| | |
| | |
| |
|
| | import os |
| | from dora import Node |
| | from dora import DoraStatus |
| |
|
| | import cv2 |
| | import numpy as np |
| | from utils import LABELS |
| |
|
| | CI = os.environ.get("CI") |
| |
|
| | font = cv2.FONT_HERSHEY_SIMPLEX |
| |
|
| |
|
| | class Plotter: |
| | """ |
| | Plot image and bounding box |
| | """ |
| |
|
| | def __init__(self): |
| | self.image = [] |
| | self.bboxs = [] |
| |
|
| | def on_input( |
| | self, |
| | dora_input, |
| | ) -> DoraStatus: |
| | """ |
| | Put image and bounding box on cv2 window. |
| | |
| | Args: |
| | dora_input["id"] (str): Id of the dora_input declared in the yaml configuration |
| | dora_input["value"] (arrow array): message of the dora_input |
| | """ |
| | if dora_input["id"] == "image": |
| | frame = dora_input["value"].to_numpy() |
| | frame = cv2.imdecode(frame, -1) |
| | self.image = frame |
| |
|
| | elif dora_input["id"] == "bbox" and len(self.image) != 0: |
| | bboxs = dora_input["value"].to_numpy() |
| | self.bboxs = np.reshape(bboxs, (-1, 6)) |
| | for bbox in self.bboxs: |
| | [ |
| | min_x, |
| | min_y, |
| | max_x, |
| | max_y, |
| | confidence, |
| | label, |
| | ] = bbox |
| | cv2.rectangle( |
| | self.image, |
| | (int(min_x), int(min_y)), |
| | (int(max_x), int(max_y)), |
| | (0, 255, 0), |
| | 2, |
| | ) |
| |
|
| | cv2.putText( |
| | self.image, |
| | LABELS[int(label)] + f", {confidence:0.2f}", |
| | (int(max_x), int(max_y)), |
| | font, |
| | 0.75, |
| | (0, 255, 0), |
| | 2, |
| | 1, |
| | ) |
| |
|
| | if CI != "true": |
| | cv2.imshow("frame", self.image) |
| | if cv2.waitKey(1) & 0xFF == ord("q"): |
| | return DoraStatus.STOP |
| |
|
| | return DoraStatus.CONTINUE |
| |
|
| |
|
| | plotter = Plotter() |
| | node = Node() |
| |
|
| | for event in node: |
| | event_type = event["type"] |
| | if event_type == "INPUT": |
| | status = plotter.on_input(event) |
| | if status == DoraStatus.CONTINUE: |
| | pass |
| | elif status == DoraStatus.STOP: |
| | print("plotter returned stop status") |
| | break |
| | elif event_type == "STOP": |
| | print("received stop") |
| | else: |
| | print("received unexpected event:", event_type) |
| |
|
