haixuantao
commited on
Commit
•
f4392e4
1
Parent(s):
c33eefb
Encode image as png
Browse files- graphs/dataflow.yml +17 -6
- graphs/out/018dfdbb-c6e6-7984-8e3b-6da4f876fbce/whisper_text.arrow +0 -3
- graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/audio.parquet +0 -3
- graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/mistral_output_file.parquet +0 -3
- graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/raw_file.parquet +0 -3
- graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/saved_file.parquet +0 -3
- graphs/out/018dfdbd-32c9-7115-96c7-865c223b5963/whisper_text.parquet +0 -3
- graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/audio.parquet +0 -3
- graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/image.parquet +0 -0
- graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/raw_file.parquet +0 -3
- graphs/out/018dfdc2-f116-7f77-88de-46e9e79e89a5/whisper_text.parquet +0 -3
- graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/audio.parquet +0 -3
- graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/mistral_output_file.parquet +0 -3
- graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/raw_file.parquet +0 -3
- graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/saved_file.parquet +0 -3
- graphs/out/018dfdca-29a2-77a0-b534-54dc41c23691/whisper_text.parquet +0 -3
- graphs/out/018dfe09-1627-7f91-aeeb-e2b06b68dec8/audio.parquet +0 -3
- graphs/out/018dfe09-1627-7f91-aeeb-e2b06b68dec8/raw_file.parquet +0 -3
- graphs/out/018dfe09-1627-7f91-aeeb-e2b06b68dec8/whisper_text.parquet +0 -3
- graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/audio.parquet +0 -3
- graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/mistral_output_file.parquet +0 -3
- graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/raw_file.parquet +0 -3
- graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/saved_file.parquet +0 -3
- graphs/out/018dfe17-8482-7678-995d-7e89b44ceb51/whisper_text.parquet +0 -3
- graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/audio.parquet +0 -3
- graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/mistral_output_file.parquet +0 -3
- graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/raw_file.parquet +0 -3
- graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/saved_file.parquet +0 -3
- graphs/out/018dfe2d-7e22-7df2-9ea0-98f1076faef6/whisper_text.parquet +0 -3
- graphs/out/{018dfdbb-c6e6-7984-8e3b-6da4f876fbce/audio.arrow → 018dff34-35f1-71b0-b8bc-e4a03a6333ab/image.parquet} +2 -2
- graphs/out/{018dfdbb-c6e6-7984-8e3b-6da4f876fbce/raw_file.arrow → 018dff34-e690-798e-8fb4-1b96c1d14763/image.parquet} +2 -2
- operators/cv2_encoder_op.py +32 -0
- operators/keybinding_op.py +8 -1
- operators/object_detection.py +1 -2
- operators/planning_op.py +2 -2
- operators/plot.py +0 -2
- operators/whisper_op.py +1 -1
graphs/dataflow.yml
CHANGED
@@ -35,14 +35,10 @@ nodes:
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- id: object_detection
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operator:
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python: ../operators/object_detection.py
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send_stdout_as: stdout
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inputs:
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image:
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source: webcam/image
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queue_size: 1
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outputs:
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- bbox
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-
- stdout
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### Second Camera
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- id: webcam
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@@ -60,7 +56,7 @@ nodes:
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python: ../operators/plot.py
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inputs:
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image: webcam/image
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-
text:
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bbox: object_detection/bbox
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@@ -93,6 +89,11 @@ nodes:
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- revert
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- failed
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- error
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- id: microphone
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operator:
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@@ -159,3 +160,13 @@ nodes:
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saved_file: file_saver/saved_file
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audio: microphone/audio
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whisper_text: whisper/text
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- id: object_detection
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operator:
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python: ../operators/object_detection.py
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inputs:
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+
image: webcam/image
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outputs:
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- bbox
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### Second Camera
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- id: webcam
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python: ../operators/plot.py
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inputs:
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image: webcam/image
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+
text: whisper/text
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bbox: object_detection/bbox
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- revert
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- failed
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- error
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+
inputs:
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+
tick:
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+
source: dora/timer/millis/50
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+
queue_size: 1
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+
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- id: microphone
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operator:
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saved_file: file_saver/saved_file
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audio: microphone/audio
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whisper_text: whisper/text
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+
image: cv2_encoder/encoded_image
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+
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+
### Second Camera
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+
- id: cv2_encoder
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operator:
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+
python: ../operators/cv2_encoder_op.py
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inputs:
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+
image: webcam/image
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+
outputs:
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+
- encoded_image
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graphs/out/018dfdbb-c6e6-7984-8e3b-6da4f876fbce/whisper_text.arrow
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DELETED
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graphs/out/{018dfdbb-c6e6-7984-8e3b-6da4f876fbce/audio.arrow → 018dff34-35f1-71b0-b8bc-e4a03a6333ab/image.parquet}
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graphs/out/{018dfdbb-c6e6-7984-8e3b-6da4f876fbce/raw_file.arrow → 018dff34-e690-798e-8fb4-1b96c1d14763/image.parquet}
RENAMED
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operators/cv2_encoder_op.py
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1 |
+
import pyarrow as pa
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+
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+
from dora import DoraStatus
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import cv2
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import os
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+
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+
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CAMERA_WIDTH = 960
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CAMERA_HEIGHT = 540
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+
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ENCODING = os.getenv("ENCODING", ".jpg")
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+
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+
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class Operator:
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"""
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Infering object from images
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"""
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+
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+
def on_event(
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self,
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dora_event,
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send_output,
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) -> DoraStatus:
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if dora_event["type"] == "INPUT":
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frame = (
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dora_event["value"].to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
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)
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retval, buffer = cv2.imencode(ENCODING, frame)
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if retval:
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send_output("encoded_image", pa.array([buffer]), dora_event["metadata"])
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+
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return DoraStatus.CONTINUE
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operators/keybinding_op.py
CHANGED
@@ -27,4 +27,11 @@ def on_key_release(key):
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pass
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-
pynput.keyboard.Listener(on_release=on_key_release).
