import cv2
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import numpy as np
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import os
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import sys
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from operator import itemgetter
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# Disclaimer: majority of the basic framework in this file is modified from the following tutorial:
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# https://www.learnopencv.com/deep-learning-based-object-detection-using-yolov3-with-opencv-python-c/
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# Get the names of the output layers
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def get_outputs_names(net):
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# Get the names of all the layers in the network
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layers_names = net.getLayerNames()
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# Get the names of the output layers, i.e. the layers with unconnected outputs
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return [layers_names[i[0] - 1] for i in net.getUnconnectedOutLayers()]
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# Remove the bounding boxes with low confidence using non-maxima suppression
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def post_process(frame, outs, thresh_conf, thresh_nms):
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frame_height = frame.shape[0]
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frame_width = frame.shape[1]
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# Scan through all the bounding boxes output from the network and keep only the
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# ones with high confidence scores. Assign the box's class label as the class with the highest score.
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class_ids = []
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confidences = []
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boxes = []
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for out in outs:
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for detection in out:
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scores = detection[5:]
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class_id = np.argmax(scores)
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confidence = scores[class_id]
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if confidence > thresh_conf:
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center_x = int(detection[0] * frame_width)
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center_y = int(detection[1] * frame_height)
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width = int(detection[2] * frame_width)
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height = int(detection[3] * frame_height)
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left = int(center_x - width / 2)
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top = int(center_y - height / 2)
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class_ids.append(class_id)
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confidences.append(float(confidence))
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boxes.append([left, top, width, height])
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# Perform non maximum suppression to eliminate redundant overlapping boxes with lower confidences.
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indices = [ind[0] for ind in cv2.dnn.NMSBoxes(boxes, confidences, thresh_conf, thresh_nms)]
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ret = [[class_ids[i], confidences[i], boxes[i]] for i in indices]
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return ret
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# Draw the predicted bounding box
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def draw_pred(frame, class_id, classes, conf, left, top, right, bottom):
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# Draw a bounding box.
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cv2.rectangle(frame, (left, top), (right, bottom), (0, 0, 255))
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label = '%.2f' % conf
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# Get the label for the class name and its confidence
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if classes:
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assert (class_id < len(classes))
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label = '%s:%s' % (classes[class_id], label)
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# Display the label at the top of the bounding box
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label_size, base_line = cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
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top = max(top, label_size[1])
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cv2.putText(frame, label, (left, top), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255))
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def remove_glare(img):
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img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
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_, s, v = cv2.split(img_hsv)
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non_sat = (s < 32) * 255 # Find all pixels that are not very saturated
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# Slightly decrease the area of the non-satuared pixels by a erosion operation.
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disk = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
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non_sat = cv2.erode(non_sat.astype(np.uint8), disk)
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# Set all brightness values, where the pixels are still saturated to 0.
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v[non_sat == 0] = 0
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# filter out very bright pixels.
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glare = (v > 240) * 255
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# Slightly increase the area for each pixel
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glare = cv2.dilate(glare.astype(np.uint8), disk)
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#glare = cv2.dilate(glare.astype(np.uint8), disk);
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#corrected = cv2.inpaint(img, glare, 7, cv2.INPAINT_TELEA)
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glare_reduced = np.ones((img.shape[0], img.shape[1], 3), dtype=np.uint8) * 200
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glare = cv2.cvtColor(glare, cv2.COLOR_GRAY2BGR)
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corrected = np.where(glare, glare_reduced, img)
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return corrected
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def detect_frame(net, classes, img, thresh_conf=0.5, thresh_nms=0.4, in_dim=(416, 416), display=True, out_path=None):
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img_copy = img.copy()
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# Create a 4D blob from a frame.
