def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--model',
help='File path of .tflite file.',
required=True)
parser.add_argument('--labels',
help='File path of labels file.',
required=True)
parser.add_argument('--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(args.model)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main(activate_status):
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'--model', help='File path of .tflite file.', required=False, default='/home/pi/Desktop/twilio_hack/detect.tflite')
parser.add_argument(
'--labels', help='File path of labels file.', required=False, default='/home/pi/Desktop/twilio_hack/coco_labels.txt')
parser.add_argument(
'--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.65)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(args.model)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details()[0]['shape']
if(activate_status):
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT), framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(
stream, format='jpeg', use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
#We'll send our message here as we don't want to lag the drawing of bounding boxes
classes_id = [i['class_id'] for i in results if 'class_id' in i]
if classes_id:
q.put(classes_id)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'--model', help='File path of .tflite file.', required=True)
parser.add_argument(
'--labels', help='File path of labels file.', required=True)
parser.add_argument(
'--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = tf.lite.Interpreter(args.model)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details()[0]['shape']
with picamera.PiCamera(
resolution=(CAMERA_WIDTH, CAMERA_HEIGHT), framerate=5) as camera:
try:
stream = io.BytesIO()
annotator = Annotator(camera)
stream.seek(0)
image = Image.open("/home/pi/examples/lite/examples/object_detection/raspberry_pi/test14.jpg").convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
image.show()
time.sleep(30)
finally:
#camera.stop_preview()
print("")
def main(argslabels, argsmodel, argsthreshold=0.4):
'''
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'--model', help='File path of .tflite file.', required=True)
parser.add_argument(
'--labels', help='File path of labels file.', required=True)
parser.add_argument(
'--threshold',
help='Score threshold for detected objects.',
required= False,
type=float,
default=0.4)
args = parser.parse_args()
'''
labels = load_labels(argslabels)
interpreter = Interpreter(argsmodel)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
cap = cv2.VideoCapture(0)
annotator = Annotator()
while True:
ret, frame = cap.read()
image = Image.fromarray(frame).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.time()
results = detect_objects(interpreter, image, argsthreshold)
elapsed_ms = (time.time() - start_time) * 1000
annotate_objects(annotator, frame, results, labels)
annotator.text(frame, [5, 30], '%.1fms' % (elapsed_ms))
cv2.imshow("detectObjects", frame)
# got above from our last example (check)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
def main():
#change to s3 bucket files
interpreter = Interpreter("detect.tflite")
labels = load_labels("coco_labels.txt")
threshold = 0.5
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, threshold)
#print (results, type(results))
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
nbr = len(results)
#print(f" Prediction result : {nbr}")
playload = str(nbr)
# print(playload)
finally:
camera.stop_preview()
return playload
def main():
model_path = 'data/detect.tflite'
labels_path = 'data/coco_labels.txt'
threshold = 0.4
labels = load_labels(labels_path)
interpreter = Interpreter(model_path)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main():
MODEL_PATH = BASE_DIR + '/pretrained_models/detect.tflite'
LABEL_PATH = BASE_DIR + '/pretrained_models/coco_labels.txt'
threshold = 0.4
labels = load_labels(LABEL_PATH)
interpreter = Interpreter(MODEL_PATH)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
input_size = (input_width, input_height)
camera = cv2.VideoCapture(index=0)
camera.set(cv2.CAP_PROP_FPS, 3)
annotator = Annotator(img_size=(640, 480))
while (True):
ret, in_img = camera.read()
in_img = imutils.rotate_bound(in_img, angle=180)