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pass
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+
pynput.keyboard.Listener(on_release=on_key_release).start()
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+
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while node.next():
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pass
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+
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+
import time
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+
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time.sleep(0.5)
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operators/object_detection.py
CHANGED
@@ -49,13 +49,12 @@ class Operator:
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frame = dora_input["value"].to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
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frame = frame[:, :, ::-1] # OpenCV image (BGR to RGB)
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-
results = self.model(frame) # includes NMS
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# Process results
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boxes = np.array(results[0].boxes.xyxy.cpu())
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conf = np.array(results[0].boxes.conf.cpu())
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label = np.array(results[0].boxes.cls.cpu())
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# concatenate them together
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arrays = np.concatenate((boxes, conf[:, None], label[:, None]), axis=1)
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-
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send_output("bbox", pa.array(arrays.ravel()), dora_input["metadata"])
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return DoraStatus.CONTINUE
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49 |
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frame = dora_input["value"].to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3))
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frame = frame[:, :, ::-1] # OpenCV image (BGR to RGB)
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results = self.model(frame, verbose=False) # includes NMS
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# Process results
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boxes = np.array(results[0].boxes.xyxy.cpu())
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conf = np.array(results[0].boxes.conf.cpu())
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label = np.array(results[0].boxes.cls.cpu())
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# concatenate them together
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arrays = np.concatenate((boxes, conf[:, None], label[:, None]), axis=1)
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send_output("bbox", pa.array(arrays.ravel()), dora_input["metadata"])
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return DoraStatus.CONTINUE
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operators/planning_op.py
CHANGED
@@ -2,6 +2,7 @@ import numpy as np
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import pyarrow as pa
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from dora import DoraStatus
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X = 0
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# left-right: [-1,1]
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Y = 0
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@@ -74,8 +75,7 @@ class Operator:
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direction = np.clip(
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np.array(GOAL_OBJECTIVES) - np.array(self.position), -1, 1
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)
|
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-
|
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-
print(direction, flush=True)
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if any(abs(direction) > 0.1):
|
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x = direction[0]
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y = direction[1]
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|
2 |
import pyarrow as pa
|
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from dora import DoraStatus
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|
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+
# front-back: [-1, 1]
|
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X = 0
|
7 |
# left-right: [-1,1]
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Y = 0
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|
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direction = np.clip(
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np.array(GOAL_OBJECTIVES) - np.array(self.position), -1, 1
|
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)
|
78 |
+
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|
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if any(abs(direction) > 0.1):
|
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x = direction[0]
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y = direction[1]
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operators/plot.py
CHANGED
@@ -76,7 +76,6 @@ class Operator:
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self.image = frame
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self.image_messages += 1
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-
print("received " + str(self.image_messages) + " images")
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80 |
|
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elif dora_input["id"] == "text" and len(self.image) != 0:
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self.text_whisper = dora_input["value"][0].as_py()
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@@ -85,7 +84,6 @@ class Operator:
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self.bboxs = np.reshape(bboxs, (-1, 6))
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86 |
|
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self.bounding_box_messages += 1
|
88 |
-
print("received " + str(self.bounding_box_messages) + " bounding boxes")
|
89 |
|
90 |
for bbox in self.bboxs:
|
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[
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|
76 |
self.image = frame
|
77 |
|
78 |
self.image_messages += 1
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|
79 |
|
80 |
elif dora_input["id"] == "text" and len(self.image) != 0:
|
81 |
self.text_whisper = dora_input["value"][0].as_py()
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|
84 |
self.bboxs = np.reshape(bboxs, (-1, 6))
|
85 |
|
86 |
self.bounding_box_messages += 1
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|
87 |
|
88 |
for bbox in self.bboxs:
|
89 |
[
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operators/whisper_op.py
CHANGED
@@ -36,6 +36,6 @@ class Operator:
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36 |
result = model.transcribe(audio, language="en")
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text = result["text"]
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38 |
print(text, flush=True)
|
39 |
-
text = "Can you
|
40 |
send_output("text", pa.array([text]), dora_event["metadata"])
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41 |
return DoraStatus.CONTINUE
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|
36 |
result = model.transcribe(audio, language="en")
|
37 |
text = result["text"]
|
38 |
print(text, flush=True)
|
39 |
+
text = "Can you set the RGB to blue?"
|
40 |
send_output("text", pa.array([text]), dora_event["metadata"])
|
41 |
return DoraStatus.CONTINUE
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