YOLOE - 11 to .blob

SriSwethaBA

Hi, previously i was using depthai tool to convert the model to blob ,but the yoloE model is not supported by it,so i used the onnx to blob converter ,it gave a blob file that requires anchors, even though it is a anchor free model,
what can i do now? i want it to deploy it in oak d lite device.Could you please help me?

jakaskerl

SriSwethaBA
cc @KlemenSkrlj

KlemenSkrlj

Hi @SriSwethaBA ,
So if I understand correctly you converted the pytorch YOLO-E model to ONNX outside of our stack and then used Hub or legacy blobconverter to convert from ONNX to BLOB? Could you confirm what your exact process was?
And additionally, if possible, I would like you to share the ONNX with us so we can use it for testing on our side (as a MRE)? And some information about where/how you got to this ONNX.
We just recently added YOLO-E to our Zoo (here) but for now we made it only available for RVC4 devices since those have more on-device compute so they can run the model at realtime. But we can look into adding it for RVC2 as well if the conversion is possible.
Best,
Klemen

SriSwethaBA

Hi,Actually i was previously using https://tools.luxonis.com/ to convert all the .pt models to blob file to run the inference on oak d lite,but that does not support YOLO-E 11 model ,so i converted the .pt file to ONNX using ultralytics [model.export(format=onnx)] and then used those onnx model to convert to blob through https://blobconverter.luxonis.com/ but those blob file does not work as anchor free,it works only as anchor based model,i also tried openvino format in the same way,but that also not helped.could you please help me?

NikitaSokovnin

SriSwethaBA Hi, actually I was previously using https://tools.luxonis.com/ to convert all the .pt models to blob files to run inference on OAK-D Lite, but that does not support the YOLO-E 11 model.

Hi @SriSwethaBA,
https://tools.luxonis.com/ supports only YOLOv11 for detection, but YOLO-E 11 has an additional segmentation head.

SriSwethaBA It works only as an anchor-based model. I also tried the OpenVINO format in the same way, but that also did not help. Could you please help me?

Could you please share what error you are getting? And if possible, the script you are using?

And just for better understanding: you want to convert the YOLO-E 11 model with predefined custom classes, right?

KlemenSkrlj

CC: @NikitaSokovnin

SriSwethaBA

NikitaSokovnin Yes,i have trained the YOLO-E 11 model with a custom class "cotton"

SriSwethaBA

NikitaSokovnin
The error:
[18443010510C9F1200] [1.1.1] [3.892] [SpatialDetectionNetwork(5)] [error] Mask is not defined for output layer with width '3549'. Define at pipeline build time using: 'setAnchorMasks' for 'side3549'.

[18443010510C9F1200] [1.1.1] [4.835] [SpatialDetectionNetwork(5)] [error] Mask is not defined for output layer with width '3549'. Define at pipeline build time using: 'setAnchorMasks' for 'side3549'.

SriSwethaBA

This is the code i am using for a clustering,and when anchors are not used(commended the anchors-->raises error)

#!/usr/bin/env python3

import depthai as dai

import cv2

import numpy as np

import time

from pathlib import Path

from sklearn.cluster import OPTICS

from sklearn.neighbors import NearestNeighbors

# Path to blob file (update to your YOLO blob path)

nnBlobPath = str((Path(file).parent / Path('../yoloe/2608_best.blob')).resolve().absolute())

if not Path(nnBlobPath).exists():

raise FileNotFoundError(f"Blob file not found at {nnBlobPath}")

# Label map

labelMap = ["cotton"]

# Create pipeline

pipeline = dai.Pipeline()

# Define nodes

camRgb = pipeline.create(dai.node.ColorCamera)

stereo = pipeline.create(dai.node.StereoDepth)

monoLeft = pipeline.create(dai.node.MonoCamera)

monoRight = pipeline.create(dai.node.MonoCamera)

manip = pipeline.create(dai.node.ImageManip)

spatialDetectionNetwork = pipeline.create(dai.node.YoloSpatialDetectionNetwork)

xoutRgb = pipeline.create(dai.node.XLinkOut)

xoutDepth = pipeline.create(dai.node.XLinkOut)

xoutNN = pipeline.create(dai.node.XLinkOut)

manipOut = pipeline.create(dai.node.XLinkOut)

xoutRgb.setStreamName("rgb")

xoutDepth.setStreamName("depth")

xoutNN.setStreamName("detections")

manipOut.setStreamName("manip")

