-
Notifications
You must be signed in to change notification settings - Fork 16
/
video_bird_eye_view_road_detection.py
60 lines (45 loc) · 1.71 KB
/
video_bird_eye_view_road_detection.py
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
import cv2
import pafy
import numpy as np
from hybridnets import HybridNets, optimized_model
from hybridnets.utils import get_horizon_points
# TODO: If you use a different video, modify the horizon points.
# To get new horizon points, you can set this variable to None and
# the horizon point selection function will run automatically. Copy the
# printed line below once you get the points
horizon_points = np.array([[535., 360.],
[717., 360.]], dtype=np.float32)
# Initialize video
# cap = cv2.VideoCapture("test.mp4")
videoUrl = 'https://youtu.be/jvRDlJvG8E8'
videoPafy = pafy.new(videoUrl)
print(videoPafy.streams)
cap = cv2.VideoCapture(videoPafy.streams[-1].url)
start_time = 0 # skip first {start_time} seconds
cap.set(cv2.CAP_PROP_POS_FRAMES, start_time*30)
# Initialize road detector
model_path = "models/hybridnets_384x512/hybridnets_384x512.onnx"
anchor_path = "models/hybridnets_384x512/anchors_384x512.npy"
optimized_model(model_path) # Remove unused nodes
roadEstimator = HybridNets(model_path, anchor_path, conf_thres=0.5, iou_thres=0.5)
out = cv2.VideoWriter('output.avi',cv2.VideoWriter_fourcc('M','J','P','G'), 20, (1280+720,720))
cv2.namedWindow("Road Detections", cv2.WINDOW_NORMAL)
while cap.isOpened():
# Press key q to stop
if cv2.waitKey(1) == ord('q'):
break
try:
# Read frame from the video
ret, new_frame = cap.read()
if not ret:
break
if horizon_points is None:
horizon_points = get_horizon_points(new_frame)
except:
continue
# Update road detector
seg_map, filtered_boxes, filtered_scores = roadEstimator(new_frame)
combined_img = roadEstimator.draw_all(new_frame, horizon_points)
cv2.imshow("Road Detections", combined_img)
out.write(combined_img)
out.release()