From c3b3bb6ded9be61d4abde4540bc4c35a279e7f07 Mon Sep 17 00:00:00 2001
From: Nickiel12 <35903114+Nickiel12@users.noreply.github.com>
Date: Tue, 16 Jul 2024 18:00:57 -0700
Subject: [PATCH] small improvements

Signed-off-by: Nickiel12 <35903114+Nickiel12@users.noreply.github.com>
---
 Server/WebsocketServer/main.py | 14 ++++++++------
 YOLO python/webcam-test.py     |  7 +++++--
 Yolo TFLite Export/main.py     |  6 ++++++
 joystick-controller-client     |  2 +-
 4 files changed, 20 insertions(+), 9 deletions(-)
 create mode 100644 Yolo TFLite Export/main.py

diff --git a/Server/WebsocketServer/main.py b/Server/WebsocketServer/main.py
index cc50886..be7b6eb 100644
--- a/Server/WebsocketServer/main.py
+++ b/Server/WebsocketServer/main.py
@@ -2,7 +2,6 @@ import websockets
 import asyncio
 import numpy as np
 from ultralytics import YOLO
-import time
 import cv2
 
 classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "train", "truck", "boat",
@@ -17,18 +16,21 @@ classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "trai
               "teddy bear", "hair drier", "toothbrush"
               ]
 
-model = YOLO('yolov8s.pt')  # Load an official Detect model
+model = YOLO('yolov8m.pt')  # Load an official Detect model
 
 async def handle_connection(websocket, path):
     print(f"Connection from: {path}")
     try: 
         while True:
             raw_data = await websocket.recv()
+            print(f"downloaded bytes: {len(raw_data)}")
 
-            nparr = np.frombuffer(raw_data, np.uint8).reshape((480, 640, 3))
+            # nparr = np.frombuffer(decoded_bytes, np.uint8).reshape((480, 640, 3))
+            nparr = np.frombuffer(raw_data, dtype=np.uint8)
 
-            # frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
-            frame = cv2.cvtColor(nparr, cv2.COLOR_BGR2RGB)
+            frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+
+            # frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
             cv2.imshow("from_remote", frame)
 
             # Perform object detection
@@ -75,7 +77,7 @@ async def handle_connection(websocket, path):
 
             ret = lines.encode('utf-8')
 
-            cv2.waitKey(80)
+            cv2.waitKey(1)
 
             await websocket.send(ret)
 
diff --git a/YOLO python/webcam-test.py b/YOLO python/webcam-test.py
index 3f1c2e7..59b286c 100644
--- a/YOLO python/webcam-test.py	
+++ b/YOLO python/webcam-test.py	
@@ -5,12 +5,13 @@ import cv2
 import math 
 
 # model
-model = YOLO("yolov8x.pt")
+# model = YOLO("yolov8x.pt")
+model = YOLO('yolov8n_full_integer_quant_edgetpu.tflite', task="detect")  # Load an official Detect model
 
 # start webcam
 cap = cv2.VideoCapture(0)
 cap.set(3, 640)
-cap.set(4, 480)
+cap.set(4, 640)
 
 # object classes
 classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "train", "truck", "boat",
@@ -28,6 +29,8 @@ classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "trai
 
 while True:
     success, img = cap.read()
+    # img = cv2.resize(img, (512, 512), cv2.INTER_AREA)
+    print(f"Image dimensions: {img.shape}")
     results = model.track(img, persist=True, stream=True)
 
     # coordinates
diff --git a/Yolo TFLite Export/main.py b/Yolo TFLite Export/main.py
new file mode 100644
index 0000000..fd9364e
--- /dev/null
+++ b/Yolo TFLite Export/main.py	
@@ -0,0 +1,6 @@
+from ultralytics import YOLO 
+
+model = YOLO("yolov8n.pt")
+
+# model.export(format="onnx", simplify=True, int8=True)
+model.export(format="engine")
\ No newline at end of file
diff --git a/joystick-controller-client b/joystick-controller-client
index a3d8a6f..0a47c7a 160000
--- a/joystick-controller-client
+++ b/joystick-controller-client
@@ -1 +1 @@
-Subproject commit a3d8a6fd064c0a194dc0815e7f19c900937921d9
+Subproject commit 0a47c7a9583148c101652e3772cf5ecad95d3092