img = cv2.resize(in_img,
dsize=input_size,
interpolation=cv2.INTER_NEAREST)
start_time = time.monotonic()
results = detect_objects(interpreter, img, threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update(in_img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
camera.release()
cv2.destroyAllWindows()
def watch_background(detector:Detector):
"""Start image detection with preview"""
data = Data()
t = Thread(target=data.timer_thread)
with PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT), framerate=30) as camera:
camera.vflip = False
sleep(2)
camera.exposure_mode='sports'
camera.start_preview()
sleep(2)
t.start()
stream = io.BytesIO()
annotator = Annotator(camera, "green")
while True:
try:
for _ in camera.capture_continuous(stream, format='jpeg',
resize=(detector.input_width, detector.input_height)):
stream.seek(0)
image = Image.open(stream).convert('RGB')
start_time = monotonic()
data.results = detector.detect_objects(image)
elapsed_ms = (monotonic() - start_time) * 1000
annotator.clear()
detector.annotate_objects(annotator, data.results)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.text([540, 0], f"Person count: {len(data.results)}")
annotator.update()
stream.seek(0)
except KeyboardInterrupt:
break
finally:
data.flag = False
t.join()
camera.stop_preview()
print("Quitting\n")
def main():
ifEdgeTPU_1_else_0 = 1
labels = load_labels('coco_labels.txt')
#get interpreter for face detection model
if ifEdgeTPU_1_else_0 == 1:
interpreter = Interpreter(
model_path=
'models/ssd_mobilenet_v2_face_quant_postprocess_edgetpu.tflite',
experimental_delegates=[load_delegate('libedgetpu.so.1.0')])
else:
interpreter = Interpreter(
model_path='models/ssd_mobilenet_v2_face_quant_postprocess.tflite')
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
person_number = 1 # Change the number of the person you scan. It will create a new number for that person
count_images_saved = 0
if os.path.isdir('scanned_people') == False:
os.mkdir('scanned_people')
if os.path.isdir('scanned_people/' + str(person_number)) == False:
os.mkdir('scanned_people/' + str(person_number))
os.mkdir('scanned_people/' + str(person_number) + '/png')
os.mkdir('scanned_people/' + str(person_number) + '/npy')
else:
shutil.rmtree('scanned_people/' + str(person_number))
os.mkdir('scanned_people/' + str(person_number))
os.mkdir('scanned_people/' + str(person_number) + '/png')
os.mkdir('scanned_people/' + str(person_number) + '/npy')
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.rotation = 270
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image_large = Image.open(stream)
image = image_large.convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, 0.9)
elapsed_ms = (time.monotonic() - start_time) * 1000
#print(image.size)
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
ymin, xmin, ymax, xmax, score = get_best_box_param(
results, CAMERA_WIDTH, CAMERA_HEIGHT)
if score > 0.99:
#print(ymin, " ", xmin, " ", ymax, " ", xmax)
#print(image_large.size)
img = np.array(image_large)
#print("img: ", img.shape)
img_cut = img[ymin:ymax, xmin:xmax, :]
print(img_cut.shape)
img_cut = cv2.resize(
img_cut, dsize=(96, 96),
interpolation=cv2.INTER_CUBIC).astype('uint8')
img_cut_pil = Image.fromarray(img_cut)
img_cut_pil.save('scanned_people/' + str(person_number) +
'/png/img_' + str(count_images_saved) +
'.png')
np.save(
'scanned_people/' + str(person_number) + '/npy/img_' +
str(count_images_saved), img_cut)
count_images_saved = count_images_saved + 1
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def greengrass_app():
try:
client = greengrasssdk.client('iot-data')
iot_topic = 'raspberry/out'
client.publish(topic=iot_topic,
payload='Loading object detection model')
DB = boto3.resource('dynamodb')
table = DB.Table(__TableName__)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
# Do inference until the lambda is killed.
client.publish(topic=iot_topic,
payload='object detection model loaded')
while True:
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, threshold)
#print (results, type(results))
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
nbr = len(results)
#print(f" Prediction result : {nbr}")
p = str(nbr)
# valeur = int(nbr)
client.publish(
topic=iot_topic,
payload='The Number of persons detected :' + p +
'!!!')
