[ { "id": "7a376c7adc88f29c", "type": "tab", "label": "TROS Body Detection (Application)", "disabled": false, "info": "", "env": [] }, { "id": "45a96c1e8611214b", "type": "group", "z": "7a376c7adc88f29c", "name": "Smart Update", "style": { "fill": "#ffffbf", "fill-opacity": "0.46", "label": true }, "nodes": [ "d53d0999c858db71", "6e892f91de66054f", "daec059605dbc58b" ], "x": 314, "y": 79, "w": 592, "h": 82 }, { "id": "d676a6b079da65fd", "type": "group", "z": "7a376c7adc88f29c", "name": "Check and execute BodyDetection node", "style": { "fill": "#e3f3d3", "fill-opacity": "0.5", "label": true }, "nodes": [ "7940958c208870de", "9e9e81da56a21f99" ], "x": 354, "y": 199, "w": 472, "h": 82 }, { "id": "451d258ab3d2f27f", "type": "group", "z": "7a376c7adc88f29c", "name": "BodyDetection Visualization", "style": { "fill": "#bfdbef", "fill-opacity": "0.47", "label": true }, "nodes": [ "4088aeeb942abc4c", "897ff47a89b59b05", "61dcd3167b60fd78" ], "x": 174, "y": 319, "w": 372, "h": 122 }, { "id": "0def0e9141faf283", "type": "comment", "z": "7a376c7adc88f29c", "name": "Name: TROS Application BodyDetection", "info": "", "x": 220, "y": 40, "wires": [] }, { "id": "518dc423b4e20cb7", "type": "inject", "z": "7a376c7adc88f29c", "name": "Learn More", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "https://developer.d-robotics.cc/rdk_doc/Robot_development/boxs/function/mono2d_body_detection", "payloadType": "str", "x": 490, "y": 40, "wires": [ [ "b64fa1b452b463af" ] ] }, { "id": "b64fa1b452b463af", "type": "rdk-tools openurl", "z": "7a376c7adc88f29c", "name": "", "x": 660, "y": 40, "wires": [] }, { "id": "ff87d0977399dd6c", "type": "comment", "z": "7a376c7adc88f29c", "name": "Notice: Please choose compatible cam type!", "info": "", "x": 170, "y": 200, "wires": [] }, { "id": "b08db88923037a6b", "type": "inject", "z": "7a376c7adc88f29c", "name": "Start(USB Cam)", "props": [ { "p": "payload" }, { "p": "camera", "v": "usb", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "iso", "payloadType": "date", "x": 180, "y": 120, "wires": [ [ "7940958c208870de", "4088aeeb942abc4c" ] ] }, { "id": "51525a7836f64ea8", "type": "inject", "z": "7a376c7adc88f29c", "name": "Start(MIPI Cam)", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "mipi", "payload": "iso", "payloadType": "date", "x": 180, "y": 160, "wires": [ [ "7940958c208870de", "4088aeeb942abc4c" ] ] }, { "id": "d145d876117a02c2", "type": "inject", "z": "7a376c7adc88f29c", "name": "Stop", "props": [ { "p": "kill", "v": "", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "x": 150, "y": 240, "wires": [ [ "9e9e81da56a21f99" ] ] }, { "id": "9cd0ff0cf6aba7ba", "type": "comment", "z": "7a376c7adc88f29c", "name": "Notice: Please stop flow before closing the flow.", "info": "", "x": 180, "y": 280, "wires": [] }, { "id": "d53d0999c858db71", "type": "rdk-tools smartupdate", "z": "7a376c7adc88f29c", "g": "45a96c1e8611214b", "name": "", "x": 420, "y": 120, "wires": [ [ "6e892f91de66054f" ], [] ] }, { "id": "6e892f91de66054f", "type": "change", "z": "7a376c7adc88f29c", "g": "45a96c1e8611214b", "name": "Hint", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "智能更新已完成", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 590, "y": 120, "wires": [ [ "daec059605dbc58b" ] ] }, { "id": "daec059605dbc58b", "type": "rdk-tools texttoaudio", "z": "7a376c7adc88f29c", "g": "45a96c1e8611214b", "name": "", "x": 810, "y": 120, "wires": [] }, { "id": "7940958c208870de", "type": "change", "z": "7a376c7adc88f29c", "g": "d676a6b079da65fd", "name": "Set BodyDetection node", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "", "tot": "str" }, { "t": "set", "p": "launch", "pt": "msg", "to": "mono2d_body_detection mono2d_body_detection.launch.py", "tot": "str" }, { "t": "set", "p": "insert", "pt": "msg", "to": "$join(['export CAM_TYPE=', msg.camera, ' && cp -r /opt/tros/${TROS_DISTRO}/lib/mono2d_body_detection/config/ .'])", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 490, "y": 240, "wires": [ [ "9e9e81da56a21f99" ] ] }, { "id": "9e9e81da56a21f99", "type": "rdk-tools checkexecute", "z": "7a376c7adc88f29c", "g": "d676a6b079da65fd", "name": "", "x": 710, "y": 240, "wires": [ [ "9d5c65ffdf136351" ], [ "89eed413b88cc0ac" ] ] }, { "id": "9d5c65ffdf136351", "type": "debug", "z": "7a376c7adc88f29c", "name": "Hint", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 890, "y": 220, "wires": [] }, { "id": "89eed413b88cc0ac", "type": "debug", "z": "7a376c7adc88f29c", "name": "Error log", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 900, "y": 260, "wires": [] }, { "id": "3064116f03834e3a", "type": "debug", "z": "7a376c7adc88f29c", "name": "Result output", "active": false, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "statusVal": "", "statusType": "auto", "x": 700, "y": 