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9422383 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 | #!/usr/bin/env python3
"""Run headless YOLO26n detection on frames captured through Picamera2."""
from __future__ import annotations
import argparse
from contextlib import ExitStack
from dataclasses import dataclass
from pathlib import Path
from time import perf_counter
from arm_yolo26n import DetectionResult, Yolo26Detector
from picamera2 import MappedArray, Picamera2
@dataclass(frozen=True, slots=True)
class _Arguments:
runtime: Path
model: Path
camera: int
framerate: float
frame_limit: int
print_detections: bool
@dataclass(slots=True)
class _Metrics:
frames: int = 0
detections: int = 0
capture_wait_seconds: float = 0.0
preprocess_ms: float = 0.0
inference_ms: float = 0.0
postprocess_ms: float = 0.0
pipeline_seconds: float = 0.0
def add(self, result: DetectionResult) -> None:
self.frames += 1
self.detections += len(result.detections)
self.preprocess_ms += result.timings.preprocess_ms
self.inference_ms += result.timings.inference_ms
self.postprocess_ms += result.timings.postprocess_ms
def report(self) -> str:
return (
f"frames={self.frames} detections={self.detections} "
f"capture_wait_mean_ms={self.capture_wait_seconds * 1000 / self.frames:.2f} "
f"preprocess_mean_ms={self.preprocess_ms / self.frames:.2f} "
f"inference_mean_ms={self.inference_ms / self.frames:.2f} "
f"postprocess_mean_ms={self.postprocess_ms / self.frames:.2f} "
f"pipeline_fps={self.frames / self.pipeline_seconds:.2f}"
)
def _parse_args() -> _Arguments:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--runtime", type=Path, required=True)
parser.add_argument("--model", type=Path, required=True)
parser.add_argument("--camera", type=int, default=0)
parser.add_argument(
"--framerate",
type=float,
default=30.0,
help="camera frame rate",
)
parser.add_argument(
"--frames",
type=int,
default=0,
help="stop after this many frames; 0 runs until interrupted",
)
parser.add_argument("--print-detections", action="store_true")
args = parser.parse_args()
if args.frames < 0:
parser.error("--frames must be non-negative")
if args.framerate <= 0:
parser.error("--framerate must be positive")
return _Arguments(
runtime=args.runtime,
model=args.model,
camera=args.camera,
framerate=args.framerate,
frame_limit=args.frames,
print_detections=args.print_detections,
)
def _configure_camera(camera: Picamera2, resolution: int, framerate: float) -> None:
capture_size = (
resolution,
resolution * 3 // 4,
)
camera.configure(
camera.create_video_configuration(
# A 4:3 frame needs padding rather than resizing. Picamera2's
# RGB888 NumPy representation is BGR byte order.
main={"size": capture_size, "format": "RGB888"},
controls={"FrameRate": framerate},
# Wait for the requested frame rather than a retained older frame.
queue=False,
)
)
def _detect_request(
detector: Yolo26Detector,
request: object,
) -> DetectionResult:
with ExitStack() as resources:
resources.callback(request.release)
mapped = resources.enter_context(MappedArray(request, "main"))
return detector.detect(
mapped.array,
pixel_format="BGR",
on_frame_consumed=resources.close,
)
def _run_pipeline(
camera: Picamera2,
detector: Yolo26Detector,
args: _Arguments,
) -> _Metrics:
metrics = _Metrics()
camera.start()
started_at = perf_counter()
try:
# Keep exactly one request pending so capture overlaps inference without
# creating an application-side frame queue.
capture_job = camera.capture_request(wait=False)
while True:
wait_started_at = perf_counter()
request = camera.wait(capture_job)
metrics.capture_wait_seconds += perf_counter() - wait_started_at
final_frame = bool(args.frame_limit and metrics.frames + 1 >= args.frame_limit)
if not final_frame:
capture_job = camera.capture_request(wait=False)
result = _detect_request(detector, request)
metrics.add(result)
if args.print_detections:
print(result.detections)
if final_frame:
break
except KeyboardInterrupt:
pass
finally:
metrics.pipeline_seconds = perf_counter() - started_at
camera.stop()
return metrics
def main() -> int:
args = _parse_args()
with Yolo26Detector(runtime=args.runtime, model=args.model) as detector:
camera = Picamera2(args.camera)
try:
_configure_camera(camera, detector.input_shape[2], args.framerate)
metrics = _run_pipeline(camera, detector, args)
finally:
camera.close()
if metrics.frames and metrics.pipeline_seconds > 0.0:
print(metrics.report())
return 0
if __name__ == "__main__":
raise SystemExit(main())
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