| |
| |
|
|
| 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) |
|
|
