Gen2-Yolo Device Decoding, Object Tracking

Fakhrullo · Nov 4, 2023

Hey guys, I am really interested in this project GitHub, I ran the project with both Yolov4_tiny and Yolov8n both are pretty well working for object detection. However, I couldn't manage to add Object Tracking to that project, I tried adding it by exploring other projects as well but no success yet. If you know how to do it or some tutorial or source material, please help me. In addition to that is it possible to put custom RoI for this project?
Thanks for your time.
Fakhrullo.

jakaskerl · Nov 4, 2023

Hi Fakhrullo
Should be the same as this example just switch the MBNetSSD with YOLO. Both perform on device decoding.
It is possible to put ROI in as well, but the question is where do you want to incorporate it - before NN, before Tracker?

Thanks,
Jaka

Fakhrullo · Nov 6, 2023

Hi jakaskerl
Yes I want to assign ROI before Tracker, so in theory less space to detect and track, it should be faster and higher FPS compared to default one. And it could help for a user to have more customization over the program. If you have any thougths about it please share with me.

Thanks,
Fakhrullo

Fakhrullo · Nov 6, 2023

jakaskerl
I run the example you mentioned above, and it worked fine with MBNetSSD. However, When I switched it with YOLO it's giving errors:
1. First thing I changed is nnpath to blob file:
nnPathDefault = str((Path(__file__).parent / Path('model/mobilenet-ssd_openvino_2021.4_6shave.blob')).resolve().absolute())
to
nnPathDefault = str((Path(__file__).parent / Path('model/tiny-yolo-v4_openvino_2021.2_6shave.blob')).resolve().absolute())
and then it gave me error like this:
[DetectionNetwork(1)] [error] Mask is not defined for output layer with width '26'. Define at pipeline build time using: 'setAnchorMasks' for 'side26'.

2. Then I added this lines to the code:

anchorMasks = {
"side26" : [1,2,3],
"side13" : [3,4,5]
}
detectionNetwork.setAnchorMasks(anchorMasks)

After adding this lines now I'm getting this error:

with dai.Device(pipeline, device) as device:

[18443010C190BE0800] [192.168.1.234] [11.263] [system] [critical] Fatal error. Please report to developers. Log: 'Fatal error on MSS CPU: trap: 09, address: 8008EC3C' '0'

[18443010C190BE0800] [192.168.1.234] [1699258753.950] [host] [warning] Monitor thread (device: 18443010C190BE0800 [192.168.1.234]) - ping was missed, closing the device connection

Traceback (most recent call last):

File "/home/fakha/Work Projects/YoloDepthAI/gen2-yolo/device-decoding/adding_tracker.py", line 87, in <module>

imgFrame = preview.get()

RuntimeError: Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'preview' (X_LINK_ERROR)'

Is there something that I'm doing wrong?

Thank you for your time,
Fakhrullo

jakaskerl · Nov 6, 2023

Hi Fakhrullo
I just swapped the model to the yolo from https://docs.luxonis.com/projects/api/en/latest/samples/Yolo/tiny_yolo/:

#!/usr/bin/env python3

from pathlib import Path
import cv2
import depthai as dai
import numpy as np
import time
import argparse

# tiny yolo v4 label texts
labelMap = [
    "person",         "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"
]

nnPath = str((Path(__file__).parent / Path('../models/yolo-v4-tiny-tf_openvino_2021.4_6shave.blob')).resolve().absolute())



# Create pipeline
pipeline = dai.Pipeline()

# 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(40)

# testing MobileNet DetectionNetwork
# Network specific settings
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([15])  # 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)


detectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)

detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
detectionNetwork.out.link(objectTracker.inputDetections)
objectTracker.out.link(trackerOut.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    preview = device.getOutputQueue("preview", 4, False)
    tracklets = device.getOutputQueue("tracklets", 4, False)

    startTime = time.monotonic()
    counter = 0
    fps = 0
    frame = None

    while(True):
        imgFrame = preview.get()
        track = tracklets.get()

        counter+=1
        current_time = time.monotonic()
        if (current_time - startTime) > 1 :
            fps = counter / (current_time - startTime)
            counter = 0
            startTime = current_time

        color = (255, 0, 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)

            try:
                label = labelMap[t.label]
            except:
                label = t.label

            cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
            cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
            cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
            cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)

        cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)

        cv2.imshow("tracker", frame)

        if cv2.waitKey(1) == ord('q'):
            break

thanks,
Jaka

Fakhrullo · Nov 7, 2023

Hi jakaskerl
Great work bro appriciate it so much

Is it possible to put ROI before detection and tracking?

