[ { "id": "ebc530f442100d39", "type": "tab", "label": "TROS Body Detection (Application)", "disabled": false, "info": "", "env": [] }, { "id": "46004ab409d088bc", "type": "group", "z": "ebc530f442100d39", "name": "软件包智能更新", "style": { "fill": "#ffffbf", "fill-opacity": "0.46", "label": true }, "nodes": [ "d9c9df8dd8448df0", "561682ff65d38d33", "1fc8ec23ae9f57fe" ], "x": 314, "y": 79, "w": 592, "h": 82 }, { "id": "7a93aceee3725e36", "type": "group", "z": "ebc530f442100d39", "name": "检查及运行BodyDetection节点", "style": { "fill": "#e3f3d3", "fill-opacity": "0.5", "label": true }, "nodes": [ "f47ecfa3e9526f84", "bf4a6316be3251dd" ], "x": 354, "y": 199, "w": 472, "h": 82 }, { "id": "1e18c8b6c5ed2575", "type": "group", "z": "ebc530f442100d39", "name": "BodyDetection结果展示", "style": { "fill": "#bfdbef", "fill-opacity": "0.47", "label": true }, "nodes": [ "046afce708038e27", "e44549be611818d5", "9a43c084de18f5c5" ], "x": 174, "y": 319, "w": 372, "h": 122 }, { "id": "672f95bfe5d0a75a", "type": "comment", "z": "ebc530f442100d39", "name": "名称：TROS应用 人体检测和跟踪", "info": "", "x": 190, "y": 40, "wires": [] }, { "id": "ce6aec122b0dffab", "type": "inject", "z": "ebc530f442100d39", "name": "了解更多", "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": 460, "y": 40, "wires": [ [ "ad108dc53fa5fa49" ] ] }, { "id": "ad108dc53fa5fa49", "type": "rdk-tools openurl", "z": "ebc530f442100d39", "name": "", "x": 640, "y": 40, "wires": [] }, { "id": "2c92622858318eb6", "type": "comment", "z": "ebc530f442100d39", "name": "注意：选择对应的摄像头类型", "info": "", "x": 220, "y": 200, "wires": [] }, { "id": "e58122874e2cf2dd", "type": "inject", "z": "ebc530f442100d39", "name": "启动（USB摄像头）", "props": [ { "p": "payload" }, { "p": "camera", "v": "usb", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "iso", "payloadType": "date", "x": 190, "y": 120, "wires": [ [ "f47ecfa3e9526f84", "046afce708038e27" ] ] }, { "id": "260cf43dad4391eb", "type": "inject", "z": "ebc530f442100d39", "name": "启动（MIPI摄像头）", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "mipi", "payload": "iso", "payloadType": "date", "x": 190, "y": 160, "wires": [ [ "f47ecfa3e9526f84", "046afce708038e27" ] ] }, { "id": "9b580414acbc4c60", "type": "inject", "z": "ebc530f442100d39", "name": "关闭", "props": [ { "p": "kill", "v": "", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "x": 150, "y": 240, "wires": [ [ "bf4a6316be3251dd" ] ] }, { "id": "764bdb71d6b42d42", "type": "comment", "z": "ebc530f442100d39", "name": "注意：使用结束后请主动关闭", "info": "", "x": 220, "y": 280, "wires": [] }, { "id": "d9c9df8dd8448df0", "type": "rdk-tools smartupdate", "z": "ebc530f442100d39", "g": "46004ab409d088bc", "name": "", "x": 420, "y": 120, "wires": [ [ "561682ff65d38d33" ], [] ] }, { "id": "561682ff65d38d33", "type": "change", "z": "ebc530f442100d39", "g": "46004ab409d088bc", "name": "更新提示", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "智能更新已完成", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 600, "y": 120, "wires": [ [ "1fc8ec23ae9f57fe" ] ] }, { "id": "1fc8ec23ae9f57fe", "type": "rdk-tools texttoaudio", "z": "ebc530f442100d39", "g": "46004ab409d088bc", "name": "", "x": 810, "y": 120, "wires": [] }, { "id": "f47ecfa3e9526f84", "type": "change", "z": "ebc530f442100d39", "g": "7a93aceee3725e36", "name": "设定BodyDetection节点", "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": [ [ "bf4a6316be3251dd" ] ] }, { "id": "bf4a6316be3251dd", "type": "rdk-tools checkexecute", "z": "ebc530f442100d39", "g": "7a93aceee3725e36", "name": "", "x": 710, "y": 240, "wires": [ [ "cb17ef686981abfd" ], [ "18d6321f60a9f1a1" ] ] }, { "id": "cb17ef686981abfd", "type": "debug", "z": "ebc530f442100d39", "name": "正确执行提示", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 920, "y": 220, "wires": [] }, { "id": "18d6321f60a9f1a1", "type": "debug", "z": "ebc530f442100d39", "name": "错误执行提示", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 920, "y": 260, "wires": [] }, { "id": "b950ec38b51bb5c2", "type": "debug", "z": "ebc530f442100d39", "name": "算法结果输出", "active": false, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "statusVal": "", "statusType": "auto", "x": 700, "y": 340, "wires": [] }, { "id": "74803f66fed46b3f", "type": "debug", "z": "ebc530f442100d39", "name": "性能信息输出", "active": false, "tosidebar": true, "console": false, "tostatus": false, "complete": "true", "targetType": "full", "statusVal": "", "statusType": "auto", "x": 