340, "wires": [] }, { "id": "9c19277baf8d06e2", "type": "debug", "z": "7a376c7adc88f29c", "name": "Performance output", "active": false, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "statusVal": "", "statusType": "auto", "x": 720, "y": 380, "wires": [] }, { "id": "4088aeeb942abc4c", "type": "delay", "z": "7a376c7adc88f29c", "g": "451d258ab3d2f27f", "name": "", "pauseType": "delay", "timeout": "10", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 260, "y": 360, "wires": [ [ "897ff47a89b59b05" ] ] }, { "id": "897ff47a89b59b05", "type": "change", "z": "7a376c7adc88f29c", "g": "451d258ab3d2f27f", "name": "set link", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "ws://{host}:8080", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 260, "y": 400, "wires": [ [ "61dcd3167b60fd78" ] ] }, { "id": "61dcd3167b60fd78", "type": "rdk-tools videows", "z": "7a376c7adc88f29c", "g": "451d258ab3d2f27f", "name": "", "fps": "15", "width": 640, "active": true, "x": 440, "y": 380, "wires": [ [ "3064116f03834e3a", "b1c10af6df36c487", "4b5ba6fa32975499" ], [ "9c19277baf8d06e2" ], [] ] }, { "id": "9be1173e96748c34", "type": "inject", "z": "7a376c7adc88f29c", "name": "Update", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 150, "y": 80, "wires": [ [ "d53d0999c858db71" ] ] }, { "id": "d6ec5522d76f3c49", "type": "inject", "z": "7a376c7adc88f29c", "name": "Open visualization page", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "http://{host}:8000", "payloadType": "str", "x": 680, "y": 300, "wires": [ [ "00736042cfa229dd" ] ] }, { "id": "00736042cfa229dd", "type": "rdk-tools openurl", "z": "7a376c7adc88f29c", "name": "", "x": 900, "y": 300, "wires": [] }, { "id": "b1c10af6df36c487", "type": "change", "z": "7a376c7adc88f29c", "name": "Extract Types", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "attributes.type", "tot": "msg" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 140, "y": 480, "wires": [ [ "25f96a1d3f79e0bf" ] ] }, { "id": "25f96a1d3f79e0bf", "type": "rdk-tools output", "z": "7a376c7adc88f29c", "name": "", "active": true, "x": 120, "y": 520, "wires": [] }, { "id": "4b5ba6fa32975499", "type": "switch", "z": "7a376c7adc88f29c", "name": "Filter by type", "property": "attributes.type", "propertyType": "msg", "rules": [ { "t": "eq", "v": "body", "vt": "str" } ], "checkall": "true", "repair": false, "outputs": 1, "x": 130, "y": 680, "wires": [ [ "ae9d77906fc7ac64" ] ] }, { "id": "ae9d77906fc7ac64", "type": "change", "z": "7a376c7adc88f29c", "name": "Calculate area of box", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "(msg.attributes.box.p2.x - msg.attributes.box.p1.x)*(msg.attributes.box.p2.y - msg.attributes.box.p1.y)", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 160, "y": 720, "wires": [ [ "113d2d2cb09f2bb7" ] ] }, { "id": "113d2d2cb09f2bb7", "type": "debug", "z": "7a376c7adc88f29c", "name": "Output", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 110, "y": 760, "wires": [] }, { "id": "c4ed831bd1b8d524", "type": "switch", "z": "7a376c7adc88f29c", "name": "Judge the size", "property": "payload", "propertyType": "msg", "rules": [ { "t": "lt", "v": "100000", "vt": "num" }, { "t": "else" } ], "checkall": "true", "repair": false, "outputs": 2, "x": 160, "y": 840, "wires": [ [ "b86722e8cf4c71d2", "5312faa177888025" ], [ "65beb71468c75219", "d85d5660e8fee7c8" ] ] }, { "id": "b86722e8cf4c71d2", "type": "change", "z": "7a376c7adc88f29c", "name": "set 0", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "0", "tot": "num" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 310, "y": 780, "wires": [ [] ] }, { "id": "65beb71468c75219", "type": "change", "z": "7a376c7adc88f29c", "name": "set 1", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "1", "tot": "num" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 310, "y": 820, "wires": [ [] ] }, { "id": "1904aff0ac6f4750", "type": "rbe", "z": "7a376c7adc88f29c", "name": "filter same output", "func": "rbe", "gap": "", "start": "", "inout": "out", "septopics": true, "property": "payload", "topi": "topic", "x": 510, "y": 940, "wires": [ [ "e50b30c0f1ae9748" ] ] }, { "id": "5312faa177888025", "type": "change", "z": "7a376c7adc88f29c", "name": "output close", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "close", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 330, "y": 920, "wires": [ [ "1904aff0ac6f4750" ] ] }, { "id": "d85d5660e8fee7c8", "type": "change", "z": "7a376c7adc88f29c", "name": "output open", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "open", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 330, "y": 960, "wires": [ [ "1904aff0ac6f4750" ] ] }, { "id": "e50b30c0f1ae9748", "type": "rdk-tools texttoaudio", "z": "7a376c7adc88f29c", "name": "", "x": 690, "y": 940, "wires": [] } ]