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# Dora + YOLOV8 快速目标检测

## 安装`dora`

* 一键安装
```bash
$ curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | bash
```

* `cargo安装`
```bash
$ cargo install dora-cli
```

* `手动安装`

```
https://github.com/dora-rs/dora/releases
```

## 验证

终端输入命令`dora --version`，现实版本号即成功安装
```bash
$ dora --version
dora-cli 0.3.7
```

## 实时摄像头检测

1、创建数据流文件

```yaml title="dataflow.yml"
nodes:
  - id: webcam
    operator:
      python: webcam.py
      inputs:
        tick: dora/timer/millis/50
      outputs:
        - image

  - id: object_detection
    operator:
      send_stdout_as: stdout
      python: object_detection.py
      inputs:
        image: webcam/image
      outputs:
        - bbox
        - stdout

  - id: plot
    operator:
      python: plot.py
      inputs:
        image: webcam/image
        bbox: object_detection/bbox
        assistant_message: object_detection/stdout
```

2、编写业务代码

* 摄像头采集

```py title="webcam.py"
import os
import time

import cv2
import numpy as np
import pyarrow as pa

from dora import DoraStatus

CAMERA_WIDTH = 640
CAMERA_HEIGHT = 480
CAMERA_INDEX = int(os.getenv("CAMERA_INDEX", 0))
CI = os.environ.get("CI")

font = cv2.FONT_HERSHEY_SIMPLEX


class Operator:
    """
    Sending image from webcam to the dataflow
    """

    def __init__(self):
        self.video_capture = cv2.VideoCapture(CAMERA_INDEX)
        self.start_time = time.time()
        self.video_capture.set(cv2.CAP_PROP_FRAME_WIDTH, CAMERA_WIDTH)
        self.video_capture.set(cv2.CAP_PROP_FRAME_HEIGHT, CAMERA_HEIGHT)
        self.failure_count = 0

    def on_event(
        self,
        dora_event: str,
        send_output,
    ) -> DoraStatus:
        event_type = dora_event["type"]
        if event_type == "INPUT":
            ret, frame = self.video_capture.read()
            if ret:
                frame = cv2.resize(frame, (CAMERA_WIDTH, CAMERA_HEIGHT))
                self.failure_count = 0
            ## Push an error image in case the camera is not available.
            else:
                if self.failure_count > 10:
                    frame = np.zeros((CAMERA_HEIGHT, CAMERA_WIDTH, 3), dtype=np.uint8)
                    cv2.putText(
                        frame,
                        "No Webcam was found at index %d" % (CAMERA_INDEX),
                        (int(30), int(30)),
                        font,
                        0.75,
                        (255, 255, 255),
                        2,
                        1,
                    )
                else:
                    self.failure_count += 1
                    return DoraStatus.CONTINUE

            send_output(
                "image",
                pa.array(frame.ravel()),
                dora_event["metadata"],
            )
        elif event_type == "STOP":
            print("received stop")
        else:
            print("received unexpected event:", event_type)

        if time.time() - self.start_time < 20 or CI != "true":
            return DoraStatus.CONTINUE
        else:
            return DoraStatus.STOP

    def __del__(self):
        self.video_capture.release()
```

* 目标检测

```py title="object_detection.py"
import numpy as np
import pyarrow as pa

from dora import DoraStatus
from ultralytics import YOLO


CAMERA_WIDTH = 640
CAMERA_HEIGHT = 480


model = YOLO("yolov8n.pt")


class Operator:
    """
    Inferring 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))
            )
            frame = frame[:, :, ::-1]  # OpenCV image (BGR to RGB)
            results = 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_event["metadata"])

        return DoraStatus.CONTINUE

