103 lines
2.9 KiB
Python
103 lines
2.9 KiB
Python
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"""trt_ssd.py
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This script demonstrates how to do real-time object detection with
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TensorRT optimized Single-Shot Multibox Detector (SSD) engine.
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"""
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import time
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import argparse
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import cv2
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import pycuda.autoinit # This is needed for initializing CUDA driver
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from utils.ssd_classes import get_cls_dict
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from utils.ssd import TrtSSD
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from utils.camera import add_camera_args, Camera
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from utils.display import open_window, set_display, show_fps
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from utils.visualization import BBoxVisualization
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WINDOW_NAME = 'TrtSsdDemo'
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INPUT_HW = (300, 300)
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SUPPORTED_MODELS = [
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'ssd_mobilenet_v1_coco',
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'ssd_mobilenet_v1_egohands',
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'ssd_mobilenet_v2_coco',
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'ssd_mobilenet_v2_egohands',
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'ssd_inception_v2_coco',
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'ssdlite_mobilenet_v2_coco',
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]
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def parse_args():
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"""Parse input arguments."""
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desc = ('Capture and display live camera video, while doing '
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'real-time object detection with TensorRT optimized '
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'SSD model on Jetson Nano')
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parser = argparse.ArgumentParser(description=desc)
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parser = add_camera_args(parser)
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parser.add_argument('-m', '--model', type=str,
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default='ssd_mobilenet_v1_coco',
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choices=SUPPORTED_MODELS)
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args = parser.parse_args()
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return args
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def loop_and_detect(cam, trt_ssd, conf_th, vis):
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"""Continuously capture images from camera and do object detection.
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# Arguments
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cam: the camera instance (video source).
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trt_ssd: the TRT SSD object detector instance.
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conf_th: confidence/score threshold for object detection.
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vis: for visualization.
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"""
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full_scrn = False
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fps = 0.0
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tic = time.time()
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while True:
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if cv2.getWindowProperty(WINDOW_NAME, 0) < 0:
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break
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img = cam.read()
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if img is None:
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break
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boxes, confs, clss = trt_ssd.detect(img, conf_th)
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img = vis.draw_bboxes(img, boxes, confs, clss)
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img = show_fps(img, fps)
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cv2.imshow(WINDOW_NAME, img)
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toc = time.time()
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curr_fps = 1.0 / (toc - tic)
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# calculate an exponentially decaying average of fps number
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fps = curr_fps if fps == 0.0 else (fps*0.95 + curr_fps*0.05)
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tic = toc
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key = cv2.waitKey(1)
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if key == 27: # ESC key: quit program
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break
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elif key == ord('F') or key == ord('f'): # Toggle fullscreen
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full_scrn = not full_scrn
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set_display(WINDOW_NAME, full_scrn)
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def main():
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args = parse_args()
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cam = Camera(args)
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if not cam.isOpened():
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raise SystemExit('ERROR: failed to open camera!')
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cls_dict = get_cls_dict(args.model.split('_')[-1])
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trt_ssd = TrtSSD(args.model, INPUT_HW)
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open_window(
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WINDOW_NAME, 'Camera TensorRT SSD Demo',
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cam.img_width, cam.img_height)
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vis = BBoxVisualization(cls_dict)
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loop_and_detect(cam, trt_ssd, conf_th=0.3, vis=vis)
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cam.release()
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cv2.destroyAllWindows()
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if __name__ == '__main__':
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main()
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