jakaskerl · Nov 7, 2023

Hi Fakhrullo
Make a manip node with setCropRect() to crop to specified size of the preview stream and setResize() to make sure the input fits the NN first layer size.

Thanks,
Jaka

Fakhrullo · Nov 8, 2023

Hi jakaskerl
Thank you very much, I will continue working on this project if I have any questions I'll notify you

Thanks,
Fakhrullo

Fakhrullo · Nov 9, 2023

Hi jakaskerl

How are you doing bro? I have a question regarding that project, I adjusted the project as I want and it's working as expected, now I have to test detection and tracking with crowd, currently I can't put camera to street or any public places, so I wanted to test it with videos. However, I couldn't manage to integrate the video reading in the project, I tried using this method https://docs.luxonis.com/projects/api/en/latest/samples/ObjectTracker/object_tracker_video/#source-code
In the beginnign I tried to add this to my code but I couldn't get it right, so I added Yolo to the code in the documentation I mentioned above. But it's not running on device, how can I test my project with video? can you help me with that please.

Thanks,
Fakhrullo

Fakhrullo · Nov 9, 2023

Hi jakaskerl

I added manip mode as you said, I added like this:
# Creating Manip node
manip = pipeline.create(dai.node.ImageManip)
# Setting CropRect for the Region of Interest
manip.initialConfig.setCropRect(*custom_roi)
# Setting Resize for the neural network input size
manip.initialConfig.setResize(640, 640)
# Setting maximum output frame size based on the desired output dimensions
max_output_width = 640
max_output_height = 640
max_output_frame_size = 3 * max_output_width * max_output_height # Assuming 3 channels for BGR image
manip.setMaxOutputFrameSize(max_output_frame_size)
# Connecting Manip node to ColorCamera
camRgb.preview.link(manip.inputImage)
# Connecting Manip node to YoloDetectionNetwork
manip.out.link(detectionNetwork.input)

But I'm getting black screen, Where am I making mistake? is there any tutorial or documentation how to do that?

jakaskerl · Nov 9, 2023

Hi @Fakhrullo
Can I see the full code?
If you are inputting the preview image into the manip, make sure it's larger than the output image, otherwise the crop makes no sense.
Maybe you could link the .video output and set the frame type to RGB.

Thanks,
Jaka

Fakhrullo · Nov 10, 2023

Hi jakaskerl
Here's the code

from pathlib import Path

import cv2

import depthai as dai

import time

from environs import Env
env = Env()env.read_env()
MxID = env('MxID')# Set your custom ROI coordinates (x, y, width, height)custom_roi = (350, 250, 640, 640) # Example coordinates, adjust as needed
# tiny yolo v4 label textslabelMap = [ "person", "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"]
nnPath = str((Path(__file__).parent / Path('model/yolov6n_coco_640x640_openvino_2022.1_6shave.blob')).resolve().absolute())
# Create pipelinepipeline = dai.Pipeline()
# Define sources and outputscamRgb = 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")
# Creating Manip nodemanip = pipeline.create(dai.node.ImageManip)# Setting CropRect for the Region of Interestmanip.initialConfig.setCropRect(*custom_roi)# Setting Resize for the neural network input sizemanip.initialConfig.setResize(640, 640)# Setting maximum output frame size based on the desired output dimensionsmax_output_width = 640max_output_height = 640max_output_frame_size = 3 * max_output_width * max_output_height # Assuming 3 channels for BGR imagemanip.setMaxOutputFrameSize(max_output_frame_size)
# Propertiesif MxID == "14442C10C1AD3FD700": camRgb.setImageOrientation(dai.CameraImageOrientation.HORIZONTAL_MIRROR)camRgb.setPreviewSize(640, 640)camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)camRgb.setInterleaved(False)camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)camRgb.setFps(40)
# Network specific settingsdetectionNetwork.setConfidenceThreshold(0.5)detectionNetwork.setNumClasses(80)detectionNetwork.setCoordinateSize(4)# detectionNetwork.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319]) #YOLOv4 uchun# detectionNetwork.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})detectionNetwork.setAnchors([10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326]) #YOLOv5 uchundetectionNetwork.setAnchorMasks({"side52": [0,1,2], "side26": [3,4,5], "side13": [6,7,8]})detectionNetwork.setIouThreshold(0.5)detectionNetwork.setBlobPath(nnPath)detectionNetwork.setNumInferenceThreads(2)detectionNetwork.input.setBlocking(False)
objectTracker.setDetectionLabelsToTrack([0]) # track only person# possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCFobjectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)# take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_IDobjectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
#Linking# Connecting Manip node to ColorCameracamRgb.preview.link(manip.inputImage)# Connecting Manip node to YoloDetectionNetworkmanip.out.link(detectionNetwork.input)# camRgb.preview.link(detectionNetwork.input)objectTracker.passthroughTrackerFrame.link(xlinkOut.input)

detectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)
detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)detectionNetwork.out.link(objectTracker.inputDetections)objectTracker.out.link(trackerOut.input)
device = dai.DeviceInfo(MxID)
# Connect to device and start pipelinewith dai.Device(pipeline, device) as device:
preview = device.getOutputQueue("preview", 4, False) tracklets = device.getOutputQueue("tracklets", 4, False)
startTime = time.monotonic() counter = 0 fps = 0 frame = None
while(True): imgFrame = preview.get() track = tracklets.get()
counter+=1 current_time = time.monotonic() if (current_time - startTime) > 1 : fps = counter / (current_time - startTime) counter = 0 startTime = current_time
color = (255, 0, 0) text_color = (0, 0, 255) rectangle = (111, 147, 26)
frame = imgFrame.getCvFrame() trackletsData = track.tracklets for t in trackletsData: if t.status.name == "TRACKED": 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)
try: label = labelMap[t.label] except: label = t.label # if t.status.name == 'TRACKED': cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, text_color) cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 45), cv2.FONT_HERSHEY_TRIPLEX, 0.5, text_color) cv2.putText(frame, t.status.name, (x1 + 10, y1 + 70), cv2.FONT_HERSHEY_TRIPLEX, 0.5, text_color) cv2.rectangle(frame, (x1, y1), (x2, y2), rectangle, cv2.FONT_HERSHEY_SIMPLEX)
cv2.putText(frame, "FPS: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.6, text_color)
cv2.imshow("tracker", frame)
if cv2.waitKey(1) == ord('q'): break

Fakhrullo · Nov 10, 2023

Here's better version:

from pathlib import Path
import cv2
import depthai as dai
import time

from environs import Env

env = Env()
env.read_env()

MxID = env('MxID')
# Set your custom ROI coordinates (x, y, width, height)
custom_roi = (350, 250, 640, 640)  # Example coordinates, adjust as needed

# tiny yolo v4 label texts
labelMap = [
    "person",         "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"
]

nnPath = str((Path(__file__).parent / Path('model/yolov6n_coco_640x640_openvino_2022.1_6shave.blob')).resolve().absolute())

# Create pipeline
pipeline = dai.Pipeline()

# 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")

# Creating Manip node
manip = pipeline.create(dai.node.ImageManip)
# Setting CropRect for the Region of Interest
manip.initialConfig.setCropRect(*custom_roi)
# Setting Resize for the neural network input size
manip.initialConfig.setResize(640, 640)
# Setting maximum output frame size based on the desired output dimensions
max_output_width = 640
max_output_height = 640
max_output_frame_size = 3 * max_output_width * max_output_height # Assuming 3 channels for BGR image
manip.setMaxOutputFrameSize(max_output_frame_size)

# Properties
if MxID == "14442C10C1AD3FD700":
    camRgb.setImageOrientation(dai.CameraImageOrientation.HORIZONTAL_MIRROR)
camRgb.setPreviewSize(640, 640)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
camRgb.setFps(40)

