = dai.Pipeline()
first_stage_in = self.pipeline.createXLinkIn()
first_stage_in.setStreamName("first_stage_in")
first_stage_nn = self.pipeline.createNeuralNetwork()
first_stage_nn.setBlobPath(model_blob["first_stage_nn"])
first_stage_out = self.pipeline.createXLinkOut()
first_stage_out.setStreamName("first_stage_out")
second_stage_in = self.pipeline.createXLinkIn()
second_stage_in.setStreamName("second_stage_in")
second_stage_nn = self.pipeline.createNeuralNetwork()
second_stage_nn.setBlobPath(model_blob["second_stage_nn"])
second_stage_out = self.pipeline.createXLinkOut()
second_stage_out.setStreamName("second_stage_out")
first_stage_in.out.link(first_stage_nn.input)
first_stage_nn.out.link(first_stage_out.input)
second_stage_in.out.link(second_stage_nn.input)
second_stage_nn.out.link(second_stage_out.input)
def createPipeline(cam=False):
pipeline = depthai.Pipeline()
nn = pipeline.createNeuralNetwork()
nn.setBlobPath("segmentation.blob")
rgb_out = pipeline.createXLinkOut()
rgb_out.setStreamName("rgb_out")
nn_out = pipeline.createXLinkOut()
nn_out.setStreamName("nn_out")
nn.out.link(nn_out.input)
if cam:
camRgb = pipeline.createColorCamera()
camRgb.setPreviewSize(224, 224)
camRgb.setInterleaved(False)
camRgb.setFps(30)
camRgb.preview.link(nn.input)
camRgb.preview.link(rgb_out.input)
else:
image_in = pipeline.createXLinkIn()
image_in.setStreamName("image_in")
image_in.out.link(nn.input)
return pipeline
def __init__(self):
self._q_left = None
self._q_right = None
self._q_rgb = None
self._pipeline = dai.Pipeline()
self._init_pipeline()
self._is_started = False
def create_pipeline(video):
pipeline = dai.Pipeline()
# pipeline.setOpenVINOVersion(dai.OpenVINO.VERSION_2021_4)
mesh = pipeline.create(dai.node.NeuralNetwork)
mesh.setBlobPath("models/face_landmark_openvino_2021.4_6shave.blob")
mesh.setNumInferenceThreads(2)
mesh.input.setBlocking(False)
mesh.input.setQueueSize(2)
if video:
mesh_in = pipeline.create(dai.node.XLinkIn)
mesh_in.setStreamName("mesh_in")
mesh_in.setMaxDataSize(192 * 192 * 3)
mesh_in.out.link(mesh.input)
else:
cam = pipeline.create(dai.node.ColorCamera)
cam.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
cam.setInterleaved(False)
cam.setPreviewSize(preview_size)
cam_out = pipeline.create(dai.node.XLinkOut)
cam_out.setStreamName("rgb")
cam.preview.link(cam_out.input)
manip = pipeline.create(dai.node.ImageManip)
manip.initialConfig.setResize(192, 192)
cam.preview.link(manip.inputImage)
manip.out.link(mesh.input)
# cam.preview.link(face_det.input)
mesh_out = pipeline.create(dai.node.XLinkOut)
mesh_out.setStreamName("mesh_nn")
mesh.out.link(mesh_out.input)
eye = pipeline.create(dai.node.NeuralNetwork)
eye.setBlobPath(
blobconverter.from_zoo(
"open-closed-eye-0001",
shaves=6,
# version=pipeline.getOpenVINOVersion()
))
eye.setNumInferenceThreads(2)
eye.input.setBlocking(False)
eye.input.setQueueSize(2)
eye_in = pipeline.create(dai.node.XLinkIn)
eye_in.setStreamName("eye_in")
eye_in.setMaxDataSize(32 * 32 * 3)
eye_in.out.link(eye.input)
eye_out = pipeline.create(dai.node.XLinkOut)
eye_out.setStreamName("eye_nn")
eye.out.link(eye_out.input)
return pipeline
def create_pipeline(self, model_name):
log.info("Creating DepthAI pipeline...")
