diff --git a/polystar_cv/config/settings.toml b/polystar_cv/config/settings.toml
index c81c609731b41f3cdeaab76d868056e0641be6ef..a0c98c27549d97897da2773e718f14af62f38884 100644
--- a/polystar_cv/config/settings.toml
+++ b/polystar_cv/config/settings.toml
@@ -1,9 +1,8 @@
[default]
-CAMERA_WIDTH = 1920
-CAMERA_HEIGHT = 1080
-CAMERA_HORIZONTAL_FOV = 120
+CAMERA = 'RASPI_V2'
MODEL_NAME = 'robots/TRT_ssd_mobilenet_v2_roco.bin'
+OBJECTS_DETECTION_MODEL = "ssd_mobilenet_v2_roco_2018_03_29_20200314_015411_TWITCH_TEMP_733_IMGS_29595steps"
[development]
diff --git a/polystar_cv/polystar/common/dependency_injection.py b/polystar_cv/polystar/common/dependency_injection.py
index 88eca3aadbaef5d55dbce6cb2492254d271eb408..843a7bb28e0a3854af893da1186477273c2a6951 100644
--- a/polystar_cv/polystar/common/dependency_injection.py
+++ b/polystar_cv/polystar/common/dependency_injection.py
@@ -1,13 +1,32 @@
from dataclasses import dataclass
-from math import pi
+from typing import List
-from dynaconf import LazySettings
from injector import Injector, Module, multiprovider, provider, singleton
+from numpy.core._multiarray_umath import deg2rad
+from tensorflow.python import saved_model
-from polystar.common.constants import LABEL_MAP_PATH
+from polystar.common.communication.print_target_sender import PrintTargetSender
+from polystar.common.communication.target_sender_abc import TargetSenderABC
+from polystar.common.constants import LABEL_MAP_PATH, MODELS_DIR
from polystar.common.models.camera import Camera
from polystar.common.models.label_map import LabelMap
-from polystar.common.settings import settings
+from polystar.common.settings import Settings, settings
+from polystar.common.target_pipeline.armors_descriptors.armors_color_descriptor import ArmorsColorDescriptor
+from polystar.common.target_pipeline.armors_descriptors.armors_descriptor_abc import ArmorsDescriptorABC
+from polystar.common.target_pipeline.detected_objects.detected_objects_factory import DetectedObjectFactory
+from polystar.common.target_pipeline.detected_objects.detected_robot import DetectedRobot
+from polystar.common.target_pipeline.object_selectors.closest_object_selector import ClosestObjectSelector
+from polystar.common.target_pipeline.object_selectors.object_selector_abc import ObjectSelectorABC
+from polystar.common.target_pipeline.objects_detectors.objects_detector_abc import ObjectsDetectorABC
+from polystar.common.target_pipeline.objects_detectors.tf_model_objects_detector import TFModelObjectsDetector
+from polystar.common.target_pipeline.objects_linker.objects_linker_abs import ObjectsLinkerABC
+from polystar.common.target_pipeline.objects_linker.simple_objects_linker import SimpleObjectsLinker
+from polystar.common.target_pipeline.objects_validators.confidence_object_validator import ConfidenceObjectValidator
+from polystar.common.target_pipeline.objects_validators.objects_validator_abc import ObjectsValidatorABC
+from polystar.common.target_pipeline.target_factories.ratio_simple_target_factory import RatioSimpleTargetFactory
+from polystar.common.target_pipeline.target_factories.target_factory_abc import TargetFactoryABC
+from research.robots.armor_color.pipeline import ArmorColorPipeline
+from research.robots.armor_color.scripts.benchmark import MeanChannels, RedBlueComparisonClassifier
def make_injector() -> Injector:
@@ -16,16 +35,61 @@ def make_injector() -> Injector:
@dataclass
class CommonModule(Module):
- settings: LazySettings
+ settings: Settings
@provider
@singleton
def provide_camera(self) -> Camera:
- return Camera(
- self.settings.CAMERA_HORIZONTAL_FOV / 180 * pi, self.settings.CAMERA_WIDTH, self.settings.CAMERA_HEIGHT
- )
+ if settings.CAMERA == "RASPI_V2":
+ return Camera(
+ horizontal_fov=deg2rad(62.2),
+ vertical_fov=deg2rad(48.8),
+ pixel_size_m=1.12e-6,
+ focal_m=3.04e-3,
+ vertical_resolution=720,
+ horizontal_resolution=1_280,
+ )
+ raise ValueError(f"Camera {settings.CAMERA} not recognized")
