deploy

app.py

@@ -1,13 +1,74 @@
 import gradio as gr
 import torch
-from sahi.prediction import ObjectPrediction
-from sahi.utils.cv import visualize_object_predictions, read_image
-from ultralyticsplus import YOLO
+from ultralytics import YOLO
+import cv2
+import numpy as np
+from math import atan2, cos, sin, sqrt, pi
 
 # Images
-torch.hub.download_url_to_file('https://raw.githubusercontent.com/kadirnar/dethub/main/data/images/highway.jpg', 'highway.jpg')
-torch.hub.download_url_to_file('https://user-images.githubusercontent.com/34196005/142742872-1fefcc4d-d7e6-4c43-bbb7-6b5982f7e4ba.jpg', 'highway1.jpg')
-torch.hub.download_url_to_file('https://raw.githubusercontent.com/obss/sahi/main/tests/data/small-vehicles1.jpeg', 'small-vehicles1.jpeg')
+torch.hub.download_url_to_file('https://github.com/lucarei/orientation-detection-robotic-grasping/assets/22428774/cefd9731-c57c-428b-b401-fd54a8bd0a95', 'highway.jpg')
+torch.hub.download_url_to_file('https://github.com/lucarei/orientation-detection-robotic-grasping/assets/22428774/acbad76a-33f9-4028-b012-4ece5998c272', 'highway1.jpg')
+torch.hub.download_url_to_file('https://github.com/lucarei/orientation-detection-robotic-grasping/assets/22428774/7fa95f52-3c8b-4ea0-8bca-7374792a4c55', 'small-vehicles1.jpeg')
+
+def drawAxis(img, p_, q_, color, scale):
+  p = list(p_)
+  q = list(q_)
+ 
+  ## [visualization1]
+  angle = atan2(p[1] - q[1], p[0] - q[0]) # angle in radians
+  hypotenuse = sqrt((p[1] - q[1]) * (p[1] - q[1]) + (p[0] - q[0]) * (p[0] - q[0]))
+ 
+  # Here we lengthen the arrow by a factor of scale
+  q[0] = p[0] - scale * hypotenuse * cos(angle)
+  q[1] = p[1] - scale * hypotenuse * sin(angle)
+  cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 3, cv2.LINE_AA)
+ 
+  # create the arrow hooks
+  p[0] = q[0] + 9 * cos(angle + pi / 4)
+  p[1] = q[1] + 9 * sin(angle + pi / 4)
+  cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 3, cv2.LINE_AA)
+ 
+  p[0] = q[0] + 9 * cos(angle - pi / 4)
+  p[1] = q[1] + 9 * sin(angle - pi / 4)
+  cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 3, cv2.LINE_AA)
+  ## [visualization1]
+ 
+
+def getOrientation(pts, img):
+  ## [pca]
+  # Construct a buffer used by the pca analysis
+  sz = len(pts)
+  data_pts = np.empty((sz, 2), dtype=np.float64)
+  for i in range(data_pts.shape[0]):
+    data_pts[i,0] = pts[i,0,0]
+    data_pts[i,1] = pts[i,0,1]
+ 
+  # Perform PCA analysis
+  mean = np.empty((0))
+  mean, eigenvectors, eigenvalues = cv2.PCACompute2(data_pts, mean)
+ 
+  # Store the center of the object
+  cntr = (int(mean[0,0]), int(mean[0,1]))
+  ## [pca]
+ 
+  ## [visualization]
+  # Draw the principal components
+  cv2.circle(img, cntr, 3, (255, 0, 255), 10)
+  p1 = (cntr[0] + 0.02 * eigenvectors[0,0] * eigenvalues[0,0], cntr[1] + 0.02 * eigenvectors[0,1] * eigenvalues[0,0])
+  p2 = (cntr[0] - 0.02 * eigenvectors[1,0] * eigenvalues[1,0], cntr[1] - 0.02 * eigenvectors[1,1] * eigenvalues[1,0])
+  drawAxis(img, cntr, p1, (255, 255, 0), 1)
+  drawAxis(img, cntr, p2, (0, 0, 255), 3)
+ 
+  angle = atan2(eigenvectors[0,1], eigenvectors[0,0]) # orientation in radians
+  ## [visualization]
+  angle_deg = -(int(np.rad2deg(angle))-180) % 180
+ 
+  # Label with the rotation angle
+  label = " Rotation Angle: " + str(int(np.rad2deg(angle))) + " degrees"
+  textbox = cv2.rectangle(img, (cntr[0], cntr[1]-25), (cntr[0] + 250, cntr[1] + 10), (255,255,255), -1)
+  cv2.putText(img, label, (cntr[0], cntr[1]), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,0,0), 1, cv2.LINE_AA)
+
+  return angle_deg
 