pipeline = dai.Pipeline()
#pipeline.setOpenVINOVersion(dai.OpenVINO.Version.VERSION_2021_2)
# Define sources and outputs
camRgb = pipeline.createColorCamera()
spatialDetectionNetwork = pipeline.createMobileNetSpatialDetectionNetwork(
)
monoLeft = pipeline.createMonoCamera()
monoRight = pipeline.createMonoCamera()
stereo = pipeline.createStereoDepth()
xoutRgb = pipeline.createXLinkOut()
camRgb.preview.link(xoutRgb.input)
xoutNN = pipeline.createXLinkOut()
xoutRgb.setStreamName("rgb")
xoutNN.setStreamName("detections")
# Properties
camRgb.setPreviewSize(544, 320)
camRgb.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
monoLeft.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
monoRight.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
# Setting node configs
stereo.setConfidenceThreshold(255)
spatialDetectionNetwork.setBlobPath(
blobconverter.from_zoo(name=model_name, shaves=6))
spatialDetectionNetwork.setConfidenceThreshold(0.5)
spatialDetectionNetwork.input.setBlocking(False)
spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
spatialDetectionNetwork.setDepthLowerThreshold(100)
spatialDetectionNetwork.setDepthUpperThreshold(5000)
# Linking
monoLeft.out.link(stereo.left)
monoRight.out.link(stereo.right)
camRgb.preview.link(spatialDetectionNetwork.input)
spatialDetectionNetwork.out.link(xoutNN.input)
stereo.depth.link(spatialDetectionNetwork.inputDepth)
log.info("Pipeline created.")
return pipeline
def create_pipeline(self, options):
self.pipeline = dai.Pipeline()
self.monoLeft = self.pipeline.createMonoCamera()
self.monoRight = self.pipeline.createMonoCamera()
self.depth = self.pipeline.createStereoDepth()
self.xoutDepth = self.pipeline.createXLinkOut()
self.xoutDepth.setStreamName("disparity")
# Properties
if options.mono_camera_resolution == 'THE_400_P':
self.monoLeft.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_400_P)
self.monoRight.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_400_P)
self.frame = np.zeros((400, 640, 3), np.uint8)
elif options.mono_camera_resolution == 'THE_720_P':
self.monoLeft.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_720_P)
self.monoRight.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_720_P)
self.frame = np.zeros((720, 1280, 3), np.uint8)
elif options.mono_camera_resolution == 'THE_800_P':
self.monoLeft.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_800_P)
self.monoRight.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_800_P)
self.frame = np.zeros((800, 1280, 3), np.uint8)
self.monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
self.monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
# Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
self.depth.setConfidenceThreshold(200)
# Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
if options.median_filter == 'MEDIAN_OFF':
self.depth.setMedianFilter(
dai.StereoDepthProperties.MedianFilter.MEDIAN_OFF)
elif options.median_filter == 'KERNEL_3x3':
self.depth.setMedianFilter(
dai.StereoDepthProperties.MedianFilter.KERNEL_3x3)
elif options.median_filter == 'KERNEL_5x5':
self.depth.setMedianFilter(
dai.StereoDepthProperties.MedianFilter.KERNEL_5x5)
elif options.median_filter == 'KERNEL_7x7':
self.depth.setMedianFilter(
dai.StereoDepthProperties.MedianFilter.KERNEL_7x7)
self.depth.setExtendedDisparity(options.extended_disparity)
self.depth.setSubpixel(options.subpixel)
# Linking
self.monoLeft.out.link(self.depth.left)
self.monoRight.out.link(self.depth.right)
self.depth.disparity.link(self.xoutDepth.input)
return self.pipeline
def create_stereo_depth_pipeline():
print("Creating Stereo Depth pipeline: ", end='')
print("XLINK IN -> STEREO -> XLINK OUT")
pipeline = dai.Pipeline()
camLeft = pipeline.createXLinkIn()
camRight = pipeline.createXLinkIn()
stereo = pipeline.createStereoDepth()
xoutLeft = pipeline.createXLinkOut()
xoutRight = pipeline.createXLinkOut()
xoutDepth = pipeline.createXLinkOut()
xoutDisparity = pipeline.createXLinkOut()
xoutRectifLeft = pipeline.createXLinkOut()