@multiprovider
@singleton
def provide_label_map(self) -> LabelMap:
return LabelMap.from_file(LABEL_MAP_PATH)
+
+ @provider
+ @singleton
+ def provide_objects_detector(self, object_factory: DetectedObjectFactory) -> ObjectsDetectorABC:
+ if self.settings.is_dev:
+ tf_model = saved_model.load(str(MODELS_DIR / "robots" / settings.OBJECTS_DETECTION_MODEL / "saved_model"))
+ return TFModelObjectsDetector(object_factory, tf_model.signatures["serving_default"])
+ raise NotImplementedError()
+
+ @multiprovider
+ @singleton
+ def provide_armor_descriptors(self) -> List[ArmorsDescriptorABC]:
+ return [ArmorsColorDescriptor(ArmorColorPipeline.from_pipes([MeanChannels(), RedBlueComparisonClassifier()]))]
+
+ @multiprovider
+ @singleton
+ def provide_objects_validators(self) -> List[ObjectsValidatorABC[DetectedRobot]]:
+ return [ConfidenceObjectValidator(0.6)]
+
+ @provider
+ @singleton
+ def provide_object_selector(self) -> ObjectSelectorABC:
+ return ClosestObjectSelector()
+
+ @provider
+ @singleton
+ def provide_target_factory(self, camera: Camera) -> TargetFactoryABC:
+ return RatioSimpleTargetFactory(camera, 0.3, 0.1)
+
+ @provider
+ @singleton
+ def provide_target_sender(self) -> TargetSenderABC:
+ return PrintTargetSender()
+
+ @provider
+ @singleton
+ def provide_objects_linker(self) -> ObjectsLinkerABC:
+ return SimpleObjectsLinker(min_percentage_intersection=0.8)
diff --git a/polystar_cv/polystar/common/models/camera.py b/polystar_cv/polystar/common/models/camera.py
index 9e0c28f7c00e079e1d4808057f6353079def7df1..7da33a32b0ee61fa59f89afe27a16200f8aea707 100644
--- a/polystar_cv/polystar/common/models/camera.py
+++ b/polystar_cv/polystar/common/models/camera.py
@@ -3,7 +3,11 @@ from dataclasses import dataclass
@dataclass
class Camera:
- horizontal_angle: float
+ horizontal_fov: float
+ vertical_fov: float
- w: int
- h: int
+ pixel_size_m: float
+ focal_m: float
+
+ vertical_resolution: int
+ horizontal_resolution: int
diff --git a/polystar_cv/polystar/common/target_pipeline/target_factories/ratio_target_factory_abc.py b/polystar_cv/polystar/common/target_pipeline/target_factories/ratio_target_factory_abc.py
index 1f8a3917b372eb22ab265813558dba2ddfbad018..8b953049a1c22c3d927c1374452004f43842b1bc 100644
--- a/polystar_cv/polystar/common/target_pipeline/target_factories/ratio_target_factory_abc.py
+++ b/polystar_cv/polystar/common/target_pipeline/target_factories/ratio_target_factory_abc.py
@@ -1,5 +1,5 @@
from abc import ABC
-from math import sin, asin, sqrt, atan2
+from math import atan2, pi, tan
from typing import Tuple
import numpy as np
@@ -10,17 +10,16 @@ from polystar.common.target_pipeline.target_factories.target_factory_abc import
class RatioTargetFactoryABC(TargetFactoryABC, ABC):
- def __init__(self, camera: Camera, real_width: float, real_height: float):
- self._ratio_w = real_width * camera.w // 2 / sin(camera.horizontal_angle)
- # self._ratio_h = real_height * camera.h // 2 / sin(camera.vertical_angle)
-
- self._coef_angle = sin(camera.horizontal_angle) / (camera.w // 2)
+ def __init__(self, camera: Camera, real_width_m: float, real_height_m: float):
+ self._vertical_distance_coef = camera.focal_m * real_height_m * camera.pixel_size_m
+ self._vertical_angle_distance = camera.vertical_resolution / (2 * tan(camera.vertical_fov))
+ self._horizontal_angle_distance = camera.horizontal_resolution / (2 * tan(camera.horizontal_fov))
def _calculate_angles(self, obj: DetectedObject, image: np.ndarray) -> Tuple[float, float]:
x, y = obj.box.x + obj.box.w // 2 - image.shape[1] // 2, image.shape[0] // 2 - obj.box.y + obj.box.h // 2
- phi = asin(sqrt(x ** 2 + y ** 2) * self._coef_angle)
- theta = atan2(y, x)
+ phi = -atan2(x, self._horizontal_angle_distance)
+ theta = pi / 2 + atan2(y, self._vertical_angle_distance)
return phi, theta
def _calculate_distance(self, obj: DetectedObject) -> float:
- return self._ratio_w / obj.box.w
+ return obj.box.h / self._vertical_distance_coef