700, "y": 380, "wires": [] }, { "id": "046afce708038e27", "type": "delay", "z": "ebc530f442100d39", "g": "1e18c8b6c5ed2575", "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": [ [ "e44549be611818d5" ] ] }, { "id": "e44549be611818d5", "type": "change", "z": "ebc530f442100d39", "g": "1e18c8b6c5ed2575", "name": "设定链接", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "ws://{host}:8080", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 260, "y": 400, "wires": [ [ "9a43c084de18f5c5" ] ] }, { "id": "9a43c084de18f5c5", "type": "rdk-tools videows", "z": "ebc530f442100d39", "g": "1e18c8b6c5ed2575", "name": "", "fps": "15", "width": 640, "active": true, "x": 440, "y": 380, "wires": [ [ "b950ec38b51bb5c2", "f9266aef60257d37", "3070303c65e74806" ], [ "74803f66fed46b3f" ], [] ] }, { "id": "bcd85829230a9ae2", "type": "inject", "z": "ebc530f442100d39", "name": "更新软件包", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 160, "y": 80, "wires": [ [ "d9c9df8dd8448df0" ] ] }, { "id": "7333296a960a957e", "type": "inject", "z": "ebc530f442100d39", "name": "打开可视化页面", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "http://{host}:8000", "payloadType": "str", "x": 700, "y": 300, "wires": [ [ "629eeb683d3dad98" ] ] }, { "id": "629eeb683d3dad98", "type": "rdk-tools openurl", "z": "ebc530f442100d39", "name": "", "x": 900, "y": 300, "wires": [] }, { "id": "f9266aef60257d37", "type": "change", "z": "ebc530f442100d39", "name": "提取类型", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "attributes.type", "tot": "msg" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 120, "y": 480, "wires": [ [ "7c0e1e09a3a5936e" ] ] }, { "id": "7c0e1e09a3a5936e", "type": "rdk-tools output", "z": "ebc530f442100d39", "name": "", "active": true, "x": 120, "y": 520, "wires": [] }, { "id": "3070303c65e74806", "type": "switch", "z": "ebc530f442100d39", "name": "过滤类别", "property": "attributes.type", "propertyType": "msg", "rules": [ { "t": "eq", "v": "body", "vt": "str" } ], "checkall": "true", "repair": false, "outputs": 1, "x": 120, "y": 680, "wires": [ [ "afbd1115276325db" ] ] }, { "id": "afbd1115276325db", "type": "change", "z": "ebc530f442100d39", "name": "计算box面积", "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": 130, "y": 720, "wires": [ [ "7ddb3853b953e2cb" ] ] }, { "id": "7ddb3853b953e2cb", "type": "debug", "z": "ebc530f442100d39", "name": "输出", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 110, "y": 760, "wires": [] }, { "id": "938c2152e6a5cca8", "type": "switch", "z": "ebc530f442100d39", "name": "判断大小", "property": "payload", "propertyType": "msg", "rules": [ { "t": "lt", "v": "100000", "vt": "num" }, { "t": "else" } ], "checkall": "true", "repair": false, "outputs": 2, "x": 160, "y": 840, "wires": [ [ "9ee14b1972a3b3a8", "73f729ac2f43b26d" ], [ "97a2506bfb80ca0c", "6737071973f5fc50" ] ] }, { "id": "9ee14b1972a3b3a8", "type": "change", "z": "ebc530f442100d39", "name": "设置为0", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "0", "tot": "num" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 320, "y": 780, "wires": [ [] ] }, { "id": "97a2506bfb80ca0c", "type": "change", "z": "ebc530f442100d39", "name": "设置为1", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "1", "tot": "num" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 320, "y": 820, "wires": [ [] ] }, { "id": "9fc960294712c1b8", "type": "rbe", "z": "ebc530f442100d39", "name": "过滤相同输出", "func": "rbe", "gap": "", "start": "", "inout": "out", "septopics": true, "property": "payload", "topi": "topic", "x": 500, "y": 940, "wires": [ [ "46e530f30f7dea9e" ] ] }, { "id": "73f729ac2f43b26d", "type": "change", "z": "ebc530f442100d39", "name": "输出关闭", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "关闭", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 320, "y": 920, "wires": [ [ "9fc960294712c1b8" ] ] }, { "id": "6737071973f5fc50", "type": "change", "z": "ebc530f442100d39", "name": "输出开启", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "开启", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 320, "y": 960, "wires": [ [ "9fc960294712c1b8" ] ] }, { "id": "46e530f30f7dea9e", "type": "rdk-tools texttoaudio", "z": "ebc530f442100d39", "name": "", "x": 690, "y": 940, "wires": [] } ]