xoutRectifRight = pipeline.createXLinkOut()
camLeft.setStreamName('in_left')
camRight.setStreamName('in_right')
stereo.setOutputDepth(out_depth)
stereo.setOutputRectified(out_rectified)
stereo.setConfidenceThreshold(200)
stereo.setRectifyEdgeFillColor(0) # Black, to better see the cutout
stereo.setMedianFilter(median) # KERNEL_7x7 default
stereo.setLeftRightCheck(lrcheck)
stereo.setExtendedDisparity(extended)
stereo.setSubpixel(subpixel)
stereo.setEmptyCalibration(
) # Set if the input frames are already rectified
stereo.setInputResolution(1280, 720)
xoutLeft.setStreamName('left')
xoutRight.setStreamName('right')
xoutDepth.setStreamName('depth')
xoutDisparity.setStreamName('disparity')
xoutRectifLeft.setStreamName('rectified_left')
xoutRectifRight.setStreamName('rectified_right')
camLeft.out.link(stereo.left)
camRight.out.link(stereo.right)
stereo.syncedLeft.link(xoutLeft.input)
stereo.syncedRight.link(xoutRight.input)
stereo.depth.link(xoutDepth.input)
stereo.disparity.link(xoutDisparity.input)
stereo.rectifiedLeft.link(xoutRectifLeft.input)
stereo.rectifiedRight.link(xoutRectifRight.input)
streams = ['left', 'right']
if out_rectified:
streams.extend(['rectified_left', 'rectified_right'])
streams.extend(['disparity', 'depth'])
return pipeline, streams
def create_pipeline_age_gen():
global useOAKDCam
print("Creating pipeline...")
pipeline = depthai.Pipeline()
if useOAKDCam:
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(300, 300)
cam.setResolution(
depthai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(depthai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
# NeuralNetwork
print("Creating Face Detection Neural Network...")
detection_nn = pipeline.createNeuralNetwork()
detection_nn.setBlobPath(
str(
Path(
"../depthai-experiments/gen2-age-gender/models/face-detection-retail-0004.blob"
).resolve().absolute()))
detection_nn_xout = pipeline.createXLinkOut()
detection_nn_xout.setStreamName("detection_nn")
detection_nn.out.link(detection_nn_xout.input)
if useOAKDCam:
cam.preview.link(detection_nn.input)
else:
detection_in = pipeline.createXLinkIn()
detection_in.setStreamName("detection_in")
detection_in.out.link(detection_nn.input)
# NeuralNetwork
print("Creating Age Gender Neural Network...")
age_gender_in = pipeline.createXLinkIn()
age_gender_in.setStreamName("age_gender_in")
age_gender_nn = pipeline.createNeuralNetwork()
age_gender_nn.setBlobPath(
str(
Path(
"../depthai-experiments/gen2-age-gender/models/age-gender-recognition-retail-0013.blob"
).resolve().absolute()))
age_gender_nn_xout = pipeline.createXLinkOut()
age_gender_nn_xout.setStreamName("age_gender_nn")
age_gender_in.out.link(age_gender_nn.input)
age_gender_nn.out.link(age_gender_nn_xout.input)
print("Pipeline created.")
return pipeline
def create_pipeline():
print("Creating pipeline...")
pipeline = dai.Pipeline()
if args.camera:
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(456, 256)
cam.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
controlIn = pipeline.createXLinkIn()
controlIn.setStreamName('control')
controlIn.out.link(cam.inputControl)
# NeuralNetwork
print("Creating Human Pose Estimation Neural Network...")
pose_nn = pipeline.createNeuralNetwork()
if args.camera:
pose_nn.setBlobPath(
str(
Path(
"models/human-pose-estimation-0001_openvino_2021.2_6shave.blob"
).resolve().absolute()))
else:
pose_nn.setBlobPath(
str(
Path(
"models/human-pose-estimation-0001_openvino_2021.2_8shave.blob"
).resolve().absolute()))
# Increase threads for detection
pose_nn.setNumInferenceThreads(2)
# Specify that network takes latest arriving frame in non-blocking manner
pose_nn.input.setQueueSize(1)
pose_nn.input.setBlocking(False)
pose_nn_xout = pipeline.createXLinkOut()
pose_nn_xout.setStreamName("pose_nn")
pose_nn.out.link(pose_nn_xout.input)
if args.camera:
cam.preview.link(pose_nn.input)
else:
pose_in = pipeline.createXLinkIn()
pose_in.setStreamName("pose_in")
pose_in.out.link(pose_nn.input)
print("Pipeline created.")
