def __init__(self, model, debug=False, fps=10.):
self.debug = debug
self.camera = MipiCamera(300, 300)
self.model = model
self.rate = float(1. / fps)
self.detector = ObjectDetection('./data/' + self.model)
class JetsonLiveObjectDetection():
def __init__(self, model, debug=False, fps=10.):
self.debug = debug
self.camera = MipiCamera(300, 300)
self.model = model
self.rate = float(1. / fps)
self.detector = ObjectDetection('./data/' + self.model)
def _visualizeDetections(self, img, scores, boxes, classes,
num_detections):
cols = img.shape[1]
rows = img.shape[0]
detections = []
for i in range(num_detections):
bbox = [float(p) for p in boxes[i]]
score = float(scores[i])
classId = int(classes[i])
if score > 0.5:
x = int(bbox[1] * cols)
y = int(bbox[0] * rows)
right = int(bbox[3] * cols)
bottom = int(bbox[2] * rows)
thickness = int(4 * score)
cv2.rectangle(img, (x, y), (right, bottom), (125, 255, 21),
thickness=thickness)
detections.append(self.detector.labels[str(classId)])
print("Debug: Found objects: " + str(' '.join(detections)) + ".")
cv2.imshow('Jetson Live Detection', img)
def start(self):
print(
"Starting Live object detection, may take a few minutes to initialize..."
)
self.camera.startStreaming()
self.detector.initializeSession()
if not self.camera.isOpened():
print("Camera has failed to open")
exit(-1)
elif self.debug:
cv2.namedWindow("Jetson Live Detection", cv2.WINDOW_AUTOSIZE)
while True:
curr_time = time.time()
img = self.camera.getFrame()
scores, boxes, classes, num_detections = self.detector.detect(img)
if self.debug:
self._visualizeDetections(img, scores, boxes, classes,
num_detections)
print("Debug: Running at: " +
str(1.0 / (time.time() - curr_time)) + " Hz.")
if cv2.waitKey(1) == ord('q'):
break
# throttle to rate
capture_duration = time.time() - curr_time
sleep_time = self.rate - capture_duration
if sleep_time > 0:
time.sleep(sleep_time)
cv2.destroyAllWindows()
self.camera.__del__()
self.detector.__del__()
print("Exiting...")
return