dora/examples/python-dataflow/object_detection.py

from enum import Enum
from typing import Callable

import numpy as np
import torch


class DoraStatus(Enum):
    CONTINUE = 0
    STOP = 1


class Operator:
    """
    Example operator incrementing a counter every times its been called.

    The current value of the counter is sent back to dora on `counter`.
    """

    def __init__(self):
        self.model = torch.hub.load("ultralytics/yolov5", "yolov5n")

    def on_input(
        self,
        input_id: str,
        value: bytes,
        send_output: Callable[[str, bytes], None],
    ) -> DoraStatus:
        """Handle input by incrementing count by one.

        Args:
            input_id (str): Id of the input declared in the yaml configuration
            value (bytes): Bytes message of the input
            send_output (Callable[[str, bytes]]): Function enabling sending output back to dora.
        """

        frame = np.frombuffer(value, dtype="uint8")
        frame = np.reshape(frame, (480, 640, 3))[
            :, :, ::-1
        ]  # OpenCV image (BGR to RGB)

        results = self.model(frame)  # includes NMS
        arrays = np.array(results.xyxy[0].cpu()).tobytes()
        send_output("bbox", arrays)
        return DoraStatus.CONTINUE