CircumSpect/object_detection/detect_objects.py

from CircumSpect.object_detection.groundingdino.util.inference import load_model, predict
import CircumSpect.object_detection.groundingdino.datasets.transforms as T
from torchvision.ops import box_convert
from utils import setup_device
from typing import Tuple, List
import supervision as sv
from io import BytesIO
from PIL import Image
import numpy as np
import requests
import torch
import cv2

model = load_model("./CircumSpect/object_detection/groundingdino/config/GroundingDINO_SwinT_OGC.py",
                     "./CircumSpect/object_detection/weights/groundingdino_swint_ogc.pth")


def load_image(image_path: str) -> Tuple[np.array, torch.Tensor]:
    transform = T.Compose(
        [
            T.RandomResize([800], max_size=1333),
            T.ToTensor(),
            T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225]),
        ]
    )
    image_source = Image.open(BytesIO(requests.get(
        image_path).content) if image_path.startswith("http") else image_path).convert("RGB")
    image = np.asarray(image_source)
    image_transformed, _ = transform(image_source, None)
    return image, image_transformed


def annotate(image_source: np.ndarray, boxes: torch.Tensor, logits: torch.Tensor, phrases: List[str]) -> np.ndarray:
    h, w, _ = image_source.shape
    boxes = boxes * torch.Tensor([w, h, w, h])
    xyxy = box_convert(boxes=boxes, in_fmt="cxcywh", out_fmt="xyxy").numpy()
    detections = sv.Detections(xyxy=xyxy)

    labels = [
        f"{phrase} {logit:.2f}"
        for phrase, logit
        in zip(phrases, logits)
    ]
    coordinates = []
    for i in list(detections):
        left, top, right, bottom = list(list(i)[0])
        coordinates.append((int((left+right)/2), int((top+bottom)/2)))

    object_coordinates = [[" ".join(object_name.split()[:-1])+": "+object_name.split(
    )[-1]+"%", coordinate] for object_name, coordinate in zip(labels, coordinates)]

    box_annotator = sv.BoxAnnotator()
    annotated_frame = cv2.cvtColor(image_source, cv2.COLOR_RGB2BGR)
    annotated_frame = box_annotator.annotate(
        scene=annotated_frame, detections=detections, labels=labels)
    return annotated_frame, object_coordinates


BOX_TRESHOLD = 0.35
TEXT_TRESHOLD = 0.25

device = setup_device()


def locate_object(objects, image):
    image_source, image = load_image(image)

    boxes, logits, phrases = predict(
        model=model,
        image=image,
        device=device,
        caption=objects,
        box_threshold=BOX_TRESHOLD,
        text_threshold=TEXT_TRESHOLD
    )

    annotated_frame, object_coordinates = annotate(
        image_source=image_source, boxes=boxes, logits=logits, phrases=phrases)
    cv2.circle(annotated_frame, object_coordinates[0][1], 2, (255, 0, 0), 2)
    cv2.imwrite("detected_objects.png", annotated_frame)
    return annotated_frame, object_coordinates


if __name__ == "__main__":
    frame, coord = locate_object(
        "drawer", "https://images.nationalgeographic.org/image/upload/v1638890052/EducationHub/photos/robots-3d-landing-page.jpg")
    print(coord)