# update Item on dynamodb
# this variable contain the number of person detected
valeur = int(nbr)
response = table.update_item(
Key={"id": 0},
UpdateExpression='SET #ts = :val1',
ExpressionAttributeValues={":val1": valeur},
ExpressionAttributeNames={"#ts": "value"})
except Exception as e:
client.publish(topic=iot_topic,
payload='Error inside Pica ')
except Exception as e:
client.publish(topic=iot_topic, payload='Error inside lambda ')
def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--model',
help='File path of .tflite file.',
required=True)
parser.add_argument('--labels',
help='File path of labels file.',
required=True)
parser.add_argument('--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(
args.model,
experimental_delegates=[load_delegate('libedgetpu.so.1.0')]) #coral
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
#initialize variables to calculate FPS
instantaneous_frame_rates = []
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=10) as camera:
camera.start_preview() #alpha = 200
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
start_time = time.monotonic(
) #start_time declaration moved to give a more accurate measurement to calculate FPS
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
results = detect_objects(interpreter, image, args.threshold)
# get the coordinates for all bounding boxes within frame
rects = get_rects(results)
# return active objects from the centroid tracker
objects = ct.update(rects)
annotator.clear()
annotate_objects(annotator, results, labels)
for (objectID, centroid) in objects.items():
text = "ID {}".format(objectID)
annotator.text([centroid[0], centroid[1]], text)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.text([5, 0], '%.1f ms' % (elapsed_ms))
frame_rate = 1 / ((time.monotonic() - start_time))
#annotator.text([5, 15], '%.1f FPS' % (frame_rate))
#print('%.1f FPS' % (frame_rate))
#annotator.update()
#calculate average FPS
instantaneous_frame_rates.append(frame_rate)
avg_frame_rate = sum(instantaneous_frame_rates) / len(
instantaneous_frame_rates)
print("FPS: " + str(avg_frame_rate))
annotator.text([5, 15], '%.1f FPS' % (avg_frame_rate))
annotator.update()
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main():
ifEdgeTPU_1_else_0 = 1
labels = load_labels('coco_labels.txt')
people_lables = load_labels('people_labels.txt')
#get interpreter for face detection model
if ifEdgeTPU_1_else_0 == 1:
interpreter = Interpreter(model_path = 'models/ssd_mobilenet_v2_face_quant_postprocess_edgetpu.tflite',
experimental_delegates=[load_delegate('libedgetpu.so.1.0')])
else:
interpreter = Interpreter(model_path = 'models/ssd_mobilenet_v2_face_quant_postprocess.tflite')
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details()[0]['shape']
#get interpreter for face embedding model
if ifEdgeTPU_1_else_0 == 1:
interpreter_emb = Interpreter(model_path = 'models/Mobilenet1_triplet1589223569_triplet_quant_edgetpu.tflite',
experimental_delegates=[load_delegate('libedgetpu.so.1.0')])
else:
interpreter_emb = Interpreter(model_path = 'models/Mobilenet1_triplet1589223569_triplet_quant.tflite')
interpreter_emb.allocate_tensors()
with picamera.PiCamera(
resolution=(CAMERA_WIDTH, CAMERA_HEIGHT), framerate=30) as camera:
#resolution=(320, 320), framerate=30) as camera:
camera.rotation=270
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(
stream, format='jpeg', use_video_port=True):
stream.seek(0)
image_large = Image.open(stream)
image = image_large.convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, 0.5)
elapsed_ms = (time.monotonic() - start_time) * 1000
#print(image.size)
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
ymin, xmin, ymax, xmax, score = get_best_box_param(results,CAMERA_WIDTH,CAMERA_HEIGHT)
if score > 0.96:
#print(ymin, " ", xmin, " ", ymax, " ", xmax)
#print(image_large.size)
img = np.array(image_large)
#print("img: ", img.shape)
#img = np.asarray(image_large).reshape(CAMERA_WIDTH,CAMERA_HEIGHT,3)
#print(img.shape)
#plt.imshow(img)
#plt.show()
img_cut = img[ymin:ymax,xmin:xmax,:]
#print(img_cut.shape)
img_cut = cv2.resize(img_cut, dsize=(96, 96), interpolation=cv2.INTER_CUBIC).astype('uint8')
img_cut = img_cut.reshape(1,96,96,3)/255.
#emb = FRmodel.predict(img_cut)
emb = img_to_emb(interpreter_emb,img_cut)
get_person_from_embedding(people_lables,emb)
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main(lidar_data_queue):
global perceptron_network
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--model',
help='File path of .tflite file.',
required=True)
parser.add_argument('--labels',
help='File path of labels file.',
required=True)
parser.add_argument('--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.6)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(
args.model,
experimental_delegates=[load_delegate('libedgetpu.so.1.0')])
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
print(input_height, input_width)
count = 0
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT)) as camera:
camera.rotation = 180
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
start_time = time.monotonic()
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
# start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
#elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
middle_xy = annotate_objects(annotator, results, labels)
#annotator.text([5, 0], '%.1fms' % (elapsed_ms))
# annotator.update()
if perceptron_network.person_detected == True: # this only changes the first time a person is detected
data = []
if lidar_data_queue.empty() is False:
data = lidar_data_queue.get()
else:
data = [0]
if middle_xy[
0] != 0: # or ((middle_xy[0] < 300 and middle_xy != 0) and perceptron_network.first_arc_turn == True) or (middle_xy[0] > 20 and perceptron_network.first_arc_turn == True):
perceptron_network.person_detected_queue.insert(
0, True) # keep track og frames with person in it
perceptron_network.person_detected_queue.pop()
object_width = middle_xy[2]
print('object width: ', object_width)
if perceptron_network.first_arc_turn == True:
object_width = 80
distance_to_target = perceptron_network.getDistanceToPerson(
object_width)
print('distance = ', distance_to_target)
new_motor_speeds = perceptron_network.followTarget(
middle_xy, distance_to_target, data)
motorSpeedLeft(
1,
round(perceptron_network.motor_speed_total_left))
motorSpeedRight(
1,
round(perceptron_network.motor_speed_total_right))
print(
"Left motor: ",
round(perceptron_network.motor_speed_total_left),
" Right motor: ",
round(perceptron_network.motor_speed_total_right))
print('..........................................')
