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質問編集履歴

5

修正

2021/09/14 01:48

投稿

退会済みユーザー
title CHANGED
File without changes
body CHANGED
@@ -19,7 +19,7 @@
19
19
  nmsThreshold = 0.4
20
20
  inpWidth = 416
21
21
  inpHeight = 416
22
- classesFile = "/realsense_yolo_v3_2d/coco.names"
22
+ classesFile = "/home/limlab/realsense_yolo_v3_2d/coco.names"
23
23
  # Configure depth and color streams
24
24
  pipeline = rs.pipeline()
25
25
  config = rs.config()
@@ -33,43 +33,49 @@
33
33
 
34
34
  def __init__ (self):
35
35
  self.j = 0
36
+
36
37
  def getOutputsNames(self,net):
37
38
  layersNames = net.getLayerNames()
38
39
  return [layersNames[i[0] -1] for i in net.getUnconnectedOutLayers()]
39
40
  #検出
40
- def drawPredicted(self,classId, conf, left, top, frame):#right, bottom,x ,y
41
+ def drawPredicted(self,classId, conf, left, top,right, bottom, frame,x,y):
41
- #cv2.rectangle(frame, (left,top), (right,bottom), (255,0,0),3)#囲み
42
- #cv2.circle(frame,(x,y),radius=1,color=(0,255,0), thickness=5)#・
43
42
 
43
+ classes = None
44
+ with open(classesFile, "rt") as f:
45
+ classes = f.read().rstrip('\n').split('\n')
46
+ cv2.rectangle(frame, (left,top), (right,bottom), (255,0,0),3)#囲み
47
+ cv2.circle(frame,(x,y),radius=1,color=(0,255,0), thickness=5)#・
48
+
44
49
  label = '%.2f' % conf
45
-
46
- if classes:
50
+ if classes:
51
+ assert(classId < len(classes))
47
- label = '%s' %(classes[classId])
52
+ label = '%s' %(classes[classId])
48
-
49
- cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(255,255,0),2)
53
+ cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(255,255,0),2)
50
- global first
54
+ global first#グローバル変数firstを定義
51
- first = True
55
+ first = True #実行一回目がTrueの場合
52
56
 
53
- if first == True:
57
+ if first == True:
54
- path = '/realsense_yolo_v3_2d/image/'
58
+ path = '/home/limlab/realsense_yolo_v3_2d/image/'
55
- if label == 'bottle':#labelがbottleの場合
59
+ if label == 'bottle':
60
+ #labelがbottleの場合
61
+ self.j += 1
62
+ if self.j == 1:#def__init__()で0と定義している、0の場合実行
63
+ cv2.imwrite(path + 'image1.png',frame)
64
+ print('ペットボトルを検出しました')
65
+ playsound("/home/limlab/programs/bottle.mp3")
66
+ self.j += 1#iの変数が１になる
67
+ sys.exit()
68
+ if label == 'mouse':
69
+ self.j += 1
70
+ if self.j == 1:
71
+ cv2.imwrite(path + 'image1.png',frame)
72
+ print('マウスを検出しました')
73
+ playsound("/home/limlab/programs/mouse.mp3")
56
74
  self.j += 1
57
- if self.j == 1:
58
- cv2.imwrite(path + 'image1.png',frame)
59
- print('ペットボトルを検出しました')
60
- playsound("/programs/bottle.mp3")
61
- self.j += 1
62
- sys.exit()
75
+ sys.exit()
63
- if label == 'mouse':
76
+
64
- self.j += 1
65
- if self.j == 1:
66
- cv2.imwrite(path + 'image1.png',frame)
67
- print('マウスを検出しました')
68
- playsound("/programs/mouse.mp3")
69
- self.j += 1
70
- sys.exit()
71
- #labelSize= cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
77
+ labelSize= cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
72
- #top = max(top, labelSize[1])
78
+ top = max(top, labelSize[1])
73
79
  cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(0,255,0),2)
74
80
 
75
81
 
@@ -104,15 +110,12 @@
104
110
  height = box[3]
105
111
  x = int(left+width/2)
106
112
  y = int(top+ height/2)
107
- self.drawPredicted(classIds[i], confidences[i], left, top,frame,x,y)#5left+width, 6top+height
113
+ self.drawPredicted(classIds[i], confidences[i], left, top,left+width,top+height,frame,x,y)
108
114
 