# Configure color camera

camRgb.setPreviewSize(1920, 1080)

camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)

camRgb.setInterleaved(False)

camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)

camRgb.setFps(30)

# Configure manip

manip.initialConfig.setResizeThumbnail(416, 416)

# Configure stereo depth

stereo.initialConfig.setConfidenceThreshold(200) # Lowered for better depth

stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)

stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.DEFAULT)

stereo.setLeftRightCheck(True)

stereo.setSubpixel(True)

stereo.setExtendedDisparity(True)

stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)

# Configure mono cameras

monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)

monoLeft.setCamera("left")

monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)

monoRight.setCamera("right")

# Configure neural network

spatialDetectionNetwork.setBlobPath(nnBlobPath)

spatialDetectionNetwork.setConfidenceThreshold(0.5)

spatialDetectionNetwork.setNumClasses(1)

spatialDetectionNetwork.setCoordinateSize(4)

#spatialDetectionNetwork.setAnchors(np.array([10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326]))

#spatialDetectionNetwork.setAnchorMasks({"side52": np.array([0,1,2]), "side26": np.array([3,4,5]), "side13": np.array([6,7,8])})

spatialDetectionNetwork.setIouThreshold(0.5)

spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)

spatialDetectionNetwork.setDepthLowerThreshold(100)

spatialDetectionNetwork.setDepthUpperThreshold(5000)

spatialDetectionNetwork.input.setBlocking(False)

spatialDetectionNetwork.setNumInferenceThreads(2)

# Linking

camRgb.preview.link(manip.inputImage)

manip.out.link(spatialDetectionNetwork.input)

stereo.depth.link(spatialDetectionNetwork.inputDepth)

manip.out.link(manipOut.input)

spatialDetectionNetwork.passthrough.link(xoutRgb.input)

monoLeft.out.link(stereo.left)

monoRight.out.link(stereo.right)

stereo.depth.link(xoutDepth.input)

spatialDetectionNetwork.out.link(xoutNN.input)

# Statistical outlier removal

def remove_outliers(points, k=10, std_ratio=2.0):

if len(points) < k:

    return points, np.arange(len(points))

nbrs = NearestNeighbors(n_neighbors=k).fit(points)

distances, _ = nbrs.kneighbors(points)

mean_dist = np.mean(distances, axis=1)

std_dist = np.std(distances, axis=1)

mask = mean_dist < (np.mean(mean_dist) + std_ratio \* np.std(mean_dist))

return points[mask], np.where(mask)[0]

# Connect to device

with dai.Device(pipeline, usb2Mode=True) as device:

q_rgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

q_depth = device.getOutputQueue(name="depth", maxSize=4, blocking=False)

q_nn = device.getOutputQueue(name="detections", maxSize=4, blocking=False)

q_manip = device.getOutputQueue(name="manip", maxSize=4, blocking=False)

print("Waiting 5 seconds for camera to stabilize...")

time.sleep(5)

frame_count = 0

while True:

    try:

        in_rgb = q_rgb.get()

        in_depth = q_depth.get()

        in_nn = q_nn.get()

        print("Frame received successfully")

    except:

        print("Could not get frame, XLink error")

        continue

    frame = in_rgb.getCvFrame()

    depth_frame = in_depth.getFrame()

    detections = in_nn.detections

    # Ensure depth frame matches RGB resolution

    if frame.shape[:2] != depth_frame.shape:

        depth_frame = cv2.resize(depth_frame, (frame.shape[1], frame.shape[0]))

    print(f"Number of detections: {len(detections)}")

    # Visualize YOLO detections

    if len(detections) > 0:

        print("Detections found, drawing boxes...")

