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