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blob = cv2.dnn.blobFromImage(img, 1 / 255, in_dim, [0, 0, 0], 1, crop=False)
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# Sets the input to the network
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net.setInput(blob)
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# Runs the forward pass to get output of the output layers
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outs = net.forward(get_outputs_names(net))
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# Remove the bounding boxes with low confidence
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obj_list = post_process(img, outs, thresh_conf, thresh_nms)
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for obj in obj_list:
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class_id, confidence, box = obj
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left, top, width, height = box
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draw_pred(img, class_id, classes, confidence, left, top, left + width, top + height)
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# Put efficiency information. The function getPerfProfile returns the
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# overall time for inference(t) and the timings for each of the layers(in layersTimes)
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t, _ = net.getPerfProfile()
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label = 'Inference time: %.2f ms' % (t * 1000.0 / cv2.getTickFrequency())
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cv2.putText(img, label, (0, 15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255))
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if out_path is not None:
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cv2.imwrite(out_path, img.astype(np.uint8))
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if display:
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no_glare = remove_glare(img_copy)
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img_concat = np.concatenate((img, no_glare), axis=1)
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cv2.imshow('result', img_concat)
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'''
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for i in range(len(obj_list)):
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class_id, confidence, box = obj_list[i]
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left, top, width, height = box
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img_snip = img[max(0, top):min(img.shape[0], top + height), max(0, left):min(img.shape[1], left + width)]
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#cv2.imshow('feature#%d' % i, img_snip)
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img_hsv = cv2.cvtColor(img_snip, cv2.COLOR_BGR2HSV)
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h, s, v = cv2.split(img_hsv)
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#h = cv2.cvtColor(h, cv2.COLOR_GRAY2BGR)
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s = cv2.cvtColor(s, cv2.COLOR_GRAY2BGR)
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v = cv2.cvtColor(v, cv2.COLOR_GRAY2BGR)
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img_concat = np.concatenate((img_snip, s, v), axis=1)
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cv2.imshow('feature#%d - hsv' % i, img_concat)
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'''
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cv2.waitKey(0)
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cv2.destroyAllWindows()
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return obj_list
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def detect_video(net, classes, capture, thresh_conf=0.5, thresh_nms=0.4, in_dim=(416, 416), display=True, out_path=None):
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if out_path is not None:
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vid_writer = cv2.VideoWriter(out_path, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'), 30,
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(round(capture.get(cv2.CAP_PROP_FRAME_WIDTH)),
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round(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))))
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max_num_obj = 0
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while True:
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ret, frame = capture.read()
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if not ret:
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# End of video
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print("End of video. Press any key to exit")
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cv2.waitKey(0)
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break
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img = frame.copy()
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obj_list = detect_frame(net, classes, frame, thresh_conf=thresh_conf, thresh_nms=thresh_nms, in_dim=in_dim,
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display=False, out_path=None)
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max_num_obj = max(max_num_obj, len(obj_list))
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if display:
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no_glare = remove_glare(img)
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img_concat = np.concatenate((frame, no_glare), axis=1)
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cv2.imshow('result', img_concat)
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'''
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for i in range(len(obj_list)):
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class_id, confidence, box = obj_list[i]
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left, top, width, height = box
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img_snip = img[max(0, top):min(img.shape[0], top + height),
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max(0, left):min(img.shape[1], left + width)]
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# cv2.imshow('feature#%d' % i, img_snip)
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img_hsv = cv2.cvtColor(img_snip, cv2.COLOR_BGR2HSV)
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h, s, v = cv2.split(img_hsv)
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# h = cv2.cvtColor(h, cv2.COLOR_GRAY2BGR)
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s = cv2.cvtColor(s, cv2.COLOR_GRAY2BGR)
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v = cv2.cvtColor(v, cv2.COLOR_GRAY2BGR)
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img_concat = np.concatenate((img_snip, s, v), axis=1)
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cv2.imshow('feature#%d - hsv' % i, img_concat)
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for i in range(len(obj_list), max_num_obj):
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cv2.imshow('feature#%d - hsv' % i, np.zeros((1, 1), dtype=np.uint8))
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'''
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#if len(obj_list) > 0:
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#cv2.waitKey(0)
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if out_path is not None:
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vid_writer.write(frame.astype(np.uint8))
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cv2.waitKey(1)
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if out_path is not None:
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vid_writer.release()
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cv2.destroyAllWindows()
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def main():
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# Specify paths for all necessary files
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test_path = os.path.abspath('../data/test18.jpg')
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weight_path = 'weights/second_general/tiny_yolo_final.weights'
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cfg_path = 'cfg/tiny_yolo.cfg'
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class_path = "data/obj.names"
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out_dir = 'out'
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if not os.path.isfile(test_path):
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print('The test file %s doesn\'t exist!' % os.path.abspath(test_path))
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return
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if not os.path.isfile(weight_path):
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print('The weight file %s doesn\'t exist!' % os.path.abspath(test_path))
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return
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if not os.path.isfile(cfg_path):
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print('The config file %s doesn\'t exist!' % os.path.abspath(test_path))
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return
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if not os.path.isfile(class_path):
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print('The class file %s doesn\'t exist!' % os.path.abspath(test_path))
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return
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# Setup
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# Read class names from text file
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with open(class_path, 'r') as f:
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classes = [line.strip() for line in f.readlines()]
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# Load up the neural net using the config and weights
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net = cv2.dnn.readNetFromDarknet(cfg_path, weight_path)
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net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
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net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)
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# Save the detection result if out_dir is provided
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if out_dir is None or out_dir == '':
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out_path = None
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else:
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out_path = out_dir + '/' + os.path.split(test_path)[1]
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# Check if test file is image or video
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test_ext = test_path[test_path.find('.') + 1:]
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if test_ext in ['jpg', 'jpeg', 'bmp', 'png', 'tiff']:
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img = cv2.imread(test_path)
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detect_frame(net, classes, img, out_path=out_path)
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else:
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capture = cv2.VideoCapture(test_path)
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detect_video(net, classes, capture, out_path=out_path)
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capture.release()
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pass
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if __name__ == '__main__':
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main()
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