vision.py

import cv2
import numpy as np
import tflite_runtime.interpreter as tflite

import classify
import detect

FACE_DETECTION_MODEL = 'ssd_mobilenet_v2_face_quant_postprocess_edgetpu.tflite'
CLASSIFICATION_MODEL = 'mobilenet_v2_1.0_224_quant_edgetpu.tflite'
CLASSIFICATION_LABELS = 'imagenet_labels.txt'

CORAL_COLOR = (86, 104, 237)

def load_labels(filename, encoding='utf-8'):
  with open(filename, 'r', encoding=encoding) as f:
    return {index : line.strip() for (index, line) in enumerate(f.readlines())}

def make_interpreter(model_file):
  model_file, *device = model_file.split('@')
  return tflite.Interpreter(
      model_path=model_file,
      experimental_delegates=[tflite.load_delegate('libedgetpu.so.1',
                              {'device': device[0]} if device else {})])

class Detector:
  def __init__(self, model):
    self.interpreter = make_interpreter(model)
    self.interpreter.allocate_tensors()

  def get_objects(self, frame, threshold=0.01):
    height, width, _ = frame.shape
    scale = detect.set_input(self.interpreter, (width, height),
                             lambda size: cv2.resize(frame, size, fx=0, fy=0, interpolation = cv2.INTER_CUBIC))
    self.interpreter.invoke()
    return detect.get_output(self.interpreter, threshold, scale)

class Classifier:
  def __init__(self, model):
    self.interpreter = make_interpreter(model)
    self.interpreter.allocate_tensors()

  def get_classes(self, frame, top_k=1, threshold=0.0):
    size = classify.input_size(self.interpreter)
    classify.set_input(self.interpreter, cv2.resize(frame, size, fx=0, fy=0, interpolation = cv2.INTER_CUBIC))
    self.interpreter.invoke()
    return classify.get_output(self.interpreter, top_k, threshold)

def draw_objects(frame, objs, color=CORAL_COLOR, thickness=5):
  for obj in objs:
    bbox = obj.bbox
    cv2.rectangle(frame, (bbox.xmin, bbox.ymin), (bbox.xmax, bbox.ymax), color, thickness)

def draw_classes(frame, classes, labels, color=CORAL_COLOR):
  for index, score in classes:
    label = '%s (%.2f)' % (labels.get(index, 'n/a'), score)
    cv2.putText(frame, label, (10, 30), cv2.FONT_HERSHEY_PLAIN, 2.0, color, 2)

def get_frames(title='Raspimon camera', size=(640, 480)):
  width, height = size
  cap = cv2.VideoCapture(0)
  cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
  while True:
    ret, frame = cap.read()
    frame = cv2.flip(frame,1)
    if ret:
      yield frame
    cv2.imshow(title, frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
      break
  cap.release()
  cv2.destroyAllWindows()