Encode image as png

graphs/dataflow.yml

@@ -35,14 +35,10 @@ nodes:
   - id: object_detection
     operator:
       python: ../operators/object_detection.py
-      send_stdout_as: stdout
       inputs:
-        image:
-          source: webcam/image
-          queue_size: 1
+        image: webcam/image
       outputs:
         - bbox
-        - stdout
 
   ### Second Camera
   - id: webcam
@@ -60,7 +56,7 @@ nodes:
       python: ../operators/plot.py
       inputs:
         image: webcam/image
-        text: object_detection/stdout  
+        text: whisper/text  
         bbox: object_detection/bbox
 
 
@@ -93,6 +89,11 @@ nodes:
         - revert
         - failed
         - error
+      inputs:
+        tick:
+          source: dora/timer/millis/50
+          queue_size: 1
+
 
   - id: microphone
     operator:
@@ -159,3 +160,13 @@ nodes:
         saved_file: file_saver/saved_file
         audio: microphone/audio
         whisper_text: whisper/text
+        image: cv2_encoder/encoded_image
+
+  ### Second Camera
+  - id: cv2_encoder
+    operator:
+      python: ../operators/cv2_encoder_op.py
+      inputs:
+        image: webcam/image
+      outputs:
+        - encoded_image

graphs/out/018dfdbb-c6e6-7984-8e3b-6da4f876fbce/whisper_text.arrow

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c9623efabfbd00d46318455138ef03d76e017f38f222ed875036358942b5a7e
-size 816

graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/audio.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3ae879db0dadd44a5bced6ed5ed76cf7cec4a05fd3bcb1a82a6b21b0838d6eb6
-size 799

graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/mistral_output_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e507cc5252075922e0be1646a62ef6992b34957deb2bac6b55d61891e051d739
-size 1130

graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/raw_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d0b80daf802b9fda908b4cafd18f58dddc6659009d24a8e27dc7336b455691e1
-size 1025

graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/saved_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e20d825d340fdf055fc274297ee74e2c90469173898a4032744ab0f8821f5a4b
-size 1028

graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/whisper_text.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c9623efabfbd00d46318455138ef03d76e017f38f222ed875036358942b5a7e
-size 816

graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/audio.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3ae879db0dadd44a5bced6ed5ed76cf7cec4a05fd3bcb1a82a6b21b0838d6eb6
-size 799

graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/raw_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d0b80daf802b9fda908b4cafd18f58dddc6659009d24a8e27dc7336b455691e1
-size 1025

graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/whisper_text.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c9623efabfbd00d46318455138ef03d76e017f38f222ed875036358942b5a7e
-size 816

graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/audio.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3ae879db0dadd44a5bced6ed5ed76cf7cec4a05fd3bcb1a82a6b21b0838d6eb6
-size 799

graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/mistral_output_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e507cc5252075922e0be1646a62ef6992b34957deb2bac6b55d61891e051d739
-size 1130

graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/raw_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d0b80daf802b9fda908b4cafd18f58dddc6659009d24a8e27dc7336b455691e1
-size 1025

graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/saved_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e20d825d340fdf055fc274297ee74e2c90469173898a4032744ab0f8821f5a4b
-size 1028

graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/whisper_text.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c9623efabfbd00d46318455138ef03d76e017f38f222ed875036358942b5a7e
-size 816

graphs/out/018dfe09-1627-7f91-aeeb-e2b06b68dec8/audio.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3ae879db0dadd44a5bced6ed5ed76cf7cec4a05fd3bcb1a82a6b21b0838d6eb6
-size 799

graphs/out/018dfe09-1627-7f91-aeeb-e2b06b68dec8/raw_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d0b80daf802b9fda908b4cafd18f58dddc6659009d24a8e27dc7336b455691e1
-size 1025

graphs/out/018dfe09-1627-7f91-aeeb-e2b06b68dec8/whisper_text.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c9623efabfbd00d46318455138ef03d76e017f38f222ed875036358942b5a7e
-size 816

graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/audio.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ba1f159da5eef2611d000ea5f633152159606807b1dcf5b3cf5d717dbed89f07
-size 69078

graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/mistral_output_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:285adb7ced10bb8fae4992162d83593b23a5a94d0699dbb72adf8ab0b7eb21d5
-size 25802

graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/raw_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ad604d2eedab0dbf0b20fdbb8a275305c1a6c32fe25eb49c8582b90778947e72
-size 22324

graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/saved_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:73f5cfe5f00e9672a57ed421120eec25ac25c295725964de5e52c3f358669b5b
-size 22078

graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/whisper_text.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:59db9f08c5dc7e0da69df5287f57bf5c9a028f67605aece55f1c10b168cc9212
-size 2851

graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/audio.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:73bf727801eac0741e762b97a9c313642b26d842cd12416d3e0a4beb7d64b35b
-size 41262

graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/mistral_output_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2b4464eb1b09d75ef9bd3e1a4371c3e266a2615fc6919d6b933993d1f8b2e6e9
-size 25995

graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/raw_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e9bb52fb3da616bf10f674cdf839dd093db90e88aee57eb7ddf6fbaebffbb83e
-size 22212

graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/saved_file.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8dcbb81c073a43923ecd845676bf53a27feebc0c01d9cd764801975cad9be8b2
-size 22265

graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/whisper_text.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e38a36b7cabaaf4efd7e579cd450312c1daf6b35f6c2cffb6a95f1c4f36aeeb7
-size 2765

graphs/out/{018dfdbb-c6e6-7984-8e3b-6da4f876fbce/audio.arrow → 018dff34-35f1-71b0-b8bc-e4a03a6333ab/image.parquet}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3ae879db0dadd44a5bced6ed5ed76cf7cec4a05fd3bcb1a82a6b21b0838d6eb6
-size 799
+oid sha256:2b4b1bbbe635cbf1d40b4be3f1cb6cf35b3e6b6aacd684a2646a186eed1c2d80
+size 4570742

graphs/out/{018dfdbb-c6e6-7984-8e3b-6da4f876fbce/raw_file.arrow → 018dff34-e690-798e-8fb4-1b96c1d14763/image.parquet}

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d0b80daf802b9fda908b4cafd18f58dddc6659009d24a8e27dc7336b455691e1
-size 1025
+oid sha256:b0fa779836e7686470e7ad5a2fae328518fe289d5218df2a35fb5eaa314975c2
+size 3283843

operators/cv2_encoder_op.py

@@ -0,0 +1,32 @@
+import pyarrow as pa
+
+from dora import DoraStatus
+import cv2
+import os
+
+
+CAMERA_WIDTH = 960
+CAMERA_HEIGHT = 540
+
+ENCODING = os.getenv("ENCODING", ".jpg")
+
+
+class Operator:
+    """
+    Infering object from images
+    """
+
+    def on_event(
+        self,
+        dora_event,
+        send_output,
+    ) -> DoraStatus:
+        if dora_event["type"] == "INPUT":
+            frame = (
+                dora_event["value"].to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
+            )
+            retval, buffer = cv2.imencode(ENCODING, frame)
+            if retval:
+                send_output("encoded_image", pa.array([buffer]), dora_event["metadata"])
+
+        return DoraStatus.CONTINUE

operators/keybinding_op.py

@@ -27,4 +27,11 @@ def on_key_release(key):
         pass
 
 
-pynput.keyboard.Listener(on_release=on_key_release).run()
+pynput.keyboard.Listener(on_release=on_key_release).start()
+
+while node.next():
+    pass
+
+import time
+
+time.sleep(0.5)

operators/object_detection.py

@@ -49,13 +49,12 @@ class Operator:
 
         frame = dora_input["value"].to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
         frame = frame[:, :, ::-1]  # OpenCV image (BGR to RGB)
-        results = self.model(frame)  # includes NMS
+        results = self.model(frame, verbose=False)  # includes NMS
         # Process results
         boxes = np.array(results[0].boxes.xyxy.cpu())
         conf = np.array(results[0].boxes.conf.cpu())
         label = np.array(results[0].boxes.cls.cpu())
         # concatenate them together
         arrays = np.concatenate((boxes, conf[:, None], label[:, None]), axis=1)
-
         send_output("bbox", pa.array(arrays.ravel()), dora_input["metadata"])
         return DoraStatus.CONTINUE

operators/planning_op.py

@@ -2,6 +2,7 @@ import numpy as np
 import pyarrow as pa
 from dora import DoraStatus
 
+# front-back: [-1, 1]
 X = 0
 # left-right: [-1,1]
 Y = 0
@@ -74,8 +75,7 @@ class Operator:
             direction = np.clip(
                 np.array(GOAL_OBJECTIVES) - np.array(self.position), -1, 1
             )
-            print("position ", dora_event["value"].to_numpy(), flush=True)
-            print(direction, flush=True)
+
             if any(abs(direction) > 0.1):
                 x = direction[0]
                 y = direction[1]

operators/plot.py

@@ -76,7 +76,6 @@ class Operator:
             self.image = frame
 
             self.image_messages += 1
-            print("received " + str(self.image_messages) + " images")
 
         elif dora_input["id"] == "text" and len(self.image) != 0:
             self.text_whisper = dora_input["value"][0].as_py()
@@ -85,7 +84,6 @@ class Operator:
             self.bboxs = np.reshape(bboxs, (-1, 6))
 
             self.bounding_box_messages += 1
-            print("received " + str(self.bounding_box_messages) + " bounding boxes")
 
         for bbox in self.bboxs:
             [

operators/whisper_op.py

@@ -36,6 +36,6 @@ class Operator:
             result = model.transcribe(audio, language="en")
             text = result["text"]
             print(text, flush=True)
-            text = "Can you change the bounding box to purple?"
+            text = "Can you set the RGB to blue?"
             send_output("text", pa.array([text]), dora_event["metadata"])
         return DoraStatus.CONTINUE