Hi @jakaskerl ,
Currently, I have 2 output queues, which are both set at maxSize=4 and blocking=False. Should my links be non-blocking as well, and how would I do that? Also, could the USB connection have something to do with it? (I would prefer to use this YOLO v6 NN, as it is the only one that works for my project). I attached my code below. Thanks!
from pathlib import Path
import cv2
import depthai as dai
import numpy as np
import time as time1
from time import time, ctime
import blobconverter
from pynput import mouse
import params
import RPi.GPIO as GPIO
import os
import datetime
os.chdir("/home/fyp2022/Desktop/YOLODataCollector/")
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(14, GPIO.OUT)
GPIO.setup(23, GPIO.OUT)
labelMap = [
"pedestrian", "bicycle", "car", "motorbike", "aeroplane", "bus", "train",
"truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench",
"bird", "cat", "dog", "horse", "sheep", "cow", "elephant",
"bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie",
"suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat",
"baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup",
"fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich",
"orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake",
"chair", "sofa", "pottedplant", "bed", "diningtable", "toilet", "tvmonitor",
"laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven",
"toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors",
"teddy bear", "hair drier", "toothbrush"
]
allowedLabels = ["bicycle", "car", "motorbike", "bus", "truck"]
def getAllowedItems(items):
whiteList = []
for i in items:
if i in labelMap:
whiteList.append(labelMap.index(i))
if i not in labelMap:
print("could not find {} in the label map!".format(i))
return whiteList
def time_convert(sec):
mins = sec // 60
sec = sec % 60
hours = mins // 60
mins = mins % 60
deltaTime = datetime.time(hours, mins, sec)
deltaTime = str(deltaTime).replace(':', '')
return deltaTime
# Create pipeline
pipeline = dai.Pipeline()
nnPath = blobconverter.from_openvino("./YOLOv6t_COCO/yolov6t_coco_416x416.xml", "./YOLOv6t_COCO/yolov6t_coco_416x416.bin", shaves=6)
t = time()
timeOfCreation = str(ctime(t))
timeInit = t
# Define sources and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
detectionNetwork = pipeline.create(dai.node.YoloDetectionNetwork)
objectTracker = pipeline.create(dai.node.ObjectTracker)
xlinkOut = pipeline.create(dai.node.XLinkOut)
trackerOut = pipeline.create(dai.node.XLinkOut)
xlinkOut.setStreamName("preview")
trackerOut.setStreamName("tracklets")
# Properties
camRgb.setPreviewSize(416, 416)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
camRgb.setFps(22)
detectionNetwork.setConfidenceThreshold(0.5)
detectionNetwork.setNumClasses(80)
detectionNetwork.setCoordinateSize(4)
detectionNetwork.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319])
detectionNetwork.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
detectionNetwork.setIouThreshold(0.5)
detectionNetwork.setBlobPath(nnPath)
detectionNetwork.setNumInferenceThreads(2)
detectionNetwork.input.setBlocking(False)
objectTracker.setDetectionLabelsToTrack(getAllowedItems(allowedLabels)) # 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.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
# Linking
camRgb.preview.link(detectionNetwork.input)
objectTracker.passthroughTrackerFrame.link(xlinkOut.input)
#camRgb.preview.link(objectTracker.inputTrackerFrame)
detectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)
detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
detectionNetwork.out.link(objectTracker.inputDetections)
objectTracker.out.link(trackerOut.input)
GPIO.output(14, GPIO.HIGH)
GPIO.output(23, GPIO.HIGH)
leftRight = True
def click(x, y, button, pressed):
global leftRight
if str(button) == "Button.left" and leftRight is not True:
leftRight = True
GPIO.output(23, GPIO.HIGH)
time1.sleep(0.1)
GPIO.output(23, GPIO.LOW)
elif str(button) == "Button.right" and leftRight is not False:
leftRight = False
GPIO.output(23, GPIO.HIGH)
time1.sleep(0.1)
GPIO.output(23, GPIO.LOW)
time1.sleep(0.1)
GPIO.output(23, GPIO.HIGH)
time1.sleep(0.1)
GPIO.output(23, GPIO.LOW)
listener = mouse.Listener(on_click=click)
listener.start()
time1.sleep(45)
GPIO.output(14, GPIO.HIGH)
GPIO.output(23, GPIO.HIGH)
time1.sleep(0.2)
GPIO.output(14, GPIO.LOW)
GPIO.output(23, GPIO.LOW)
time1.sleep(0.2)
GPIO.output(14, GPIO.HIGH)
GPIO.output(23, GPIO.HIGH)
