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Tensor = tf.convert_to_tensor(reshape_img, dtype=tf.float32)ĭef postprocess_inference(img, module_output):įunction to overlap segmentation map with image Reshape_img = img_input.reshape(1, resize_shape, resize_shape, 3) Img_resized = tf.transpose(img_resized, ) Img_resized = tf.image.resize(normalized_img, resize_shape, (tf.Tensor) normalized and resized image in tensor (int) legend_size: factor to multiply legend sized calculated (numpy array) module_output : output of the model Normalization and resized to resize_shape Postprocess the inference to use and/or visualize the resultĭef preprocess_image(rgb_img, resize_shape):.Send the data to the interpreter and get the inference.Preprocess the input image to fit the model needs.Get the input image (a single image, images from a video, images from a livestream, etc.).Get input and output details (shape, type, etc.) to know the pre and post process will be needed.Create an interpreter from the saved model and allocate tensors.

TF IMAGE RESIZE 3D CODE

A code example is also provided to get inferences from a tflite model: The chosen model can be found on TensorFlow Hub here. TFLite-Macro also exists to deploy models on a microcontroller.

TF IMAGE RESIZE 3D HOW TO

A next article will talk more about the advantage of TFLite and how to use it to optimize a model with quantization, quantization aware training, pruning, etc. We will download the tflite version which is more efficient in term of size and power consumption.

We will simply download it from TensorFlow Hub, a great dataset of models. In this article, I decided to show how to build an application based on a neural network without having to design, implement and train it. Finally, I described how to take and reuse its feature extractor to build different architectures designed for image segmentation and style transfer. Then, I showed how to implement a complex neural network designed for object detection, how to train it and how to add module to do multi-object tracking (MOT). In the previous articles, I explained how to build from scratch a complete Deep Learning Framework only using numpy and how to implement a neural network to control a drone with hand signals. The card will power on automatically after connecting an USB-C power supply.Ī complete description of the board is available here. Then, the SD card can be inserted to the Jetson Nano and keyboard, mouse and a screen can be connected. The main steps will be formatting an SD card (at least 64go is recommended), and writing the Jetson Nano Image on it.

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The full setup tutorial can be found in the official website: It has a large computing capacity compared to its size, especially for AI. The Jetson Nano is an electronic board developed by NVIDIA for AI and robotics projects.

Rescale the depth map for better projection.

Projection according to the orientation of the robot.

Projection of a 2D point in the real world.

TF IMAGE RESIZE 3D UPDATE

Update robot’s orientation in a 3D view.3D simulation to project the depth map based on the orientation of the IMU.Create a part with Solidworks to fix the USD camera and the Arduino to the Jetson Nano.

TF IMAGE RESIZE 3D SERIAL

Get and parse Serial data on the Jetson Nano.

Configure an Arduino to send the outputs of its IMU.

Build the 3D simulation to project the depth map based on the orientation of the IMU.

Create a part with Solidworks to fix the USD camera and the Arduino to the Jetson Nano,.

Send the IMU data to the Jetson Nano from the Arduino,.

Thanks to this IMU, we will be able to project the depth values in a 3D simulation view,

Configure an Arduino Nano to send the outputs of its IMU.

However, in a future post, I will build a depth estimation neural network from scratch to replace this one),

Download a neural network for depth estimation in a tflite format from TensorFlow Hub and test it to verify its behavior and make the code to do inference on a livestream from USB camera (as this is going to be a big project, I choose to download a pre-trained tflite model to save time for all the other steps.Configure the electronics board used on the robot (a Jetson Nano),.To achieve this project, the following steps will be performed: The Jetson will also be connected to an Arduino Nano to get the gyro data from its IMU to project the depth values in a 3D world based on the orientation of the robot. This article describes how to configure and use a Jetson Nano for a 3D mapping project where a neural network is used for depth estimation. The goal of this project is to build a robot capable of mapping its environment in a 3D simulation view.

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