Model Prediction

Please ensure that the web control program backend process is not running in the background. To close it, refer to the [Get Started Quickly - 2. Access the Terminal] section in [Disable the Auto-Start Web Control Backend Process]. After closing, please restart DofbotUltra!!!

1. CLI Usage

CLI currently only supports USB cameras. CSI camera users can directly modify the Python code above to call onnx and ncnn models!

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cd ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights
yolo predict model=best.onnx source=0 save=False show # For multiple cameras, change the number after source
yolo predict model='best_ncnn_model' source=0 save=False show 

2. Python Usage

Use Python to call USB and CSI cameras to recognize oranges.

2.1. USB Camera

Use best.engine to predict the camera feed:

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cd /home/pi/ultralytics/ultralytics/yahboom_demo

Run the code. Click on the preview window and press the q key to terminate the program!

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python3 06.orange_camera_usb.py

Result Preview

YOLO recognition output video location: /home/pi/ultralytics/ultralytics/output/

Example code:

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import cv2
from ultralytics import YOLO

# Load the YOLO model
# model = YOLO("/home/pi/ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights/best.pt")
# model = YOLO("/home/pi/ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights/best.onnx")
model = YOLO("/home/pi/ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights/best_ncnn_model")

# Open the cammera
cap = cv2.VideoCapture(0)

# Get the video frame size and frame rate
frame_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
frame_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
fps = int(cap.get(cv2.CAP_PROP_FPS))

# Define the codec and create a VideoWriter object to output the processed video
output_path = "/home/pi/ultralytics/ultralytics/output/06.orange_camera_usb.mp4"
fourcc = cv2.VideoWriter_fourcc(*'mp4v')  # You can use 'XVID' or 'mp4v' depending on your platform
out = cv2.VideoWriter(output_path, fourcc, fps, (frame_width, frame_height))

# Loop through the video frames
while cap.isOpened():
    # Read a frame from the video
    success, frame = cap.read()

    if success:
        # Run YOLO inference on the frame
        results = model(frame)

        # Visualize the results on the frame
        annotated_frame = results[0].plot()

        # Write the annotated frame to the output video file
        out.write(annotated_frame)


        # Display the annotated frame
        cv2.imshow("YOLO Inference", cv2.resize(annotated_frame, (640, 480)))

        # Break the loop if 'q' is pressed
        if cv2.waitKey(1) & 0xFF == ord("q"):
            break
    else:
        # Break the loop if the end of the video is reached
        break
# Release the video capture and writer objects, and close the display window
cap.release()
out.release()
cv2.destroyAllWindows()

2.2. CSI Camera

Use best.engine to predict the camera feed:

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cd /home/pi/ultralytics/ultralytics/yahboom_demo

Run the code. Click on the preview window and press the q key to terminate the program!

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python3 06.orange_camera_csi.py

Result Preview

YOLO recognition output video location: /home/pi/ultralytics/ultralytics/output/

Example code:

import cv2
from picamera2 import Picamera2

from ultralytics import YOLO

# Initialize the Picamera2
picam2 = Picamera2()
picam2.preview_configuration.main.size = (640, 480)
picam2.preview_configuration.main.format = "RGB888"
picam2.preview_configuration.align()
picam2.configure("preview")
picam2.start()

# Load the YOLO11 model
# model = YOLO("/home/pi/ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights/best.pt")
# model = YOLO("/home/pi/ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights/best.onnx")
model = YOLO("/home/pi/ultralytics/ultralytics/data/yahboom_data/orange_data/runs/detect/train/weights/best_ncnn_model")

# Set up video output
output_path = "/home/pi/ultralytics/ultralytics/output/06.orange_camera_csi.mp4"
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
out = cv2.VideoWriter(output_path, fourcc, 30, (640, 480))

# Loop through the video frames
while True:
    # Capture frame-by-frame
    frame = picam2.capture_array()

    # Run YOLO11 inference on the frame
    results = model(frame)

    # Visualize the results on the frame
    annotated_frame = results[0].plot()

    # Write the frame to the video file
    out.write(annotated_frame)

    # Display the resulting frame
    cv2.imshow("Camera", annotated_frame)

    # Break the loop if 'q' is pressed
    if cv2.waitKey(1) == ord("q"):
        break

# Release resources and close windows
picam2.close()
out.release()
cv2.destroyAllWindows()