 def yolov8_inference(
     image: gr.inputs.Image = None,
@@ -30,39 +91,40 @@ def yolov8_inference(
     model = YOLO(model_path)
     model.conf = conf_threshold
     model.iou = iou_threshold
+    #read image
+    image = cv2.imread(image)
+    #resize image (optional)
+    img_res_toshow = cv2.resize(image, None, fx= 0.5, fy= 0.5, interpolation= cv2.INTER_LINEAR)
+    height=img_res_toshow.shape[0]
+    width=img_res_toshow.shape[1]
+    dim=(width,height)
     results = model.predict(image, imgsz=image_size, return_outputs=True)
-    object_prediction_list = []
-    for _, image_results in enumerate(results):
-        if len(image_results)!=0:
-            image_predictions_in_xyxy_format = image_results['det']
-            for pred in image_predictions_in_xyxy_format:
-                x1, y1, x2, y2 = (
-                    int(pred[0]),
-                    int(pred[1]),
-                    int(pred[2]),
-                    int(pred[3]),
-                )
-                bbox = [x1, y1, x2, y2]
-                score = pred[4]
-                category_name = model.model.names[int(pred[5])]
-                category_id = pred[5]
-                object_prediction = ObjectPrediction(
-                    bbox=bbox,
-                    category_id=int(category_id),
-                    score=score,
-                    category_name=category_name,
-                )
-                object_prediction_list.append(object_prediction)
-
-    image = read_image(image)
-    output_image = visualize_object_predictions(image=image, object_prediction_list=object_prediction_list)
-    return output_image['image']
+    #obtain BW image
+    bw=(results[0].masks.masks[0].cpu().numpy() * 255).astype("uint8")
+    #BW image with same dimention of initial image
+    bw=cv2.resize(bw, dim, interpolation = cv2.INTER_AREA)
+    img=img_res_toshow
+    contours, _ = cv2.findContours(bw, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
+    for i, c in enumerate(contours):
+        # Calculate the area of each contour
+        area = cv2.contourArea(c)
+        
+        # Ignore contours that are too small or too large
+        if area < 3700 or 100000 < area:
+            continue
+        
+        # Draw each contour only for visualisation purposes
+        cv2.drawContours(img, contours, i, (0, 0, 255), 2)
+        
+        # Find the orientation of each shape
+        print(getOrientation(c, img))
         
+    return img
 
 inputs = [
     gr.inputs.Image(type="filepath", label="Input Image"),
-    gr.inputs.Dropdown(["kadirnar/yolov8n-v8.0", "kadirnar/yolov8m-v8.0", "kadirnar/yolov8l-v8.0", "kadirnar/yolov8x-v8.0", "kadirnar/yolov8x6-v8.0"], 
-                       default="kadirnar/yolov8m-v8.0", label="Model"),
+    gr.inputs.Dropdown(["turhancan97/yolov8m-trash"], 
+                       default="turhancan97/yolov8m-trash", label="Model"),
     gr.inputs.Slider(minimum=320, maximum=1280, default=640, step=32, label="Image Size"),
     gr.inputs.Slider(minimum=0.0, maximum=1.0, default=0.25, step=0.05, label="Confidence Threshold"),
     gr.inputs.Slider(minimum=0.0, maximum=1.0, default=0.45, step=0.05, label="IOU Threshold"),
@@ -71,7 +133,7 @@ inputs = [
 outputs = gr.outputs.Image(type="filepath", label="Output Image")
 title = "Ultralytics YOLOv8: State-of-the-Art YOLO Models"
 
-examples = [['highway.jpg', 'kadirnar/yolov8m-v8.0', 640, 0.25, 0.45], ['highway1.jpg', 'kadirnar/yolov8l-v8.0', 640, 0.25, 0.45], ['small-vehicles1.jpeg', 'kadirnar/yolov8x-v8.0', 1280, 0.25, 0.45]]
+examples = [['highway.jpg', 'turhancan97/yolov8m-trash', 640, 0.25, 0.45], ['highway1.jpg', 'turhancan97/yolov8m-trash', 640, 0.25, 0.45], ['small-vehicles1.jpeg', 'turhancan97/yolov8m-trash', 1280, 0.25, 0.45]]
 demo_app = gr.Interface(
     fn=yolov8_inference,
     inputs=inputs,

requirements.txt

@@ -1,5 +1,3 @@
-opencv_python
-sahi
-torch
-ultralytics==8.0.4
-ultralyticsplus==0.0.3
+opencv-python==4.7.0.72
+torch==2.0.1
+ultralytics==8.0.100