return pipeline
def create_pipeline():
print("Creating pipeline...")
pipeline = depthai.Pipeline()
if args.camera:
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(300, 300)
cam.setResolution(
depthai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(depthai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
# NeuralNetwork
print("Creating Face Detection Neural Network...")
detection_nn = pipeline.createMobileNetDetectionNetwork()
detection_nn.setConfidenceThreshold(0.5)
detection_nn.setBlobPath(
str(
blobconverter.from_zoo(name="face-detection-retail-0004",
shaves=6 if args.camera else 8)))
detection_nn_xout = pipeline.createXLinkOut()
detection_nn_xout.setStreamName("detection_nn")
detection_nn.out.link(detection_nn_xout.input)
if args.camera:
cam.preview.link(detection_nn.input)
else:
detection_in = pipeline.createXLinkIn()
detection_in.setStreamName("detection_in")
detection_in.out.link(detection_nn.input)
# NeuralNetwork
print("Creating Age Gender Neural Network...")
age_gender_in = pipeline.createXLinkIn()
age_gender_in.setStreamName("age_gender_in")
age_gender_nn = pipeline.createNeuralNetwork()
age_gender_nn.setBlobPath(
str(
blobconverter.from_zoo(name="age-gender-recognition-retail-0013",
shaves=6 if args.camera else 8)))
age_gender_nn_xout = pipeline.createXLinkOut()
age_gender_nn_xout.setStreamName("age_gender_nn")
age_gender_in.out.link(age_gender_nn.input)
age_gender_nn.out.link(age_gender_nn_xout.input)
print("Pipeline created.")
return pipeline
def create_pipeline(self, model_blob):
self.pipeline = dai.Pipeline()
data_in = self.pipeline.createXLinkIn()
data_in.setStreamName("data_in")
self.model_blob = self.pipeline.createNeuralNetwork()
self.model_blob.setBlobPath(model_blob)
data_out = self.pipeline.createXLinkOut()
data_out.setStreamName("data_out")
data_in.out.link(self.model_blob.input)
self.model_blob.out.link(data_out.input)
def create_pipeline(depth_enabled=True):
pipeline = dai.Pipeline()
rgb = pipeline.createColorCamera()
rgb.setPreviewSize(300, 300)
rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
rgb.setInterleaved(False)
rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
controlIn = pipeline.createXLinkIn()
controlIn.setStreamName('control')
controlIn.out.link(rgb.inputControl)
rgbOut = pipeline.createXLinkOut()
rgbOut.setStreamName("color")
rgb.preview.link(rgbOut.input)
if depth_enabled:
left = pipeline.createMonoCamera()
left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
left.setBoardSocket(dai.CameraBoardSocket.LEFT)
right = pipeline.createMonoCamera()
right.setResolution(
dai.MonoCameraProperties.SensorResolution.THE_400_P)
right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
depth = pipeline.createStereoDepth()
depth.initialConfig.setConfidenceThreshold(255)
median = dai.StereoDepthProperties.MedianFilter.KERNEL_7x7
depth.initialConfig.setMedianFilter(median)
depth.setLeftRightCheck(False)
depth.setExtendedDisparity(False)
depth.setSubpixel(False)
left.out.link(depth.left)
right.out.link(depth.right)
# Create output
leftOut = pipeline.createXLinkOut()
leftOut.setStreamName("left")
left.out.link(leftOut.input)
rightOut = pipeline.createXLinkOut()
rightOut.setStreamName("right")
right.out.link(rightOut.input)
depthOut = pipeline.createXLinkOut()
depthOut.setStreamName("disparity")
depth.disparity.link(depthOut.input)
return pipeline
def create_pipeline():
print("Creating pipeline...")
pipeline = dai.Pipeline()
pipeline.setOpenVINOVersion(version=dai.OpenVINO.Version.VERSION_2021_3)
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.create(dai.node.ColorCamera)
cam.setPreviewSize(300, 300)
cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setVideoSize(1080, 1080)
cam.setInterleaved(False)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("frame")
cam.video.link(cam_xout.input)
# NeuralNetwork
print("Creating Face Detection Neural Network...")
