| |
| |
|
|
| from typing import Callable, Optional, Union |
|
|
| from time import sleep |
| from enum import Enum |
| import numpy as np |
| import pyarrow as pa |
| from utils import LABELS |
| from dora import DoraStatus |
|
|
| DISTANCE = 2 |
|
|
|
|
| class Operator: |
| """ |
| Infering object from images |
| """ |
|
|
| def __init__(self): |
| self.over = False |
| self.start = False |
|
|
| def on_event( |
| self, |
| dora_event: dict, |
| send_output: Callable[[str, Union[bytes, pa.Array], Optional[dict]], None], |
| ) -> DoraStatus: |
| if dora_event["type"] == "INPUT": |
| return self.on_input(dora_event, send_output) |
| return DoraStatus.CONTINUE |
|
|
| def on_input( |
| self, |
| dora_input: dict, |
| send_output: Callable[[str, Union[bytes, pa.array], Optional[dict]], None], |
| ) -> DoraStatus: |
| if dora_input["id"] == "bbox": |
| if not self.start: |
| send_output("led", pa.array([255, 0, 0]), dora_input["metadata"]) |
| self.start = True |
| bboxs = dora_input["value"].to_numpy() |
| bboxs = np.reshape(bboxs, (-1, 6)) |
| bottle = False |
| laser = False |
| obstacle = False |
| for bbox in bboxs: |
| box = True |
| [ |
| min_x, |
| min_y, |
| max_x, |
| max_y, |
| confidence, |
| label, |
| ] = bbox |
|
|
| if ( |
| (min_x + max_x) / 2 > 240 |
| and (min_x + max_x) / 2 < 400 |
| and LABELS[int(label)] == "cup" |
| ): |
| laser = True |
| if ( |
| (min_x + max_x) / 2 > 240 |
| and (min_x + max_x) / 2 < 400 |
| and LABELS[int(label)] == "bottle" |
| ): |
| bottle = True |
|
|
| if LABELS[int(label)] != "ABC" and not obstacle: |
| obstacle = True |
| if laser: |
| send_output("blaster", pa.array([128]), dora_input["metadata"]) |
| else: |
| send_output("blaster", pa.array([0]), dora_input["metadata"]) |
| if bottle: |
| send_output("led", pa.array([0, 0, 255]), dora_input["metadata"]) |
| elif obstacle: |
| send_output("led", pa.array([0, 255, 0]), dora_input["metadata"]) |
| else: |
| send_output("led", pa.array([0, 0, 0]), dora_input["metadata"]) |
| obstacle = False |
| bottle = False |
| laser = False |
| return DoraStatus.CONTINUE |
|
|