elif perceptron_network.first_arc_turn == True or (
perceptron_network.first_reflex_turn == True):
arc_motor_speeds = perceptron_network.makeArcTurn(
perceptron_network.reflex_avoiding_obstacle_dist +
400)
perceptron_network.motor_speed_total_left = arc_motor_speeds[
0]
perceptron_network.motor_speed_total_right = arc_motor_speeds[
1]
motorSpeedLeft(1, arc_motor_speeds[0])
motorSpeedRight(1, arc_motor_speeds[1])
print('second',
perceptron_network.motor_speed_total_left)
elif perceptron_network.first_arc_turn == True or (
perceptron_network.making_avoidance_turn == True):
arc_motor_speeds = perceptron_network.makeArcTurn(
perceptron_network.start_avoiding_obstacle_dist +
300)
perceptron_network.motor_speed_total_left = arc_motor_speeds[
0]
perceptron_network.motor_speed_total_right = arc_motor_speeds[
1]
motorSpeedLeft(1, arc_motor_speeds[0])
motorSpeedRight(1, arc_motor_speeds[1])
print('second',
perceptron_network.motor_speed_total_left)
else:
perceptron_network.person_detected_queue.insert(
0, False)
perceptron_network.person_detected_queue.pop()
# Is all the last 15 frames was without a person
if any(perceptron_network.person_detected_queue
) == False:
perceptron_network.motor_speed_total_left = 0
perceptron_network.motor_speed_total_right = 0
perceptron_network.motor_speed_distance = 0
print("Locating target....")
perceptron_network.robot_is_stationary = True
if perceptron_network.side_left_person_last_detected == True:
motorSpeedLeft(0, 19)
motorSpeedRight(1, 19)
elif perceptron_network.side_left_person_last_detected == False:
motorSpeedLeft(1, 19)
motorSpeedRight(0, 19)
# For calibrating the focal length
# focal = perceptron_network.getPercievedFocal(object_width, 2000, 500)
# print('focal = ', focal)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
frame_times_for_coral_test.append(elapsed_ms)
#print(perceptron_network.getPercievedFocal(object_height, distance_test, person_height))
stream.seek(0)
stream.truncate()
except KeyboardInterrupt:
print('Saving distance data and shutting down')
motorSpeedLeft(1, 0)
motorSpeedRight(1, 0)
toggleLED({})
frame_average = sum(frame_times_for_coral_test) / len(
frame_times_for_coral_test)
#perceptron_network.save_test1()
#perceptron_network.save_test2()
#perceptron_network.save_test3()
#perceptron_network.save_test4()
perceptron_network.saveWeights()
# makePlots(perceptron_network.percep_l_wheel.weights_for_test, perceptron_network.percep_r_wheel.weights_for_test, perceptron_network.percep_far_distance.weights_for_test, perceptron_network.distances_for_test)
# file = open('distances.csv', 'w')
# file.truncate()
# with file:
# writer = csv.writer(file)
# writer.writerow(perceptron_network.distances_for_test)
# writer.writerow(perceptron_network.percep_l_wheel.weights_for_test)
# writer.writerow(perceptron_network.percep_r_wheel.weights_for_test)
# writer.writerow(perceptron_network.percep_distance.weights_for_test)
finally:
camera.stop_preview()
def main():
# initialize variables to calculate FPS
instantaneous_frame_rates = []
counter = 0
t = None
#win = dlib.image_window()
with picamera.PiCamera(
resolution=(CAMERA_WIDTH, CAMERA_HEIGHT), framerate=25) as camera:
camera.start_preview() #alpha = 200
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(
stream, format='jpeg', use_video_port=True):
stream.seek(0)
start_time = time.monotonic() #start_time declaration moved to give a more accurate measurement to calculate FPS
image = Image.open(stream).convert('RGB')
dlib_img = np.asarray(image)
annotator.clear()
if t == None:
t = dlib.correlation_tracker()
dlib_rect = dlib.rectangle(0, 0, 100, 100)
t.start_track(dlib_img, dlib_rect)
else:
t.update(dlib_img)
pos = t.get_position()
startX = int(pos.left())
startY = int(pos.top())
endX = int(pos.right())
endY = int(pos.bottom())
x = (startX + endX) / 2
y = (startY + endY) / 2
annotator.centroid(x, y)
#annotator.clear()
#annotator.bounding_box([startX, startY, endX, endY])
