diff --git a/Code/Ball_Detection/PyTorch_with_ESPCAM/live_full_detection_detecto_with_ESP_CAM.py b/Code/Ball_Detection/PyTorch_with_ESPCAM/live_full_detection_detecto_with_ESP_CAM.py
index 45d0f4b2294d296db2ec3e29f96ee79bcc7b8ca3..02162c2798d384488bd7d5e411b7b84db40ffa23 100644
--- a/Code/Ball_Detection/PyTorch_with_ESPCAM/live_full_detection_detecto_with_ESP_CAM.py
+++ b/Code/Ball_Detection/PyTorch_with_ESPCAM/live_full_detection_detecto_with_ESP_CAM.py
@@ -18,7 +18,7 @@ from matplotlib import patches
from detecto import core, utils
from torchvision import transforms
from matplotlib import pyplot as plt
-from IPython.display import Image, display, Javascript
+# from IPython.display import Image, display, Javascript
distanceDetect = __import__('distance-detection-torch.distance-detection-torch', fromlist = ['distanceDetect']).distanceDetect
print("torch.cuda.is_available() = ", torch.cuda.is_available())
@@ -26,22 +26,20 @@ print("torch.cuda.is_available() = ", torch.cuda.is_available())
#change the IP address below according to the
#IP shown in the Serial monitor of Arduino code
# url='http://192.168.1.107/cam-lo.jpg'
-url='http://192.168.4.1/cam-hi.jpg'
+# url='http://192.168.4.1/cam-hi.jpg'
# url='http://192.168.1.107/cam-mid.jpg'
-
+url='http://192.168.0.230/cam-hi.jpg'
#### Modify Detecto Core to include possibility of other base models
def modifyCore():
- cModLineNums = [221, 254]
+ cModLineNums = [221, 253, 254]
cAddLineNums = [254, 256, 257, 258, 259]
# REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
- coreFile = 'C:\\Users\\uclal\\.conda\\envs\\FORAY\\Lib\\site-packages\\detecto\\core.py'
-
-
- print('debug')
+ coreFile = 'C:\\Users\\uclal\\.conda\\envs\\foray2\\Lib\\site-packages\\detecto\\core.py'
cModLineVals = [" def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
+ " # Load a model pre-trained on COCO - User-Modified",
" self._model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=pretrained)\n"]
cAddLineVals = [" if modelname == \'fasterrcnn_resnet50_fpn\':\n",
" elif modelname == \'fasterrcnn_mobilenet_v3_large_fpn\':\n",
@@ -146,7 +144,7 @@ def detectLive(model, showSight = True):
#print(frame)
gbx = -1
gby = -1
-
+
header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
req = Request(url, headers=header)
img_resp = urlopen(req, timeout=60)
@@ -265,13 +263,13 @@ distWtsFile = '.\distance-detection-torch\distance-detection-weights-3-2.0sd-202
modelAction = 'load' # 'load' to load previous model, 'new' to train new model (only possible on Colab)
#FOR THE NEXT LINE : UNCOMMENT the first time you run, COMMENT OUT after the first time
-#modifyCore()
+# modifyCore()
#########
-# model = returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
-# # # ## Testing (using Live Streaming)
-# while True:
-# detectLive(model)
+model = returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+# # ## Testing (using Live Streaming)
+while True:
+ detectLive(model)
# ## Testing (using Untrained Images)
# for file in sorted(glob.glob(imageLoc + '/test/*.jpg')):
diff --git a/Code/Control/Laptop_Code/README.md b/Code/Control/Laptop_Code/README.md
index fbdeb708b80ea00c3bc27feea54f787ba6ad518a..845e17a57dd345dc824cfb7973920bf23e921e4b 100644
--- a/Code/Control/Laptop_Code/README.md
+++ b/Code/Control/Laptop_Code/README.md
@@ -70,8 +70,12 @@ pip install opencv-python
conda install pytorch torchvision torchaudio cudatoolkit=10.2 -c pytorch
# install pupil-apriltags
pip install pupil-apriltags
+# install detecto
+pip install detecto==1.2.1
```
+
+
## 3 Main_code
There are two files about main code:
diff --git a/Code/Control/Laptop_Code/ball_detection/ball_detection.py b/Code/Control/Laptop_Code/ball_detection/ball_detection.py
index 7d5728d52d0b69f0d48f66d4ccdccfa0337ca21a..ef8c37779a0e51d5b9b39b9cef7f4de2125f8e98 100644
--- a/Code/Control/Laptop_Code/ball_detection/ball_detection.py
+++ b/Code/Control/Laptop_Code/ball_detection/ball_detection.py
@@ -18,7 +18,6 @@ from matplotlib import patches
from detecto import core, utils
from torchvision import transforms
from matplotlib import pyplot as plt
-from IPython.display import Image, display, Javascript
distanceDetect = __import__('ball_detection.distance-detection-torch.distance-detection-torch', fromlist = ['distanceDetect']).distanceDetect
