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I'm trying to get integrate tensorflow and picamera2 to do some basic object detection.

The logic works out fine (I think), but I'm struggling to draw the boxes/labels deduced on top of the image.

camera = Picamera2()
camera.start()
while True:
      frame = camera.capture_array()
      #Changing the dimensions of the frame to feed to model
      frame1 = np.copy(frame)
      frame1.setflags(write =1)
      frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
      frame_expanded = np.expand_dims(frame_rgb, axis = 0)
      #feeding frame into model "sess"
      (boxes, scores, classes, num) = sess.run(
             [detection_boxes, detection_scores, detection_classes, num_detections], feed_dict = {image_tensor:frame_expanded})
      

      #Here's the issues: 
      visualization_utils.visualize_boxes_and_labels_on_image_array(
            frame, np.squeeze(boxes), np.squeeze(classes).astype(np.int32), np.squeeze(scores), category_index, use_normalized_coordinates = True, line_thickness = 8)

      #Other stuff

This is a truncated version of my code.

Running this we run into errors at vizualize_boxes_and_labels_on_image_array: Traceback (most recent call last):

File "/home/[user]/tensorflow1/models/research/object_detection/Object_detection_picamera.py", line 176, in

vis_util.visualize_boxes_and_labels_on_image_array(

File "/home/[user]/tensorflow1/models/research/object_detection/utils/visualization_utils.py", line 1251, in

visualize_boxes_and_labels_on_image_array draw_bounding_box_on_image_array( File "/home/[user]/tensorflow1/models/research/object_detection/utils/visualization_utils.py", line 163, in draw_bounding_box_on_image_array np.copyto(image, np.array(image_pil))

ValueError: could not broadcast input array from shape (768,1024,3) into shape (768,1024,4)

I actually can't find a solid example of picamera2 + opencv + tensorflow (everything I can see is picamera which seems to use different methods).

1 Answer 1

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One possible solution might be to use frame[:,:,:3] for the visualize_boxes_and_labels_on_image_array function in your example code, which worked for me.

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