imx500_object_detection_demo - bbox-order

examples/imx500/imx500_object_detection_demo.py

@@ -25,6 +25,7 @@ def parse_detections(metadata: dict):
     """Parse the output tensor into a number of detected objects, scaled to the ISP out."""
     global last_detections
     bbox_normalization = intrinsics.bbox_normalization
+    bbox_order = intrinsics.bbox_order
     threshold = args.threshold
     iou = args.iou
     max_detections = args.max_detections
@@ -44,6 +45,8 @@ def parse_detections(metadata: dict):
         if bbox_normalization:
             boxes = boxes / input_h
 
+        if bbox_order == "xy":
+            boxes = boxes[:, [1, 0, 3, 2]]
         boxes = np.array_split(boxes, 4, axis=1)
         boxes = zip(*boxes)
 
@@ -113,6 +116,8 @@ def get_args():
                         default="/usr/share/imx500-models/imx500_network_ssd_mobilenetv2_fpnlite_320x320_pp.rpk")
     parser.add_argument("--fps", type=int, help="Frames per second")
     parser.add_argument("--bbox-normalization", action=argparse.BooleanOptionalAction, help="Normalize bbox")
+    parser.add_argument("--bbox-order", choices=["yx", "xy"], default="yx",
+                        help="Set bbox order yx -> (y0, x0, y1, x1) xy -> (x0, y0, x1, y1)")
     parser.add_argument("--threshold", type=float, default=0.55, help="Detection threshold")
     parser.add_argument("--iou", type=float, default=0.65, help="Set iou threshold")
     parser.add_argument("--max-detections", type=int, default=10, help="Set max detections")

picamera2/devices/imx500/imx500.py

@@ -67,6 +67,7 @@ def __init__(self, val=None):
                     "type": "object",
                     "properties": {
                         "bbox_normalization": {"type": "boolean"},
+                        "bbox_order": {"type": "string", "enum": ["xy", "yx"]},
                         "softmax": {"type": "boolean"},
                         "post_processing": {"type": "string"},
                     },
@@ -181,6 +182,18 @@ def bbox_normalization(self, val: Optional[bool]):
         if self.__intrinsics_has_key('cpu') and len(self.__intrinsics['cpu']) == 0:
             self.__intrinsics.pop('cpu')
 
+    @property
+    def bbox_order(self) -> Optional[str]:
+        return self.__get_cpu('bbox_order')
+
+    @bbox_order.setter
+    def bbox_order(self, val: str):
+        if val not in ["xy", "yx"]:
+            raise ValueError("bbox_order must be either 'xy' or 'yx'")
+        self.__set_cpu({'bbox_order': val})
+        if self.__intrinsics_has_key('cpu') and len(self.__intrinsics['cpu']) == 0:
+            self.__intrinsics.pop('cpu')
+
     @property
     def softmax(self) -> Optional[bool]:
         return self.__get_cpu('softmax')