        for detection in detections:

            x1 = int(detection.xmin \* frame.shape[1])

            x2 = int(detection.xmax \* frame.shape[1])

            y1 = int(detection.ymin \* frame.shape[0])

            y2 = int(detection.ymax \* frame.shape[0])

            x1, y1 = max(0, x1), max(0, y1)

            x2, y2 = min(frame.shape[1], x2), min(frame.shape[0], y2)

            if x2 <= x1 or y2 <= y1:

                continue

            cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 0), 2)  # Blue for YOLO

            cv2.putText(frame, labelMap[detection.label], (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, (255, 0, 0), 2)

            cv2.putText(frame, f"Conf: {detection.confidence:.2f}", (x1 + 10, y1 + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, (255, 0, 0), 2)

            cv2.putText(frame, f"Z: {int(detection.spatialCoordinates.z)}mm", (x1 + 10, y1 + 60), cv2.FONT_HERSHEY_TRIPLEX, 0.5, (255, 0, 0), 2)

    # Depth-based clustering

    for detection in detections:

        x1 = int(detection.xmin \* frame.shape[1])

        x2 = int(detection.xmax \* frame.shape[1])

        y1 = int(detection.ymin \* frame.shape[0])

        y2 = int(detection.ymax \* frame.shape[0])

        x1, y1 = max(0, x1), max(0, y1)

        x2, y2 = min(frame.shape[1], x2), min(frame.shape[0], y2)

        if x2 <= x1 or y2 <= y1:

            continue

        print(f"Processing ROI at ({x1}, {y1}) to ({x2}, {y2})")

        roi_rgb = frame[y1:y2, x1:x2].copy()

        roi_depth = depth_frame[y1:y2, x1:x2]

        # Normalize depth to 8-bit for medianBlur

        roi_depth_8u = cv2.normalize(roi_depth, None, 0, 255, cv2.NORM_MINMAX, cv2.CV_8U)

        roi_depth_8u = cv2.medianBlur(roi_depth_8u, 9)

        # Dynamic depth threshold

        detection_z = detection.spatialCoordinates.z

        if detection_z <= 0:

            detection_z = 500  # Fallback

            print("Warning: Invalid detection_z, using fallback 500mm")

        depth_range = (max(100, detection_z - 500), min(5000, detection_z + 500))

        depth_mask = (roi_depth >= depth_range[0]) & (roi_depth <= depth_range[1])

        # Create cotton mask using HSV

        hsv_roi = cv2.cvtColor(roi_rgb, cv2.COLOR_BGR2HSV)

        cotton_hsv_range = (np.array([0, 0, 150]), np.array([180, 30, 255]))  # Tighter for cotton

        mask = cv2.inRange(hsv_roi, cotton_hsv_range[0], cotton_hsv_range[1])

        mask = cv2.dilate(mask, np.ones((5, 5), np.uint8), iterations=1)

        mask = cv2.erode(mask, np.ones((3, 3), np.uint8), iterations=1)  # Remove small noise

        # Combine masks

        combined_mask = cv2.bitwise_and(mask, depth_mask.astype(np.uint8) \* 255)

        # Save ROI and mask for debugging

        cv2.imwrite(f"roi_rgb_{frame_count}.jpg", roi_rgb)

        cv2.imwrite(f"roi_depth_{frame_count}.png", roi_depth_8u)

        cv2.imwrite(f"roi_mask_{frame_count}.png", combined_mask)

        print(f"Saved ROI images: roi_rgb_{frame_count}.jpg, roi_depth_{frame_count}.png, roi_mask_{frame_count}.png")

        # Downsample points

        y_coords, x_coords = np.where(combined_mask > 0)

        if len(y_coords) == 0:

            print("No valid points after masking")

            continue

        sample_indices = np.arange(0, len(y_coords), 8)

        y_coords = y_coords[sample_indices]

        x_coords = x_coords[sample_indices]

        valid_depths = roi_depth[y_coords, x_coords]

        brightness_vals = hsv_roi[y_coords, x_coords, 2]

        print(f"Valid points after downsampling: {len(valid_depths)}")

        print(f"Depth stats: min={valid_depths.min():.0f}mm, max={valid_depths.max():.0f}mm, mean={valid_depths.mean():.0f}mm")

