|
|
|
|
|
|
|
import os |
|
from dora import Node |
|
from dora import DoraStatus |
|
|
|
import cv2 |
|
import numpy as np |
|
|
|
CI = os.environ.get("CI") |
|
|
|
font = cv2.FONT_HERSHEY_SIMPLEX |
|
|
|
IMAGE_WIDTH = int(os.getenv("IMAGE_WIDTH", 960)) |
|
IMAGE_HEIGHT = int(os.getenv("IMAGE_HEIGHT", 540)) |
|
|
|
|
|
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": |
|
image = ( |
|
dora_input["value"].to_numpy().reshape((IMAGE_HEIGHT, IMAGE_WIDTH, 3)) |
|
) |
|
|
|
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR) |
|
self.image = image |
|
|
|
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: |
|
[ |
|
x, |
|
y, |
|
w, |
|
h, |
|
confidence, |
|
label, |
|
] = bbox |
|
cv2.rectangle( |
|
self.image, |
|
(int(x - w / 2), int(y - h / 2)), |
|
(int(x + w / 2), int(y + h / 2)), |
|
(0, 255, 0), |
|
2, |
|
) |
|
|
|
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) |
|
|