face_det_nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
face_det_nn.setConfidenceThreshold(0.5)
face_det_nn.setBlobPath(
blobconverter.from_zoo(name="face-detection-retail-0004",
shaves=6,
version='2021.3'))
# Link Face ImageManip -> Face detection NN node
cam.preview.link(face_det_nn.input)
objectTracker = pipeline.createObjectTracker()
objectTracker.setDetectionLabelsToTrack([1]) # track only person
# possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
# take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
objectTracker.setTrackerIdAssigmentPolicy(
dai.TrackerIdAssigmentPolicy.SMALLEST_ID)
# Linking
face_det_nn.passthrough.link(objectTracker.inputDetectionFrame)
face_det_nn.passthrough.link(objectTracker.inputTrackerFrame)
face_det_nn.out.link(objectTracker.inputDetections)
# Send face detections to the host (for bounding boxes)
pass_xout = pipeline.create(dai.node.XLinkOut)
pass_xout.setStreamName("pass_out")
objectTracker.passthroughTrackerFrame.link(pass_xout.input)
tracklets_xout = pipeline.create(dai.node.XLinkOut)
tracklets_xout.setStreamName("tracklets")
objectTracker.out.link(tracklets_xout.input)
print("Pipeline created.")
return pipeline
def create_pipeline(self):
print("Creating pipeline...")
pipeline = dai.Pipeline()
pipeline.setOpenVINOVersion(
version=dai.OpenVINO.Version.VERSION_2021_2)
self.pd_input_length = 128
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(self.preview_width, self.preview_height)
cam.setInterleaved(False)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_out = pipeline.createXLinkOut()
cam_out.setStreamName("cam_out")
cam.preview.link(cam_out.input)
print("Creating Palm Detection Neural Network...")
pd_nn = pipeline.createNeuralNetwork()
pd_nn.setBlobPath(str(Path(self.pd_path).resolve().absolute()))
pd_in = pipeline.createXLinkIn()
pd_in.setStreamName("pd_in")
pd_in.out.link(pd_nn.input)
pd_out = pipeline.createXLinkOut()
pd_out.setStreamName("pd_out")
pd_nn.out.link(pd_out.input)
print("Creating Hand Landmark Neural Network...")
lm_nn = pipeline.createNeuralNetwork()
lm_nn.setBlobPath(str(Path(self.lm_path).resolve().absolute()))
self.lm_input_length = 224
lm_in = pipeline.createXLinkIn()
lm_in.setStreamName("lm_in")
lm_in.out.link(lm_nn.input)
lm_out = pipeline.createXLinkOut()
lm_out.setStreamName("lm_out")
lm_nn.out.link(lm_out.input)
print("Creating Hand ASL Recognition Neural Network...")
asl_nn = pipeline.createNeuralNetwork()
asl_nn.setBlobPath(str(Path(self.asl_path).resolve().absolute()))
self.asl_input_length = 224
asl_in = pipeline.createXLinkIn()
asl_in.setStreamName("asl_in")
asl_in.out.link(asl_nn.input)
asl_out = pipeline.createXLinkOut()
asl_out.setStreamName("asl_out")
asl_nn.out.link(asl_out.input)
print("Pipeline created.")
return pipeline
def create_pipeline_people_reidentification():
global useOAKDCam
print("Creating pipeline...")
pipeline = depthai.Pipeline()
if useOAKDCam:
# ColorCamera
print("Creating Color Camera...")
cam = pipeline.createColorCamera()
cam.setPreviewSize(544, 320)
cam.setResolution(
depthai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setInterleaved(False)
cam.setBoardSocket(depthai.CameraBoardSocket.RGB)
cam_xout = pipeline.createXLinkOut()
cam_xout.setStreamName("cam_out")
cam.preview.link(cam_xout.input)
# NeuralNetwork
print("Creating Person Detection Neural Network...")
detection_in = pipeline.createXLinkIn()
detection_in.setStreamName("detection_in")
detection_nn = pipeline.createNeuralNetwork()
detection_nn.setBlobPath(
str(
Path(
"../depthai-experiments/pedestrian-reidentification/models/person-detection-retail-0013.blob"
).resolve().absolute()))
detection_nn_xout = pipeline.createXLinkOut()
detection_nn_xout.setStreamName("detection_nn")
detection_in.out.link(detection_nn.input)
detection_nn.out.link(detection_nn_xout.input)
# NeuralNetwork
print("Creating Person Reidentification Neural Network...")