```

* 查看

```py title="plot.py"
import os
import cv2

from dora import DoraStatus
from utils import LABELS


CI = os.environ.get("CI")

CAMERA_WIDTH = 640
CAMERA_HEIGHT = 480

FONT = cv2.FONT_HERSHEY_SIMPLEX


class Operator:
    """
    Plot image and bounding box
    """

    def __init__(self):
        self.bboxs = []
        self.buffer = ""
        self.submitted = []
        self.lines = []

    def on_event(
        self,
        dora_event,
        send_output,
    ):
        if dora_event["type"] == "INPUT":
            id = dora_event["id"]
            value = dora_event["value"]
            if id == "image":

                image = (
                    value.to_numpy().reshape((CAMERA_HEIGHT, CAMERA_WIDTH, 3)).copy()
                )

                for bbox in self.bboxs:
                    [
                        min_x,
                        min_y,
                        max_x,
                        max_y,
                        confidence,
                        label,
                    ] = bbox
                    cv2.rectangle(
                        image,
                        (int(min_x), int(min_y)),
                        (int(max_x), int(max_y)),
                        (0, 255, 0),
                    )
                    cv2.putText(
                        image,
                        f"{LABELS[int(label)]}, {confidence:0.2f}",
                        (int(max_x), int(max_y)),
                        FONT,
                        0.5,
                        (0, 255, 0),
                    )

                cv2.putText(
                    image, self.buffer, (20, 14 + 21 * 14), FONT, 0.5, (190, 250, 0), 1
                )

                i = 0
                for text in self.submitted[::-1]:
                    color = (
                        (0, 255, 190)
                        if text["role"] == "user_message"
                        else (0, 190, 255)
                    )
                    cv2.putText(
                        image,
                        text["content"],
                        (
                            20,
                            14 + (19 - i) * 14,
                        ),
                        FONT,
                        0.5,
                        color,
                        1,
                    )
                    i += 1

                for line in self.lines:
                    cv2.line(
                        image,
                        (int(line[0]), int(line[1])),
                        (int(line[2]), int(line[3])),
                        (0, 0, 255),
                        2,
                    )

                if CI != "true":
                    cv2.imshow("frame", image)
                    if cv2.waitKey(1) & 0xFF == ord("q"):
                        return DoraStatus.STOP
            elif id == "bbox":
                self.bboxs = value.to_numpy().reshape((-1, 6))
            elif id == "keyboard_buffer":
                self.buffer = value[0].as_py()
            elif id == "line":
                self.lines += [value.to_pylist()]
            elif "message" in id:
                self.submitted += [
                    {
                        "role": id,
                        "content": value[0].as_py(),
                    }
                ]

        return DoraStatus.CONTINUE
```

* 依赖的`utils`

```py title="utils.py"
LABELS = [
    "person",
    "bicycle",
    "car",
    "motorcycle",
    "airplane",
    "bus",
    "train",
    "truck",
    "boat",
    "traffic light",
    "fire hydrant",
    "stop sign",
    "parking meter",
    "bench",
    "bird",
    "cat",
    "dog",
    "horse",
    "sheep",
    "cow",
    "elephant",
    "bear",
    "zebra",
    "giraffe",
    "backpack",
    "umbrella",
    "handbag",
    "tie",
    "suitcase",
    "frisbee",
    "skis",
    "snowboard",
    "sports ball",
    "kite",
    "baseball bat",
    "baseball glove",
    "skateboard",
    "surfboard",
    "tennis racket",
    "bottle",
    "wine glass",
    "cup",
    "fork",
    "knife",
    "spoon",
    "bowl",
    "banana",
    "apple",
    "sandwich",
    "orange",
    "broccoli",
    "carrot",
    "hot dog",
    "pizza",
    "donut",
    "cake",
    "chair",
    "couch",
    "potted plant",
    "bed",
    "dining table",
    "toilet",
    "tv",
    "laptop",
    "mouse",
    "remote",
    "keyboard",
    "cell phone",
    "microwave",
    "oven",
    "toaster",
    "sink",
    "refrigerator",
    "book",
    "clock",
    "vase",
    "scissors",
    "teddy bear",
    "hair drier",
    "toothbrush",
]
```

* `YOLOV8.pt`模型文件，通过下面的源码链接可下载到

## 运行！

```bash
$ dora up # 启动dora服务
$ dora start dataflow.yml --attach --hot-reload # 热重载模式运行
```

## 源码下载

Dora yolov8 目标检测示例代码：https://pan.baidu.com/s/1uXXjFkpgeT_iHdNJzrCsqg?pwd=oibc

## 问题汇总

1. 摄像头打不开

    - 检查权限（Linux/macOS需要sudo），或者检查摄像头是否正常

2. YAML报错

    - 注意缩进必须使用空格，不能用tab

3. python包缺失

```bash
$ pip install numpy opencv-python pyarrow ultralytics
```

内容编写 : **`李扬`**