text: import cv2
  
  import time
  from gpiozero import AngularServo
  servo =AngularServo(18, initial_angle=0, min_pulse_width=0.0006, max_pulse_width=0.0023)
  
  #thres = 0.45 # Threshold to detect object
  
  classNames = []
  classFile = "/home/pi/Desktop/Object_Detection_Files/coco.names"
  with open(classFile,"rt") as f:
      classNames = f.read().rstrip("\n").split("\n")
  
  configPath = "/home/pi/Desktop/Object_Detection_Files/ssd_mobilenet_v3_large_coco_2020_01_14.pbtxt"
  weightsPath = "/home/pi/Desktop/Object_Detection_Files/frozen_inference_graph.pb"
  
  net = cv2.dnn_DetectionModel(weightsPath,configPath)
  net.setInputSize(320,320)
  net.setInputScale(1.0/ 127.5)
  net.setInputMean((127.5, 127.5, 127.5))
  net.setInputSwapRB(True)
  
  
  def getObjects(img, thres, nms, draw=True, objects=[]):
      classIds, confs, bbox = net.detect(img,confThreshold=thres,nmsThreshold=nms)
      #print(classIds,bbox)
      if len(objects) == 0: objects = classNames
      objectInfo =[]
      if len(classIds) != 0:
          for classId, confidence,box in zip(classIds.flatten(),confs.flatten(),bbox):
              className = classNames[classId - 1]
              if className in objects: 
                  objectInfo.append([box,className])
                  if (draw):
                      cv2.rectangle(img,box,color=(0,255,0),thickness=2)
                      cv2.putText(img,classNames[classId-1].upper(),(box[0]+10,box[1]+30),
                      cv2.FONT_HERSHEY_COMPLEX,1,(0,255,0),2)
                      cv2.putText(img,str(round(confidence*100,2)),(box[0]+200,box[1]+30),
                      cv2.FONT_HERSHEY_COMPLEX,1,(0,255,0),2)
                      
                      servo.angle = -90
                      time.sleep = 2
                      servo.angle = 90
      
      return img,objectInfo
  
  
  if __name__ == "__main__":
  
      cap = cv2.VideoCapture(0)
      cap.set(3,640)
      cap.set(4,480)
      #cap.set(10,70)
      
      
      while True:
          success, img = cap.read()
          result, objectInfo = getObjects(img,0.45,0.2, objects=['cup','horse'])
          #print(objectInfo)
          
          
          
          cv2.imshow("Output",img)
          cv2.waitKey(1)
      