# print("torch.cuda.is_available() = ", torch.cuda.is_available())
@@ -27,6 +26,36 @@ distanceDetect = __import__('ball_detection.distance-detection-torch.distance-de
url='http://192.168.4.1/cam-hi.jpg'
# url='http://192.168.1.107/cam-mid.jpg'
+#### Modify Detecto Core to include possibility of other base models
+def modifyCore():
+ cModLineNums = [221, 253, 254]
+ cAddLineNums = [254, 256, 257, 258, 259]
+
+ # REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
+ coreFile = 'C:\\Users\\uclal\\.conda\\envs\\foray2\\Lib\\site-packages\\detecto\\core.py'
+
+ cModLineVals = [" def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
+ " # Load a model pre-trained on COCO - User-Modified",
+ " self._model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=pretrained)\n"]
+ cAddLineVals = [" if modelname == \'fasterrcnn_resnet50_fpn\':\n",
+ " elif modelname == \'fasterrcnn_mobilenet_v3_large_fpn\':\n",
+ " self._model = torchvision.models.detection.fasterrcnn_mobilenet_v3_large_fpn(pretrained=pretrained)\n",
+ " elif modelname == \'fasterrcnn_mobilenet_v3_large_320_fpn\':\n",
+ " self._model = torchvision.models.detection.fasterrcnn_mobilenet_v3_large_320_fpn(pretrained=pretrained)\n",
+ " else:",
+ " return ValueError('Unknown Pretrained Model')"]
+ coreRead = open(coreFile, "r")
+ coreLines = coreRead.readlines()
+ if coreLines[253][-14:-1] != 'User-Modified':
+ for count, cModLineNum in enumerate(cModLineNums):
+ coreLines[cModLineNum] = cModLineVals[count]
+ for count, cAddLineNum in enumerate(cAddLineNums):
+ coreLines.insert(cAddLineNum, cAddLineVals[count])
+ coreRead.close()
+ coreWrite = open(coreFile, "w")
+ coreWrite.writelines(coreLines)
+ coreWrite.close()
+
def modelName(type = 1):
if type == 1:
return 'fasterrcnn_resnet50_fpn'
diff --git a/Code/Control/Laptop_Code/ball_detection/ball_detection_full.py b/Code/Control/Laptop_Code/ball_detection/ball_detection_full.py
index 166653513289d7aaccb198e402261a1ec1abecb7..ee9dceaa208cff7dc279518acd52ca0286831657 100644
--- a/Code/Control/Laptop_Code/ball_detection/ball_detection_full.py
+++ b/Code/Control/Laptop_Code/ball_detection/ball_detection_full.py
@@ -18,7 +18,6 @@ from matplotlib import patches
from detecto import core, utils
from torchvision import transforms
from matplotlib import pyplot as plt
-from IPython.display import Image, display, Javascript
distanceDetect = __import__('ball_detection.distance-detection-torch.distance-detection-torch', fromlist = ['distanceDetect']).distanceDetect
print("torch.cuda.is_available() = ", torch.cuda.is_available())
@@ -31,13 +30,14 @@ url='http://192.168.4.1/cam-hi.jpg'
#### Modify Detecto Core to include possibility of other base models
def modifyCore():
- cModLineNums = [221, 254]
+ cModLineNums = [221, 253, 254]
cAddLineNums = [254, 256, 257, 258, 259]
# REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
- coreFile = 'C:\\Users\\uclal\\.conda\\envs\\FORAY\\Lib\\site-packages\\detecto\\core.py'
+ coreFile = 'C:\\Users\\uclal\\.conda\\envs\\foray2\\Lib\\site-packages\\detecto\\core.py'
cModLineVals = [" def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
+ " # Load a model pre-trained on COCO - User-Modified",
" self._model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=pretrained)\n"]
cAddLineVals = [" if modelname == \'fasterrcnn_resnet50_fpn\':\n",
" elif modelname == \'fasterrcnn_mobilenet_v3_large_fpn\':\n",
@@ -238,7 +238,7 @@ distWtsFile = './ball_detection/distance-detection-torch/distance-detection-weig
modelAction = 'load' # 'load' to load previous model, 'new' to train new model (only possible on Colab)
#FOR THE NEXT LINE : UNCOMMENT the first time you run, COMMENT OUT after the first time
-#modifyCore()
+modifyCore()
#########
# model = returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index 553a0b29ecd1f987cbade2826e7a0d32534cb994..a1e41ee8406e57015c2eddafec8e69fe05434f27 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -8,7 +8,7 @@ from constants import *
from ESP32_AT.imageTread_AT import get_AT_6DOF_info
global ml,esp_cam_on,openmv_on
-ml = 0
+ml = 1
esp_cam_on = 0
openmv_on = 1
if ml == 1:
@@ -629,6 +629,7 @@ if __name__ == '__main__':
# Loading the PyTorch ML model for ball detection
if ml == 1:
+ ball_detection.modifyCore()
model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
# =========== DECLARE VARIABLES ===========