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@mcm001
mcm001 committed Oct 1, 2023
1 parent 62ee656 commit 8da409f
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Showing 5 changed files with 116 additions and 38 deletions.
1 change: 0 additions & 1 deletion photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
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Expand Up @@ -19,7 +19,6 @@

import org.opencv.objdetect.ArucoDetector;
import org.opencv.objdetect.DetectorParameters;
import org.opencv.objdetect.Dictionary;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;

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2 changes: 1 addition & 1 deletion photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
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Expand Up @@ -23,9 +23,9 @@
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import java.util.ArrayList;
import org.opencv.objdetect.ArucoDetector;
import org.opencv.aruco.Aruco;
import org.opencv.core.Mat;
import org.opencv.objdetect.ArucoDetector;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
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1 change: 0 additions & 1 deletion photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
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Expand Up @@ -18,7 +18,6 @@
package org.photonvision.vision.pipe.impl;

import java.util.Objects;

import org.opencv.objdetect.ArucoDetector;
import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

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149 changes: 115 additions & 34 deletions photon-core/src/main/java/org/photonvision/vision/pipeline/DnnPipeline.java
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Expand Up @@ -19,33 +19,25 @@

import java.util.ArrayList;
import java.util.List;

import org.photonvision.common.util.ColorHelper;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
import org.photonvision.vision.pipe.impl.*;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TrackedTarget;
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.MatOfFloat;
import org.opencv.core.MatOfInt;
import org.opencv.core.MatOfRect;
import org.opencv.core.MatOfRect2d;
import org.opencv.core.Point;
import org.opencv.core.Rect;
import org.opencv.core.Rect2d;
import org.opencv.core.Scalar;
import org.opencv.core.Size;
import org.opencv.dnn.Dnn;
import org.opencv.dnn.Net;
import org.opencv.dnn.SegmentationModel;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
import org.opencv.utils.Converters;

import static java.lang.Math.min;
import static java.lang.Math.max;
import org.photonvision.common.util.ColorHelper;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameThresholdType;
import org.photonvision.vision.pipe.impl.*;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
import org.photonvision.vision.target.TrackedTarget;

public class DnnPipeline extends CVPipeline<CVPipelineResult, DnnPipelineSettings> {
private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
Expand All @@ -71,33 +63,115 @@ public DnnPipeline(DnnPipelineSettings settings) {
try {
// this.net = Dnn.readNetFromONNX("/home/matt/Downloads/best_1.onnx");
// this.net = Dnn.readNet("/home/matt/Downloads/yolov7_post_640x640.onnx");
this.net = Dnn.readNetFromDarknet(
"/home/matt/Downloads/yolov4-csp-swish.cfg",
"/home/matt/Downloads/yolov4-csp-swish.weights"
);
this.net =
Dnn.readNetFromDarknet(
"/home/matt/Downloads/yolov4-csp-swish.cfg",
"/home/matt/Downloads/yolov4-csp-swish.weights");
Core.setNumThreads(4);
} catch (Exception e) {
System.out.println(e);
}
this.outBlobNames = getOutputNames(net);

this.coco_names = List.of("person","bicycle","car","motorcycle","airplane","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","couch","potted plant","bed","dining table","toilet","tv","laptop","mouse","remote","keyboard","cell phone","microwave","oven","toaster","sink","refrigerator","book","clock","vase","scissors","teddy bear","hair drier","toothbrush");
this.coco_names =
List.of(
"person",
"bicycle",
"car",
"motorcycle",
"airplane",
"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",
"couch",
"potted plant",
"bed",
"dining table",
"toilet",
"tv",
"laptop",
"mouse",
"remote",
"keyboard",
"cell phone",
"microwave",
"oven",
"toaster",
"sink",
"refrigerator",
"book",
"clock",
"vase",
"scissors",
"teddy bear",
"hair drier",
"toothbrush");
}

@Override
protected void setPipeParamsImpl() {
}
protected void setPipeParamsImpl() {}

private static List<String> getOutputNames(Net net) {
// return new ArrayList<>(List.of("person","bicycle","car","motorcycle","airplane","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","couch","potted plant","bed","dining table","toilet","tv","laptop","mouse","remote","keyboard","cell phone","microwave","oven","toaster","sink","refrigerator","book","clock","vase","scissors","teddy bear","hair drier","toothbrush"));
// return new
// ArrayList<>(List.of("person","bicycle","car","motorcycle","airplane","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","couch","potted plant","bed","dining table","toilet","tv","laptop","mouse","remote","keyboard","cell phone","microwave","oven","toaster","sink","refrigerator","book","clock","vase","scissors","teddy bear","hair drier","toothbrush"));

List<String> names = new ArrayList<>();

List<Integer> outLayers = net.getUnconnectedOutLayers().toList();
List<String> layersNames = net.getLayerNames();

outLayers.forEach((item) -> names.add(layersNames.get(item - 1)));// unfold and create R-CNN layers from the
// loaded YOLO model//
outLayers.forEach(
(item) -> names.add(layersNames.get(item - 1))); // unfold and create R-CNN layers from the
// loaded YOLO model//
return names;
}

Expand All @@ -109,9 +183,8 @@ protected CVPipelineResult process(Frame input_frame, DnnPipelineSettings settin

// ======================


var frame = input_frame.colorImage.getMat();

if (frame.empty()) {
return new CVPipelineResult(sumPipeNanosElapsed, 0, targetList, input_frame);
}
Expand Down Expand Up @@ -140,7 +213,7 @@ protected CVPipelineResult process(Frame input_frame, DnnPipelineSettings settin
Point classIdPoint = mm.maxLoc;
if (confidence > confThreshold) {
// scaling for drawing the bounding boxes//
int centerX = (int) (row.get(0, 0)[0] * frame.cols());
int centerX = (int) (row.get(0, 0)[0] * frame.cols());
int centerY = (int) (row.get(0, 1)[0] * frame.rows());
int width = (int) (row.get(0, 2)[0] * frame.cols());
int height = (int) (row.get(0, 3)[0] * frame.rows());
Expand All @@ -158,19 +231,27 @@ protected CVPipelineResult process(Frame input_frame, DnnPipelineSettings settin
Rect2d[] boxesArray = rects.toArray(new Rect2d[0]);
MatOfRect2d boxes = new MatOfRect2d(boxesArray);
MatOfInt indices = new MatOfInt();
Dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThresh, indices); // We draw the bounding boxes for objects
// here//
Dnn.NMSBoxes(
boxes,
confidences,
confThreshold,
nmsThresh,
indices); // We draw the bounding boxes for objects
// here//

int[] ind = indices.toArray();
for (int i = 0; i < ind.length; ++i) {
int idx = ind[i];
var box = boxesArray[idx];
Imgproc.rectangle(frame, box.tl(), box.br(), new Scalar(0, 0, 255), 2);
Imgproc.putText(frame, coco_names.get(clsIds.get(idx)), box.br(),
0,
0.6,
ColorHelper.colorToScalar(java.awt.Color.white),
2);
Imgproc.putText(
frame,
coco_names.get(clsIds.get(idx)),
box.br(),
0,
0.6,
ColorHelper.colorToScalar(java.awt.Color.white),
2);

// System.out.println(idx);
}
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1 change: 0 additions & 1 deletion photon-core/src/main/java/org/photonvision/vision/pipeline/DnnPipelineSettings.java
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Expand Up @@ -17,7 +17,6 @@

package org.photonvision.vision.pipeline;


public class DnnPipelineSettings extends CVPipelineSettings {
public DnnPipelineSettings() {
this.pipelineType = PipelineType.Dnn;
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