# Network specific settings
detectionNetwork.setConfidenceThreshold(0.5)
detectionNetwork.setNumClasses(80)
detectionNetwork.setCoordinateSize(4)
# detectionNetwork.setAnchors([10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319]) #YOLOv4 uchun
# detectionNetwork.setAnchorMasks({"side26": [1, 2, 3], "side13": [3, 4, 5]})
detectionNetwork.setAnchors([10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326]) #YOLOv5 uchun
detectionNetwork.setAnchorMasks({"side52": [0,1,2], "side26": [3,4,5], "side13": [6,7,8]})
detectionNetwork.setIouThreshold(0.5)
detectionNetwork.setBlobPath(nnPath)
detectionNetwork.setNumInferenceThreads(2)
detectionNetwork.input.setBlocking(False)

objectTracker.setDetectionLabelsToTrack([0])  # 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
# Connecting Manip node to ColorCamera
camRgb.preview.link(manip.inputImage)
# Connecting Manip node to YoloDetectionNetwork
manip.out.link(detectionNetwork.input)
# camRgb.preview.link(detectionNetwork.input)
objectTracker.passthroughTrackerFrame.link(xlinkOut.input)


detectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)

detectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
detectionNetwork.out.link(objectTracker.inputDetections)
objectTracker.out.link(trackerOut.input)

device = dai.DeviceInfo(MxID)

# Connect to device and start pipeline
with dai.Device(pipeline, device) as device:

    preview = device.getOutputQueue("preview", 4, False)
    tracklets = device.getOutputQueue("tracklets", 4, False)

    startTime = time.monotonic()
    counter = 0
    fps = 0
    frame = None

    while(True):
        imgFrame = preview.get()
        track = tracklets.get()

        counter+=1
        current_time = time.monotonic()
        if (current_time - startTime) > 1 :
            fps = counter / (current_time - startTime)
            counter = 0
            startTime = current_time

        color = (255, 0, 0)
        text_color = (0, 0, 255)
        rectangle = (111, 147, 26)

        frame = imgFrame.getCvFrame()
        trackletsData = track.tracklets
        for t in trackletsData:
            if t.status.name == "TRACKED":
                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)

                try:
                    label = labelMap[t.label]
                except:
                    label = t.label
                # if t.status.name == 'TRACKED':
                cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, text_color)
                cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 45), cv2.FONT_HERSHEY_TRIPLEX, 0.5, text_color)
                cv2.putText(frame, t.status.name, (x1 + 10, y1 + 70), cv2.FONT_HERSHEY_TRIPLEX, 0.5, text_color)
                cv2.rectangle(frame, (x1, y1), (x2, y2), rectangle, cv2.FONT_HERSHEY_SIMPLEX)

        cv2.putText(frame, "FPS: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.6, text_color)

        cv2.imshow("tracker", frame)

        if cv2.waitKey(1) == ord('q'):
            break

jakaskerl · Nov 10, 2023

Hi Fakhrullo
setCropRect() expects normalized values. Divide it by 416, then I believe it should work.

Thanks,
Jaka

Fakhrullo · Nov 15, 2023

Hi jakaskerl
Thanks it worked fine, I'm getting cropped frame.
Is it possible to fuse cropped frame and whole frame? I mean it shows whole frame and cropped frame within whole frame may be with a box? If It is impossible how can I show whole and cropped frames in 2 different windows?

jakaskerl · Nov 15, 2023

Hi Fakhrullo
Sorry, I don't really understand what you are trying to achieve. Both frames are numpy arrays which means you can easily stack one on top of the other.

Thanks,
Jaka

Fakhrullo · Nov 15, 2023

Hi jakaskerl
Yeah, basically I want to retrieve both full and cropped frames, to achieve that what should I do?

jakaskerl · Nov 16, 2023

Fakhrullo camRgb.preview.link(manip.inputImage)

Here, you can pipe the preview stream to a new XLink node, so you can view it on host side.
This will enable you to see both the full preview frame as well as cropped frame (on which the inference was made).

Thanks,
Jaka

Fakhrullo · Nov 17, 2023

jakaskerl Thanks bro