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Adding yolov8 example for cpp (#1143)
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| #include <chrono> | ||
| #include <iostream> | ||
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| // Includes common necessary includes for development using depthai library | ||
| #include "depthai/depthai.hpp" | ||
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| /* | ||
| The code is the same as for Tiny-yolo-V3 and V4, the only difference is the blob file and anchors that are not needed for V8. | ||
| The blob was compiled following this tutorial: https://github.com/TNTWEN/OpenVINO-YOLOV4 | ||
| */ | ||
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| static const std::vector<std::string> labelMap = { | ||
| "person", "bicycle", "car", "motorbike", "aeroplane", "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", "sofa", "pottedplant", "bed", "diningtable", "toilet", "tvmonitor", | ||
| "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", | ||
| "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"}; | ||
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| static std::atomic<bool> syncNN{true}; | ||
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| int main(int argc, char** argv) { | ||
| using namespace std; | ||
| using namespace std::chrono; | ||
| std::string nnPath(BLOB_PATH); | ||
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| // If path to blob specified, use that | ||
| if(argc > 1) { | ||
| nnPath = std::string(argv[1]); | ||
| } | ||
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| // Print which blob we are using | ||
| printf("Using blob at path: %s\n", nnPath.c_str()); | ||
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| // Create pipeline | ||
| dai::Pipeline pipeline; | ||
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| // Define sources and outputs | ||
| auto camRgb = pipeline.create<dai::node::ColorCamera>(); | ||
| auto detectionNetwork = pipeline.create<dai::node::YoloDetectionNetwork>(); | ||
| auto xoutRgb = pipeline.create<dai::node::XLinkOut>(); | ||
| auto nnOut = pipeline.create<dai::node::XLinkOut>(); | ||
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| xoutRgb->setStreamName("rgb"); | ||
| nnOut->setStreamName("detections"); | ||
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| // Properties | ||
| camRgb->setPreviewSize(640, 352); | ||
| camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); | ||
| camRgb->setInterleaved(false); | ||
| camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR); | ||
| camRgb->setFps(40); | ||
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| // Network specific settings | ||
| detectionNetwork->setConfidenceThreshold(0.5f); | ||
| detectionNetwork->setNumClasses(80); | ||
| detectionNetwork->setCoordinateSize(4); | ||
| detectionNetwork->setIouThreshold(0.5f); | ||
| detectionNetwork->setBlobPath(nnPath); | ||
| detectionNetwork->setNumInferenceThreads(2); | ||
| detectionNetwork->input.setBlocking(false); | ||
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| // Linking | ||
| camRgb->preview.link(detectionNetwork->input); | ||
| if(syncNN) { | ||
| detectionNetwork->passthrough.link(xoutRgb->input); | ||
| } else { | ||
| camRgb->preview.link(xoutRgb->input); | ||
| } | ||
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| detectionNetwork->out.link(nnOut->input); | ||
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| // Connect to device and start pipeline | ||
| dai::Device device(pipeline); | ||
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| // Output queues will be used to get the rgb frames and nn data from the outputs defined above | ||
| auto qRgb = device.getOutputQueue("rgb", 4, false); | ||
| auto qDet = device.getOutputQueue("detections", 4, false); | ||
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| cv::Mat frame; | ||
| std::vector<dai::ImgDetection> detections; | ||
| auto startTime = steady_clock::now(); | ||
| int counter = 0; | ||
| float fps = 0; | ||
| auto color2 = cv::Scalar(255, 255, 255); | ||
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| // Add bounding boxes and text to the frame and show it to the user | ||
| auto displayFrame = [](std::string name, cv::Mat frame, std::vector<dai::ImgDetection>& detections) { | ||
| auto color = cv::Scalar(255, 0, 0); | ||
| // nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height | ||
| for(auto& detection : detections) { | ||
| int x1 = detection.xmin * frame.cols; | ||
| int y1 = detection.ymin * frame.rows; | ||
| int x2 = detection.xmax * frame.cols; | ||
| int y2 = detection.ymax * frame.rows; | ||
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| uint32_t labelIndex = detection.label; | ||
| std::string labelStr = to_string(labelIndex); | ||
| if(labelIndex < labelMap.size()) { | ||
| labelStr = labelMap[labelIndex]; | ||
| } | ||
| cv::putText(frame, labelStr, cv::Point(x1 + 10, y1 + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, 255); | ||
| std::stringstream confStr; | ||
| confStr << std::fixed << std::setprecision(2) << detection.confidence * 100; | ||
| cv::putText(frame, confStr.str(), cv::Point(x1 + 10, y1 + 40), cv::FONT_HERSHEY_TRIPLEX, 0.5, 255); | ||
| cv::rectangle(frame, cv::Rect(cv::Point(x1, y1), cv::Point(x2, y2)), color, cv::FONT_HERSHEY_SIMPLEX); | ||
| } | ||
| // Show the frame | ||
| cv::imshow(name, frame); | ||
| }; | ||
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| while(true) { | ||
| std::shared_ptr<dai::ImgFrame> inRgb; | ||
| std::shared_ptr<dai::ImgDetections> inDet; | ||
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| if(syncNN) { | ||
| inRgb = qRgb->get<dai::ImgFrame>(); | ||
| inDet = qDet->get<dai::ImgDetections>(); | ||
| } else { | ||
| inRgb = qRgb->tryGet<dai::ImgFrame>(); | ||
| inDet = qDet->tryGet<dai::ImgDetections>(); | ||
| } | ||
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| counter++; | ||
| auto currentTime = steady_clock::now(); | ||
| auto elapsed = duration_cast<duration<float>>(currentTime - startTime); | ||
| if(elapsed > seconds(1)) { | ||
| fps = counter / elapsed.count(); | ||
| counter = 0; | ||
| startTime = currentTime; | ||
| } | ||
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| if(inRgb) { | ||
| frame = inRgb->getCvFrame(); | ||
| std::stringstream fpsStr; | ||
| fpsStr << "NN fps: " << std::fixed << std::setprecision(2) << fps; | ||
| cv::putText(frame, fpsStr.str(), cv::Point(2, inRgb->getHeight() - 4), cv::FONT_HERSHEY_TRIPLEX, 0.4, color2); | ||
| } | ||
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| if(inDet) { | ||
| detections = inDet->detections; | ||
| } | ||
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| if(!frame.empty()) { | ||
| displayFrame("rgb", frame, detections); | ||
| } | ||
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| int key = cv::waitKey(1); | ||
| if(key == 'q' || key == 'Q') { | ||
| return 0; | ||
| } | ||
| } | ||
| return 0; | ||
| } |