109
- def main():
115
+ def main():
110
- cam = CAMDEMO()
116
+ cam = CAMDEMO()
111
- classes = None
112
- with open(classesFile, "rt") as f:
113
- classes = f.read().rstrip('\n').split('\n')
114
- modelConfiguration = "/realsense_yolo_v3_2d/yolov3.cfg"
117
+ modelConfiguration = "/home/limlab/realsense_yolo_v3_2d/yolov3.cfg"
115
- modelWeights = "/realsense_yolo_v3_2d/yolov3.weights"
118
+ modelWeights = "/home/limlab/realsense_yolo_v3_2d/yolov3.weights"
116
119
  net = cv2.dnn.readNetFromDarknet(modelConfiguration, modelWeights)
117
120
  net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
118
121
  net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)
@@ -143,4 +146,5 @@
143
146
  if __name__ == "__main__":
144
147
  main()
145
148
 
149
+
146
150
  ```

4

修正

2021/09/14 01:48

投稿

退会済みユーザー
title CHANGED
File without changes
body CHANGED
@@ -19,7 +19,7 @@
19
19
  nmsThreshold = 0.4
20
20
  inpWidth = 416
21
21
  inpHeight = 416
22
- classesFile = "/home/limlab/realsense_yolo_v3_2d/coco.names"
22
+ classesFile = "/realsense_yolo_v3_2d/coco.names"
23
23
  # Configure depth and color streams
24
24
  pipeline = rs.pipeline()
25
25
  config = rs.config()
@@ -111,8 +111,8 @@
111
111
  classes = None
112
112
  with open(classesFile, "rt") as f:
113
113
  classes = f.read().rstrip('\n').split('\n')
114
- modelConfiguration = "/home/limlab/realsense_yolo_v3_2d/yolov3.cfg"
114
+ modelConfiguration = "/realsense_yolo_v3_2d/yolov3.cfg"
115
- modelWeights = "/home/limlab/realsense_yolo_v3_2d/yolov3.weights"
115
+ modelWeights = "/realsense_yolo_v3_2d/yolov3.weights"
116
116
  net = cv2.dnn.readNetFromDarknet(modelConfiguration, modelWeights)
117
117
  net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
118
118
  net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)

3

修正

2021/09/13 03:13

投稿

退会済みユーザー
title CHANGED
File without changes
body CHANGED
@@ -45,8 +45,7 @@
45
45
 
46
46
  if classes:
47
47
  label = '%s' %(classes[classId])
48
- labelSize= cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
48
+
49
- top = max(top, labelSize[1])
50
49
  cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(255,255,0),2)
51
50
  global first
52
51
  first = True

2

修正

2021/09/13 03:06

投稿

退会済みユーザー
title CHANGED
File without changes
body CHANGED
@@ -37,7 +37,7 @@
37
37
  layersNames = net.getLayerNames()
38
38
  return [layersNames[i[0] -1] for i in net.getUnconnectedOutLayers()]
39
39
  #検出
40
- def drawPredicted(self,classId, conf, left, top, frame,classes):#right, bottom,x ,y
40
+ def drawPredicted(self,classId, conf, left, top, frame):#right, bottom,x ,y
41
41
  #cv2.rectangle(frame, (left,top), (right,bottom), (255,0,0),3)#囲み
42
42
  #cv2.circle(frame,(x,y),radius=1,color=(0,255,0), thickness=5)#・
43
43
 

1

修正

2021/09/13 03:03

投稿

退会済みユーザー
title CHANGED
File without changes
body CHANGED
@@ -8,15 +8,38 @@
8
8
  ### 該当のソースコード
9
9
 
10
10
  ```ここに言語名を入力
11
+ import pyrealsense2 as rs
12
+ import numpy as np
13
+ import cv2
14
+ import sys
15
+ from playsound import playsound
16
+
17
+ # Initialize the parameters
18
+ confThreshold = 0.5
19
+ nmsThreshold = 0.4
20
+ inpWidth = 416
21
+ inpHeight = 416
11
- classesFile = "/realsense_yolo_v3_2d/coco.names"
22
+ classesFile = "/home/limlab/realsense_yolo_v3_2d/coco.names"
23
+ # Configure depth and color streams
24
+ pipeline = rs.pipeline()
25
+ config = rs.config()
26
+ config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
27
+ config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
28
+ # Start streaming
29
+ pipeline.start(config)
30
+
31
+
12
32
  class CAMDEMO:
13
33
 
14
-
34
+ def __init__ (self):
35
+ self.j = 0
15
36
  def getOutputsNames(self,net):
16
37
  layersNames = net.getLayerNames()
17
38
  return [layersNames[i[0] -1] for i in net.getUnconnectedOutLayers()]
18
-
39
+ #検出
19
- def drawPredicted(self,classId, conf, left, top, frame):
40
+ def drawPredicted(self,classId, conf, left, top, frame,classes):#right, bottom,x ,y
41
+ #cv2.rectangle(frame, (left,top), (right,bottom), (255,0,0),3)#囲み
42
+ #cv2.circle(frame,(x,y),radius=1,color=(0,255,0), thickness=5)#・
20
43
 