reid_in = pipeline.createXLinkIn()
reid_in.setStreamName("reid_in")
reid_nn = pipeline.createNeuralNetwork()
reid_nn.setBlobPath(
str(
Path(
"../depthai-experiments/pedestrian-reidentification/models/person-reidentification-retail-0031.blob"
).resolve().absolute()))
reid_nn_xout = pipeline.createXLinkOut()
reid_nn_xout.setStreamName("reid_nn")
reid_in.out.link(reid_nn.input)
reid_nn.out.link(reid_nn_xout.input)
print("Pipeline created.")
return pipeline
def MobileNetSSD(self):
NN_SIZE = (300, 300)
NN_PATH = '/home/pi/depthai/depthai-python/examples/models/mobilenet-ssd_openvino_2021.4_6shave.blob'
# Create pipeline
pipeline = dai.Pipeline()
# Define nodes and outputs
nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
cam = pipeline.create(dai.node.ColorCamera)
encoder = pipeline.create(dai.node.VideoEncoder)
xoutFrames = pipeline.create(dai.node.XLinkOut)
xoutJPEG = pipeline.create(dai.node.XLinkOut)
xoutNN = pipeline.create(dai.node.XLinkOut)
xoutFrames.setStreamName("frames")
xoutJPEG.setStreamName("jpegs")
xoutNN.setStreamName("nn")
# Properties
nn.setConfidenceThreshold(0.5)
nn.setBlobPath(NN_PATH)
cam.setPreviewSize(NN_SIZE)
cam.setPreviewKeepAspectRatio(False)
cam.setInterleaved(False)
cam.setIspScale(1, 3)
cam.setFps(30)
cam.setBoardSocket(dai.CameraBoardSocket.RGB)
# scale collection down from 4K to just FullHD
cam.setResolution(
dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam.setVideoSize(640, 360) # reduce further for storage
encoder.setDefaultProfilePreset(
1, dai.VideoEncoderProperties.Profile.MJPEG)
# Linking
cam.video.link(encoder.input)
cam.video.link(xoutFrames.input)
encoder.bitstream.link(xoutJPEG.input)
cam.preview.link(nn.input)
nn.out.link(xoutNN.input)
# Connect to device and start pipeline
device = dai.Device(pipeline)
return device
def create_spi_demo_pipeline(nnPath):
print("Creating SPI pipeline: ")
print("COLOR CAM -> DetectionNetwork -> SPI OUT")
pipeline = dai.Pipeline()
# testing YOLO DetectionNetwork
detectionNetwork = pipeline.createYoloDetectionNetwork()
detectionNetwork.setConfidenceThreshold(0.5)
detectionNetwork.setBlobPath(nnPath)
detectionNetwork.setNumClasses(80)
detectionNetwork.setCoordinateSize(4)
anchors = np.array([10,14, 23,27, 37,58, 81,82, 135,169, 344,319])
detectionNetwork.setAnchors(anchors)
anchorMasks26 = np.array([1,2,3])
anchorMasks13 = np.array([3,4,5])
anchorMasks = {
"side26": anchorMasks26,
"side13": anchorMasks13,
}
detectionNetwork.setAnchorMasks(anchorMasks)
detectionNetwork.setIouThreshold(0.5)
# # testing MobileNet DetectionNetwork
# detectionNetwork = pipeline.createMobileNetDetectionNetwork()
# detectionNetwork.setConfidenceThreshold(0.5)
# detectionNetwork.setBlobPath(nnPath)
# set up color camera and link to NN node
colorCam = pipeline.createColorCamera()
colorCam.setPreviewSize(416, 416)
# colorCam.setPreviewSize(300, 300)
colorCam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
colorCam.setInterleaved(False)
colorCam.setCamId(0)
colorCam.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
colorCam.preview.link(detectionNetwork.input)
# set up SPI out node
spiOut = pipeline.createSPIOut()
spiOut.setStreamName("spimetaout")
spiOut.setBusId(0)
detectionNetwork.out.link(spiOut.input)
return pipeline