        # Fallback to brightness if depth is invalid

        if valid_depths.max() - valid_depths.min() < 10:

            print("Warning: Invalid depth, falling back to brightness clustering")

            points = np.column_stack((x_coords, y_coords, brightness_vals))

            points_norm = np.zeros_like(points, dtype=float)

            points_norm[:, 0] = points[:, 0] / max(1, roi_rgb.shape[1])

            points_norm[:, 1] = points[:, 1] / max(1, roi_rgb.shape[0])

            points_norm[:, 2] = points[:, 2] / 255.0

        else:

            points = np.column_stack((x_coords, y_coords, valid_depths))

            points_norm = np.zeros_like(points, dtype=float)

            points_norm[:, 0] = points[:, 0] / max(1, roi_rgb.shape[1])

            points_norm[:, 1] = points[:, 1] / max(1, roi_rgb.shape[0])

            points_norm[:, 2] = (points[:, 2] - points[:, 2].min()) / max(1e-6, points[:, 2].max() - points[:, 2].min())

        # Statistical outlier removal

        points_norm, valid_indices = remove_outliers(points_norm)

        points = points[valid_indices]

        # OPTICS clustering

        min_samples = max(20, int(len(points_norm) \* 0.05))  # 5% of points

        optics = OPTICS(min_samples=min_samples, xi=0.05, min_cluster_size=min_samples).fit(points_norm)

        labels = optics.labels_

        unique_labels = np.unique(labels)

        n_clusters = len(unique_labels) - (1 if -1 in unique_labels else 0)

        print(f"OPTICS clusters: {n_clusters} (min_samples={min_samples})")

        # Select top 5 clusters by size

        cluster_sizes = [(label, len(points_norm[labels == label])) for label in unique_labels if label != -1]

        cluster_sizes.sort(key=lambda x: x[1], reverse=True)

        top_clusters = [label for label, size in cluster_sizes[:5] if size >= min_samples]

        # Draw clusters

        for label in top_clusters:

            cluster_size = len(points_norm[labels == label])

            print(f"Cluster {label}: {cluster_size} points")

            cluster_points = points[labels == label]

            x_min, y_min = int(cluster_points[:, 0].min()), int(cluster_points[:, 1].min())

            x_max, y_max = int(cluster_points[:, 0].max()), int(cluster_points[:, 1].max())

            cv2.rectangle(frame, (x1 + x_min, y1 + y_min), (x1 + x_max, y1 + y_max), (0, 255, 0), 2)

    # Display output

    cv2.imshow("Clustered Frame", frame)

    print("Press 'q' to quit.")

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

        break

    frame_count += 1

cv2.destroyAllWindows()

Error:

101: DeprecationWarning: Use constructor taking 'UsbSpeed' instead

with dai.Device(pipeline, usb2Mode=True) as device:

[18443010510C9F1200] [1.1.1] [2.854] [SpatialDetectionNetwork(5)] [warning] Network compiled for 6 shaves, maximum available 7, compiling for 3 shaves likely will yield in better performance

Waiting 5 seconds for camera to stabilize...

[18443010510C9F1200] [1.1.1] [3.292] [StereoDepth(1)] [error] Maximum disparity value '1520' exceeds the maximum supported '1024' by median filter. Disabling median filter!

[18443010510C9F1200] [1.1.1] [3.377] [StereoDepth(1)] [error] Maximum disparity value '1520' exceeds the maximum supported '1024' by median filter. Disabling median filter!

[18443010510C9F1200] [1.1.1] [3.892] [SpatialDetectionNetwork(5)] [error] Mask is not defined for output layer with width '3549'. Define at pipeline build time using: 'setAnchorMasks' for 'side3549'.

[18443010510C9F1200] [1.1.1] [4.835] [SpatialDetectionNetwork(5)] [error] Mask is not defined for output layer with width '3549'. Define at pipeline build time using: 'setAnchorMasks' for 'side3549'.

NikitaSokovnin

@SriSwethaBA
Thanks for providing the details. Your model is not compatible with the YoloSpatialDetectionNetwork node. To make a YOLO model compatible with the DepthAI parser, you need to use Luxonis Tools, Hub or ModelConverter. These tools prune the model before the conversion.