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.text([5, 0], '%.1f ms' % (elapsed_ms))
frame_rate = 1/ ((time.monotonic() - start_time))
#calculate average FPS
instantaneous_frame_rates.append(frame_rate)
avg_frame_rate = sum(instantaneous_frame_rates)/len(instantaneous_frame_rates)
print("FPS: " + str(avg_frame_rate))
annotator.text([5, 15], '%.1f FPS' % (avg_frame_rate))
#annotator.clear()
annotator.update()
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--model',
help='File path of .tflite file.',
required=True)
parser.add_argument('--labels',
help='File path of labels file.',
required=True)
parser.add_argument('--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(args.model)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
stat = True
count = 0
distance = 10000.0
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
person = False
for result in results:
if result['class_id'] == 0.0:
person = True
if person:
ser.write(bytes("2", "utf-8"))
else:
ser.write(bytes("0", "utf-8"))
if ser.in_waiting > 0:
msg = ser.readline()
msg = msg.decode("utf-8")
msg = msg.replace("\\n", "")
msg = msg.replace("\\r", "")
#msg = msg.replace("\\x","")
#print(msg)
try:
distance = float(msg)
except:
stat = stat
if distance < 15:
if stat:
count += 1
stat = False
else:
stat = True
print("Distance: ", distance, "Number of Push Ups: ",
count)
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
finally:
camera.stop_preview()
def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--model',
help='File path of .tflite file.',
required=True)
parser.add_argument('--labels',
help='File path of labels file.',
required=True)
parser.add_argument('--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = tf.lite.Interpreter(args.model)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
keys = {
'tl': 4,
'press': 9,
'tr': 15,
'x': 16,
'up': 21,
'right': 22,
'left': 23,
'start': 24,
'select': 25,
'y': 26,
'down': 27,
'b': 28,
'a': 29
}
wiringpi.wiringPiSetup()
for key in keys:
wiringpi.pinMode(keys[key], wiringpi.GPIO.INPUT)
wiringpi.pullUpDnControl(keys[key], wiringpi.GPIO.PUD_UP)
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
# 上下逆に組み込んでいる
camera.rotation = 180
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
if wiringpi.digitalRead(keys['start']) == 0:
print('press start to break')
break
finally:
camera.stop_preview()
def main():
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'--model', help='File path of .tflite file.', required=True)
parser.add_argument(
'--labels', help='File path of labels file.', required=True)
parser.add_argument(
'--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(args.model, experimental_delegates=[load_delegate('libedgetpu.so.1.0')]) #coral
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details()[0]['shape']
# initialize variables to calculate FPS
instantaneous_frame_rates = []
# initialize variable for tracker use
#trackers = []
#j=0
counter = 0
t = None
#win = dlib.image_window()
test_start_time = time.monotonic()
with picamera.PiCamera(
resolution=(CAMERA_WIDTH, CAMERA_HEIGHT), framerate=30) as camera:
camera.start_preview() #alpha = 200
start_time = time.monotonic()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(
stream, format='jpeg', use_video_port=True):
#start_time = time.monotonic()
stream.seek(0)
print("Test FPS: " + str(1/(time.monotonic() - test_start_time)))
counter += 1
#start_time = time.monotonic() #start_time declaration moved to give a more accurate measurement to calculate FPS
image = Image.open(stream).convert('RGB')
dlib_img = np.asarray(image)
#image.save("test_save.jpg")
#image = Image.open(stream).convert('RGB').resize((input_width, input_height), Image.ANTIALIAS)
#image = image.resize((input_width, input_height), Image.ANTIALIAS)
#dlib_img = dlib.load_rgb_image("/home/pi/Desktop/object_detection/object_detection_tpu_tracking_dlib/test_save.jpg")
annotator.clear()
# if there are no trackes, first must try to detect objects
#if len(trackers) == 0:
