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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
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)
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