[robots] (TargetPipeline) Add ArmorDescriptors to pipeline

common/polystar/common/target_pipeline/armors_descriptors/armors_descriptor_abc.py

+from abc import ABC
+from typing import List
+
+from polystar.common.target_pipeline.detected_objects.detected_armor import DetectedArmor
+
+
+class ArmorsDescriptorABC(ABC):
+    def describe_armors(self, armors: List[DetectedArmor]):
+        pass

common/polystar/common/target_pipeline/target_pipeline.py

@@ -3,6 +3,7 @@ from typing import List
 
 from polystar.common.communication.target_sender_abc import TargetSenderABC
 from polystar.common.models.image import Image
+from polystar.common.target_pipeline.armors_descriptors.armors_descriptor_abc import ArmorsDescriptorABC
 from polystar.common.target_pipeline.detected_objects.detected_object import DetectedObject
 from polystar.common.target_pipeline.detected_objects.detected_robot import DetectedRobot
 from polystar.common.target_pipeline.object_selectors.object_selector_abc import ObjectSelectorABC
@@ -21,6 +22,7 @@ class NoTargetFoundException(Exception):
 class TargetPipeline:
 
     objects_detector: ObjectsDetectorABC
+    armors_descriptors: List[ArmorsDescriptorABC]
     objects_linker: ObjectsLinkerABC
     objects_validators: List[ObjectsValidatorABC[DetectedRobot]]
     object_selector: ObjectSelectorABC
@@ -54,4 +56,6 @@ class TargetPipeline:
 
     def _detect_robots(self, image: Image) -> List[DetectedRobot]:
         robots, armors = self.objects_detector.detect(image)
+        for armors_descriptor in self.armors_descriptors:
+            armors_descriptor.describe_armors(armors)
         return list(self.objects_linker.link_armors_to_robots(robots, armors, image))

robots-at-robots/research/demos/demo_pipeline.py

@@ -25,6 +25,7 @@ if __name__ == "__main__":
 
     pipeline = DebugTargetPipeline(
         objects_detector=TFModelObjectsDetector(load_tf_model(), injector.get(LabelMap)),
+        armors_descriptors=[],
         objects_validators=[ConfidenceObjectValidator(0.6)],
         object_selector=ClosestObjectSelector(),
         target_factory=RatioSimpleTargetFactory(injector.get(Camera), 300, 100),