bhargav23 / depthai

DepthAI Python API utilities, examples, and tutorials.

DepthAI API Demo Program

This repo contains demo application, which can load different networks, create pipelines, record video, etc.

Documentation is available at https://docs.luxonis.com/.

Python modules (Dependencies)

DepthAI Demo requires numpy, opencv-python and depthai. To get the versions of these packages you need for the program, use pip: (Make sure pip is upgraded: python3 -m pip install -U pip)

python3 install_requirements.py

Examples

python3 depthai_demo.py - RGB & CNN inference example

python3 depthai_demo.py -vid <path_to_video_or_yt_link> - CNN inference on video example

python3 depthai_demo.py -cnn person-detection-retail-0013 - Run person-detection-retail-0013 model from resources/nn directory

python3 depthai_demo.py -cnn tiny-yolo-v3 -sh 8 - Run tiny-yolo-v3 model from resources/nn directory and compile for 8 shaves

Usage

$ depthai_demo.py --help

usage: depthai_demo.py [-h] [-cam {left,right,color}] [-vid VIDEO] [-hq] [-dd] [-dnn] [-cnnp CNN_PATH] [-cnn CNN_MODEL] [-sh SHAVES]
                       [-cnn_size CNN_INPUT_SIZE] [-rgbr {1080,2160,3040}] [-rgbf RGB_FPS] [-dct DISPARITY_CONFIDENCE_THRESHOLD] [-lrct LRC_THRESHOLD]
                       [-sig SIGMA] [-med {0,3,5,7}] [-lrc] [-ext] [-sub] [-ff] [-scale SCALE]
                       [-cm {AUTUMN,BONE,CIVIDIS,COOL,DEEPGREEN,HOT,HSV,INFERNO,JET,MAGMA,OCEAN,PARULA,PINK,PLASMA,RAINBOW,SPRING,SUMMER,TURBO,TWILIGHT,TWILIGHT_SHIFTED,VIRIDIS,WINTER}]
                       [-maxd MAX_DEPTH] [-mind MIN_DEPTH] [-sbb] [-sbb_sf SBB_SCALE_FACTOR]
                       [-s {nn_input,color,left,right,depth,depth_raw,disparity,disparity_color,rectified_left,rectified_right} [{nn_input,color,left,right,depth,depth_raw,disparity,disparity_color,rectified_left,rectified_right} ...]]
                       [--report {temp,cpu,memory} [{temp,cpu,memory} ...]] [--report_file REPORT_FILE] [-sync] [-monor {400,720,800}] [-monof MONO_FPS]
                       [-cb CALLBACK] [--openvino_version {2020_1,2020_2,2020_3,2020_4,2021_1,2021_2,2021_3}] [--count COUNT_LABEL] [-dev DEVICE_ID]
                       [-usbs {usb2,usb3}] [-enc ENCODE [ENCODE ...]] [-encout ENCODE_OUTPUT]