21
44
  label = '%.2f' % conf
22
45
 
@@ -24,12 +47,101 @@
24
47
  label = '%s' %(classes[classId])
25
48
  labelSize= cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
26
49
  top = max(top, labelSize[1])
27
- cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(255,255,0),2)
50
+ cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(255,255,0),2)
51
+ global first
52
+ first = True
53
+
54
+ if first == True:
55
+ path = '/realsense_yolo_v3_2d/image/'
56
+ if label == 'bottle':#labelがbottleの場合
57
+ self.j += 1
58
+ if self.j == 1:
59
+ cv2.imwrite(path + 'image1.png',frame)
60
+ print('ペットボトルを検出しました')
61
+ playsound("/programs/bottle.mp3")
62
+ self.j += 1
63
+ sys.exit()
64
+ if label == 'mouse':
65
+ self.j += 1
66
+ if self.j == 1:
67
+ cv2.imwrite(path + 'image1.png',frame)
68
+ print('マウスを検出しました')
69
+ playsound("/programs/mouse.mp3")
70
+ self.j += 1
71
+ sys.exit()
72
+ #labelSize= cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
73
+ #top = max(top, labelSize[1])
74
+ cv2.putText(frame, label,(left,top-5), cv2.FONT_HERSHEY_SIMPLEX,0.75,(0,255,0),2)
28
75
 
76
+
77
+
78
+
79
+ def process_detection(self,frame, outs):
80
+ frameHeight = frame.shape[0]
81
+ frameWidth = frame.shape[1]
82
+ classIds = []
83
+ confidences = []
84
+ boxes = []
85
+ for out in outs:
86
+ for detection in out:
87
+ scores = detection[5:]
88
+ classId = np.argmax(scores)
89
+ confidence = scores[classId]
90
+ if confidence > confThreshold:
91
+ center_x = int(detection[0]*frameWidth)
92
+ center_y = int(detection[1]*frameHeight)
93
+ width = int(detection[2]*frameWidth)
94
+ height = int(detection[3]*frameHeight)
95
+ left = int(center_x - width/2)
96
+ top = int(center_y - height/2)
97
+ classIds.append(classId)
98
+ indices = cv2.dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold)
99
+ for i in indices:
100
+ i = i[0]
101
+ box = boxes[i]
102
+ left = box[0]
103
+ top = box[1]
104
+ width = box[2]
105
+ height = box[3]
106
+ x = int(left+width/2)
107
+ y = int(top+ height/2)
108
+ self.drawPredicted(classIds[i], confidences[i], left, top,frame,x,y)#5left+width, 6top+height
109
+
29
110
  def main():
30
111
  cam = CAMDEMO()
31
112
  classes = None
32
113
  with open(classesFile, "rt") as f:
33
114
  classes = f.read().rstrip('\n').split('\n')
115
+ modelConfiguration = "/home/limlab/realsense_yolo_v3_2d/yolov3.cfg"
116
+ modelWeights = "/home/limlab/realsense_yolo_v3_2d/yolov3.weights"
117
+ net = cv2.dnn.readNetFromDarknet(modelConfiguration, modelWeights)
118
+ net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
119
+ net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)
120
+ try:
121
+ while True:
122
+
123
+ # Wait for a coherent pair of frames: depth and color
124
+ frames = pipeline.wait_for_frames()
125
+ color_frame = frames.get_color_frame()
126
+ if not color_frame:
127
+ continue
128
+ # Convert images to numpy arrays
129
+ color_image = np.asanyarray(color_frame.get_data())
130
+ blob = cv2.dnn.blobFromImage(color_image, 1/255, (inpWidth, inpHeight), [0,0,0],1,crop=False)
131
+ net.setInput(blob)
132
+ outs = net.forward(cam.getOutputsNames(net))
133
+ # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
134
+ cam.process_detection(color_image,outs)
135
+ images = color_image
136
+ # Show images
137
+ cv2.imshow('Yolo in RealSense made by Tony', images)
138
+ if cv2.waitKey(1) & 0xFF == ord('q'):
139
+ break
140
+ finally:
141
+ # Stop streaming
142
+ pipeline.stop()
34
143
 
144
+ if __name__ == "__main__":
145
+ main()
146
+
35
147
  ```