time1.sleep(0.2)
GPIO.output(14, GPIO.LOW)
GPIO.output(23, GPIO.LOW)
dataCollected = False
# Connect to device and start pipeline
try:
with dai.Device(pipeline, maxUsbSpeed=dai.UsbSpeed.HIGH) as device:
GPIO.output(14, GPIO.LOW)
GPIO.output(23, GPIO.LOW)
preview = device.getOutputQueue("preview", maxSize=4, blocking=False)
tracklets = device.getOutputQueue("tracklets", maxSize=4, blocking=False)
startTime = time1.monotonic()
counter = 0
fps = 0
frame = None
sensorBox = params.defaultSensorBox
sensorBoxY = params.defaultSensorBoxY
leftBox = [0, 208]
rightBox = [208, 416]
bottomBox = [208, 416]
upperBox = [0, 208]
vehicles = []
totalVehicles = 0
vehicleDir = None
while(True):
timer = round(time1.monotonic())
try:
imgFrame = preview.get()
track = tracklets.get()
except:
imgFrame = preview.tryGet()
track = tracklets.tryGet()
counter+=1
current_time = time1.monotonic()
if (current_time - startTime) > 1 :
fps = counter / (current_time - startTime)
counter = 0
startTime = current_time
color = (255, 0, 0)
yellow = (255, 255, 0)
frame = imgFrame.getCvFrame()
trackletsData = track.tracklets
for t in trackletsData:
roi = t.roi.denormalize(frame.shape[1], frame.shape[0])
x1 = int(roi.topLeft().x)
y1 = int(roi.topLeft().y)
x2 = int(roi.bottomRight().x)
y2 = int(roi.bottomRight().y)
bbox = [x1, y1, x2, y2]
global midpoint
midpoint = (x1+x2)/2
midpoint = int(round(midpoint))
global midpointY
midpointY = (bbox[1] + bbox[3])/2
midpointY = int(round(midpointY))
vehicleID = t.id
vehicleStatus = str(t.status.name)
labelID = t.label
try:
label = labelMap[t.label]
except:
label = t.label
if leftRight:
if vehicleStatus == "NEW" and bbox[2] <= leftBox[1]:
vehicleDir = 0
elif vehicleStatus == "NEW" and bbox[0] >= rightBox[0]:
vehicleDir = 1
if vehicleID not in vehicles and sensorBox[0] <= midpoint <= sensorBox[1]:
if vehicleStatus == "TRACKED":
t = time()
currentTime = ctime(t)
stopwatchTime = round(t - timeInit)
vehicles.append(vehicleID)
totalVehicles += 1
with open(f"./Data/Data Collected @ {timeOfCreation}.txt", "a") as fp:
fp.write("{},{},{},{}\n".format(totalVehicles, time_convert(stopwatchTime), vehicleDir, labelID))
dataCollected = True
if vehicleStatus == "REMOVED" or sensorBox[0] > midpoint or sensorBox[1] < midpoint:
if vehicleID in vehicles:
vehicles.remove(vehicleID)
elif not leftRight:
if vehicleStatus == "NEW" and bbox[1] <= upperBox[1]:
vehicleDir = 0
elif vehicleStatus == "NEW" and bbox[3] >= bottomBox[0]:
vehicleDir = 1
if vehicleID not in vehicles and sensorBoxY[0] <= midpointY <= sensorBoxY[1]:
if vehicleStatus == "TRACKED":
t = time()
currentTime = ctime(t)
stopwatchTime = round(t - timeInit)
vehicles.append(vehicleID)
totalVehicles += 1
with open(f"./Data/Data Collected @ {timeOfCreation}.txt", "a") as fp:
fp.write("{},{},{},{}\n".format(totalVehicles, time_convert(stopwatchTime), vehicleDir, labelID))
dataCollected = True
if vehicleStatus == "REMOVED" or sensorBoxY[0] > midpointY or sensorBoxY[1] < midpointY:
if vehicleID in vehicles:
vehicles.remove(vehicleID)
print("removed!")
if len(vehicles) != 0:
GPIO.output(23, GPIO.HIGH)
elif len(vehicles) == 0:
GPIO.output(23, GPIO.LOW)
"""cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
cv2.putText(frame, f"ID: {[vehicleID]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
cv2.putText(frame, vehicleStatus, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
if leftRight:
cv2.rectangle(frame, (sensorBox[0], 0), (sensorBox[1], 416), (0, 0, 255), 1)
cv2.rectangle(frame, (leftBox[0], 0), (leftBox[1], 416), yellow, 1)
cv2.rectangle(frame, (rightBox[0], 0), (rightBox[1], 416), yellow, 1)
elif not leftRight:
cv2.rectangle(frame, (0, sensorBoxY[0]), (416, sensorBoxY[1]), (0, 0, 255), 1)
cv2.rectangle(frame, (0, bottomBox[0]), (416, bottomBox[1]), yellow, 1)
cv2.rectangle(frame, (0, upperBox[0]), (416, upperBox[1]), yellow, 1)
cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.7, color)
cv2.imshow("tracker", frame)"""
if (timer % 2) == 0:
GPIO.output(14, GPIO.HIGH)
elif (timer % 2) != 0:
GPIO.output(14, GPIO.LOW)
cv2.waitKey(1)
except:
if dataCollected:
GPIO.output(14, GPIO.LOW)
GPIO.output(23, GPIO.LOW)
time1.sleep(1)
for i in range (5):
GPIO.output(14, GPIO.HIGH)
time1.sleep(0.1)
GPIO.output(14, GPIO.LOW)
time1.sleep(0.1)
elif not dataCollected:
print("error!")
for i in range (5):
GPIO.output(23, GPIO.LOW)
time1.sleep(0.1)
GPIO.output(23, GPIO.HIGH)
time1.sleep(0.1)
GPIO.output(23, GPIO.LOW)
print("code cancelled")