optional arguments:
  -h, --help            show this help message and exit
  -cam {left,right,color}, --camera {left,right,color}
                        Use one of DepthAI cameras for inference (conflicts with -vid)
  -vid VIDEO, --video VIDEO
                        Path to video file (or YouTube link) to be used for inference (conflicts with -cam)
  -hq, --high_quality   Low quality visualization - uses resized frames
  -dd, --disable_depth  Disable depth information
  -dnn, --disable_neural_network
                        Disable neural network inference
  -cnnp CNN_PATH, --cnn_path CNN_PATH
                        Path to cnn model directory to be run
  -cnn CNN_MODEL, --cnn_model CNN_MODEL
                        Cnn model to run on DepthAI
  -sh SHAVES, --shaves SHAVES
                        Name of the nn to be run from default depthai repository
  -cnn_size CNN_INPUT_SIZE, --cnn_input_size CNN_INPUT_SIZE
                        Neural network input dimensions, in "WxH" format, e.g. "544x320"
  -rgbr {1080,2160,3040}, --rgb_resolution {1080,2160,3040}
                        RGB cam res height: (1920x)1080, (3840x)2160 or (4056x)3040. Default: 1080
  -rgbf RGB_FPS, --rgb_fps RGB_FPS
                        RGB cam fps: max 118.0 for H:1080, max 42.0 for H:2160. Default: 30.0
  -dct DISPARITY_CONFIDENCE_THRESHOLD, --disparity_confidence_threshold DISPARITY_CONFIDENCE_THRESHOLD
                        Disparity confidence threshold, used for depth measurement. Default: 245
  -lrct LRC_THRESHOLD, --lrc_threshold LRC_THRESHOLD
                        Left right check threshold, used for depth measurement. Default: 4
  -sig SIGMA, --sigma SIGMA
                        Sigma value for Bilateral Filter applied on depth. Default: 0
  -med {0,3,5,7}, --stereo_median_size {0,3,5,7}
                        Disparity / depth median filter kernel size (N x N) . 0 = filtering disabled. Default: 7
  -lrc, --stereo_lr_check
                        Enable stereo 'Left-Right check' feature.
  -ext, --extended_disparity
                        Enable stereo 'Extended Disparity' feature.
  -sub, --subpixel      Enable stereo 'Subpixel' feature.
  -ff, --full_fov_nn    Full RGB FOV for NN, not keeping the aspect ratio
  -scale SCALE, --scale SCALE
                        Scale factor for the output window. Default: 1.0
  -cm {AUTUMN,BONE,CIVIDIS,COOL,DEEPGREEN,HOT,HSV,INFERNO,JET,MAGMA,OCEAN,PARULA,PINK,PLASMA,RAINBOW,SPRING,SUMMER,TURBO,TWILIGHT,TWILIGHT_SHIFTED,VIRIDIS,WINTER}, --color_map {AUTUMN,BONE,CIVIDIS,COOL,DEEPGREEN,HOT,HSV,INFERNO,JET,MAGMA,OCEAN,PARULA,PINK,PLASMA,RAINBOW,SPRING,SUMMER,TURBO,TWILIGHT,TWILIGHT_SHIFTED,VIRIDIS,WINTER}
                        Change color map used to apply colors to depth/disparity frames. Default: JET
  -maxd MAX_DEPTH, --max_depth MAX_DEPTH
                        Maximum depth distance for spatial coordinates in mm. Default: 10000
  -mind MIN_DEPTH, --min_depth MIN_DEPTH
                        Minimum depth distance for spatial coordinates in mm. Default: 100
  -sbb, --spatial_bounding_box
                        Display spatial bounding box (ROI) when displaying spatial information. The Z coordinate get's calculated from the ROI (average)
  -sbb_sf SBB_SCALE_FACTOR, --sbb_scale_factor SBB_SCALE_FACTOR
                        Spatial bounding box scale factor. Sometimes lower scale factor can give better depth (Z) result. Default: 0.3
  -s {nn_input,color,left,right,depth,depth_raw,disparity,disparity_color,rectified_left,rectified_right} [{nn_input,color,left,right,depth,depth_raw,disparity,disparity_color,rectified_left,rectified_right} ...], --show {nn_input,color,left,right,depth,depth_raw,disparity,disparity_color,rectified_left,rectified_right} [{nn_input,color,left,right,depth,depth_raw,disparity,disparity_color,rectified_left,rectified_right} ...]
                        Choose which previews to show. Default: []
  --report {temp,cpu,memory} [{temp,cpu,memory} ...]
                        Display device utilization data
  --report_file REPORT_FILE
                        Save report data to specified target file in CSV format
  -sync, --sync         Enable NN/camera synchronization. If enabled, camera source will be from the NN's passthrough attribute
  -monor {400,720,800}, --mono_resolution {400,720,800}
                        Mono cam res height: (1280x)720, (1280x)800 or (640x)400. Default: 400
  -monof MONO_FPS, --mono_fps MONO_FPS
                        Mono cam fps: max 60.0 for H:720 or H:800, max 120.0 for H:400. Default: 30.0
  -cb CALLBACK, --callback CALLBACK
                        Path to callbacks file to be used. Default: <project_root>/callbacks.py
  --openvino_version {2020_1,2020_2,2020_3,2020_4,2021_1,2021_2,2021_3}
                        Specify which OpenVINO version to use in the pipeline
  --count COUNT_LABEL   Count and display the number of specified objects on the frame. You can enter either the name of the object or its label id (number).
  -dev DEVICE_ID, --device_id DEVICE_ID
                        DepthAI MX id of the device to connect to. Use the word 'list' to show all devices and exit.
  -usbs {usb2,usb3}, --usb_speed {usb2,usb3}
                        Force USB communication speed. Default: usb3
  -enc ENCODE [ENCODE ...], --encode ENCODE [ENCODE ...]
                        Define which cameras to encode (record)
                        Format: camera_name or camera_name,enc_fps
                        Example: -enc left color
                        Example: -enc color right,10 left,10
  -encout ENCODE_OUTPUT, --encode_output ENCODE_OUTPUT
                        Path to directory where to store encoded files. Default: <project_root>

Conversion of existing trained models into Intel Movidius binary format

OpenVINO toolkit contains components which allow conversion of existing supported trained Caffe and Tensorflow models into Intel Movidius binary format through the Intermediate Representation (IR) format.

Example of the conversion:

1. First the model_optimizer tool will convert the model to IR format:

   cd <path-to-openvino-folder>/deployment_tools/model_optimizer
   python3 mo.py --model_name ResNet50 --output_dir ResNet50_IR_FP16 --framework tf --data_type FP16 --input_model inference_graph.pb
   

   • The command will produce the following files in the ResNet50_IR_FP16 directory:
     • ResNet50.bin - weights file;
     • ResNet50.xml - execution graph for the network;
     • ResNet50.mapping - mapping between layers in original public/custom model and layers within IR.

2. The weights (.bin) and graph (.xml) files produced above (or from the Intel Model Zoo) will be required for building a blob file, with the help of the myriad_compile tool. When producing blobs, the following constraints must be applied:

   CMX-SLICES = 4
   SHAVES = 4
   INPUT-FORMATS = 8
   OUTPUT-FORMATS = FP16/FP32 (host code for meta frame display should be updated accordingly)
   

   Example of command execution:

   <path-to-openvino-folder>/deployment_tools/inference_engine/lib/intel64/myriad_compile -m ./ResNet50.xml -o ResNet50.blob -ip U8 -VPU_NUMBER_OF_SHAVES 4 -VPU_NUMBER_OF_CMX_SLICES 4
   

Reporting issues

We are actively developing the DepthAI framework, and it's crucial for us to know what kind of problems you are facing.
If you run into a problem, please follow the steps below and email [email protected]:

1. Run log_system_information.sh and share the output from (log_system_information.txt).
2. Take a photo of a device you are using (or provide us a device model)
3. Describe the expected results;
4. Describe the actual running results (what you see after started your script with DepthAI)
5. How you are using the DepthAI python API (code snippet, for example)
6. Console output