if t == None:
#dlib_img = np.asarray(image)
image = image.resize((input_width, input_height), Image.ANTIALIAS)
results = detect_objects(interpreter, image, args.threshold)
# get the coordinates for all bounding boxes within frame
rects = get_rects(results)
for i in np.arange(0,len(results)):
#format bounding box coordinates
box = np.array(rects[i])
(startY, startX, endY, endX) = box.astype("int")
print(startX, startY, endX, endY)
#x = (startX + endX) / 2
#y = (startY + endY) / 2
dlib_rect = dlib.rectangle(startX, startY, endX, endY)
t = dlib.correlation_tracker()
t.start_track(dlib_img, dlib_rect)
#trackers.append(t)
#annotator.clear()
#annotator.centroid(x, y)
#annotate_objects(annotator, results, labels)
else:
t.update(dlib_img)
pos = t.get_position()
startX = int(pos.left())
startY = int(pos.top())
endX = int(pos.right())
endY = int(pos.bottom())
x = (startX + endX) / 2
y = (startY + endY) / 2
#annotator.centroid(x, y)
#annotator.clear()
annotator.bounding_box([startX, startY, endX, endY])
#if (counter % 20) == 0:
#t = None
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.text([5, 0], '%.1f ms' % (elapsed_ms))
frame_rate = 1/ ((time.monotonic() - start_time))
start_time = time.monotonic()
print(frame_rate)
#calculate average FPS
instantaneous_frame_rates.append(frame_rate)
avg_frame_rate = sum(instantaneous_frame_rates)/len(instantaneous_frame_rates)
print("FPS: " + str(avg_frame_rate))
#annotator.text([5, 15], '%.1f FPS' % (avg_frame_rate))
#annotator.clear()
annotator.update()
stream.seek(0)
stream.truncate()
test_start_time = time.monotonic()
#print(time.monotonic())
finally:
camera.stop_preview()
def main():
global location, card_R, input_state, direction_count
clock = 0
TurnOffTopMotor()
TurnOffBotMotor()
parser = argparse.ArgumentParser(
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--model',
help='File path of .tflite file.',
required=True)
parser.add_argument('--labels',
help='File path of labels file.',
required=True)
parser.add_argument('--threshold',
help='Score threshold for detected objects.',
required=False,
type=float,
default=0.4)
args = parser.parse_args()
labels = load_labels(args.labels)
interpreter = Interpreter(args.model)
interpreter.allocate_tensors()
_, input_height, input_width, _ = interpreter.get_input_details(
)[0]['shape']
with picamera.PiCamera(resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=30) as camera:
camera.start_preview()
try:
stream = io.BytesIO()
annotator = Annotator(camera)
for _ in camera.capture_continuous(stream,
format='jpeg',
use_video_port=True):
if clock % 2 == 0:
TurnOnBotMotor()
time.sleep(0.052125)
TurnOffBotMotor()
direction_count += 1
stream.seek(0)
image = Image.open(stream).convert('RGB').resize(
(input_width, input_height), Image.ANTIALIAS)
start_time = time.monotonic()
results = detect_objects(interpreter, image, args.threshold)
elapsed_ms = (time.monotonic() - start_time) * 1000
annotator.clear()
annotate_objects(annotator, results, labels)
annotator.text([5, 0], '%.1fms' % (elapsed_ms))
annotator.update()
stream.seek(0)
stream.truncate()
clock = clock + 1
if location > 3:
location = 3
tmp = direction[0]
direction[0] = direction[1] - direction[0]
direction[1] = direction[2] - direction[1]
direction[2] = direction[3] - direction[2]
direction[3] = tmp + 0.834 - direction[3]
print(tmp, direction[0], direction[1], direction[2],
direction[3])
while True:
#input_state = GPIO.input(MONITOR_PIN)
if card_R > 0:
TurnOnBotMotor()
#m =sensor.get_magnet()
time.sleep(direction[location])
if card_R == 52:
time.sleep(tmp)
#if (m[0] - position[location][0]) < 600 and (m[1] - position[location][1]) < 600:
TurnOffBotMotor()
time.sleep(0.5)
TurnOnTopMotor()
while GPIO.input(MONITOR_PIN) == 1:
print(tmp, direction[0], direction[1],
direction[2], direction[3])
TurnOffTopMotor()
time.sleep(0.5)
card_R -= 1
location += 1
if location > 3:
location = 0
else:
break
finally:
camera.stop_preview()
GPIO.cleanup()