However, YOLOE conversion is not yet officially supported. You can try one of the following approaches:

Implement post-processing for the output yourself, following this basic example.
Use the Tools CLI to make the converted model compatible with YoloSpatialDetectionNetwork. I added the required changes for YOLOE in a separate branch and tested it with the yoloe-11s-seg-coco.pt model.

Short instructions:

git clone https://github.com/luxonis/tools
cd tools
git checkout feat/yoloe
git submodule update --init --recursive
pip install .
tools path_to_yoloev11.pt --imgsz 416

As a result, you will get an NN Archive containing an ONNX model and a config.json file. You can then convert it to a BLOB using Hub or the ModelConverter.

If anything is unclear or you need further assistance, please let us know.

SriSwethaBA

NikitaSokovnin
could you please help me..

SriSwethaBA

Hello,Thank you for you support,
I'm encountering an issue with invalid ROI rectangles when running a YOLO-E 11 model on my OAK-D Lite, and I’d appreciate your guidance. Below are the details:

Setup:
- System: Ubuntu, Python 3.10, OAK-D Lite
- Model: Custom-trained YOLO-E 11 (single class: "cotton", anchor-free, input size 416x416)
- NN Archive: `2608_best.onnx` with `config.json` (contents below)
- Blob Conversion: Used `blobconverter` 1.4.3
- DepthAI SDK: Latest version installed
**
**Issue 1 (Resolved)**:**
Initially, I was instructed to use `blobconverter --config config.json`, but version 1.4.3 does not support the `--config` argument (error: `unrecognized arguments: --config config.json`). I converted `config.json` to `config.yml` (verified to match) and used:
```
blobconverter --onnx-model 2608_best.onnx --raw-config config.yml --output-dir /home/grobomac001/blob_files --sh 6 -v 2021.4
```
**
**Issue 2 (Current)**:**
When running `dbscan.py` (DepthAI pipeline with `YoloSpatialDetectionNetwork`, `ColorCamera`, `MonoCamera`, `StereoDepth`), I get errors like:
```
[18443010510C9F1200] [1.1.1] [4.067] [SpatialDetectionNetwork(1)] [error] ROI x:0.015329214 y:0 width:0.03065843 height:-0.21681942 is not a valid rectangle.
```
The negative height indicates invalid bounding box coordinates (`ymax < ymin`). The pipeline uses:
- `YoloSpatialDetectionNetwork` with `setConfidenceThreshold(0.5)`, `setNumClasses(1)`, `setCoordinateSize(4)`, `setAnchors([])`, `setIouThreshold(0.5)`, `setBoundingBoxScaleFactor(1.0)`
- Blob path: `/home/grobomac001/blob_files/2608_best_sh6.blob`
- Depth nodes: `MonoCamera` (left/right, 400P), `StereoDepth` (HIGH_DENSITY)

**config.json Contents**:
```json
{
"model": {
"metadata": {
"name": "2608_best",
"path": "2608_best.onnx",
"precision": "float32"
},
"inputs": [
{
"name": "images",
"dtype": "float32",
"input_type": "image",
"shape": [1, 3, 416, 416],
"layout": "NCHW",
"preprocessing": {
"mean": [0.0, 0.0, 0.0],
"scale": [255.0, 255.0, 255.0],
"dai_type": "RGB888p"
}
}
],
"outputs": [
{ "name": "output1_yolov6r2", "dtype": "float32" },
{ "name": "output2_yolov6r2", "dtype": "float32" },
{ "name": "output3_yolov6r2", "dtype": "float32" }
],
"heads": [
{
"parser": "YOLO",
"metadata": {
"classes": ["cotton"],
"n_classes": 1,
"iou_threshold": 0.5,
"conf_threshold": 0.5,
"max_det": 300,
"anchors": null,
"yolo_outputs": ["output1_yolov6r2", "output2_yolov6r2", "output3_yolov6r2"],
"subtype": "yolov8"
},
"outputs": ["output1_yolov6r2", "output2_yolov6r2", "output3_yolov6r2"]
}
]
}
}
```

could you please ,help me on this?

NikitaSokovnin

@SriSwethaBA The issue might be caused by incorrect value mapping in DepthAI v2. If you aren’t already, could you try using DepthAI v3? If that doesn’t resolve the problem, please let me know.