From b54b1aba1f601968f2784d6f5f451214afe59a2e Mon Sep 17 00:00:00 2001
From: Mathieu Beligon <mathieu.beligon@gmail.com>
Date: Sun, 22 Mar 2020 14:58:57 -0400
Subject: [PATCH] WIP
---
.../common/pipeline/debug_pipeline.py | 4 +++-
.../common/view/cv2_results_viewer.py | 5 +++++
robots-at-robots/config/settings.toml | 2 +-
.../research/demos/demo_pipeline_camera.py | 21 ++++++++-----------
4 files changed, 18 insertions(+), 14 deletions(-)
diff --git a/common/polystar/common/pipeline/debug_pipeline.py b/common/polystar/common/pipeline/debug_pipeline.py
index c5822a5..869e171 100644
--- a/common/polystar/common/pipeline/debug_pipeline.py
+++ b/common/polystar/common/pipeline/debug_pipeline.py
@@ -11,6 +11,7 @@ from polystar.common.pipeline.pipeline import Pipeline
@dataclass
class DebugInfo:
+ success: bool = False
detected_objects: List[Object] = field(init=False)
validated_objects: List[Object] = field(init=False)
selected_object: Object = field(init=False)
@@ -24,9 +25,10 @@ class DebugPipeline(Pipeline):
debug_info_: DebugInfo = field(init=False, default_factory=DebugInfo)
def predict_target(self, image: Image) -> TargetABC:
- self.debug_info_ = DebugInfo()
+ #self.debug_info_ = DebugInfo()
target = super().predict_target(image)
self.debug_info_.target = target
+ self.debug_info_.success = True
def predict_best_object(self, image: Image) -> Object:
best_object = super().predict_best_object(image)
diff --git a/common/polystar/common/view/cv2_results_viewer.py b/common/polystar/common/view/cv2_results_viewer.py
index 3894982..30218d2 100644
--- a/common/polystar/common/view/cv2_results_viewer.py
+++ b/common/polystar/common/view/cv2_results_viewer.py
@@ -33,6 +33,11 @@ class CV2ResultViewer(ResultViewerABC):
self.finished = False
super().__init__(COLORS)
+ def __enter__(self):
+ cv2.namedWindow(self.name, cv2.WINDOW_NORMAL)
+ cv2.resizeWindow(self.name, 720, 480)
+ return self
+
def __exit__(self, exc_type, exc_val, exc_tb):
cv2.destroyWindow(self.name)
diff --git a/robots-at-robots/config/settings.toml b/robots-at-robots/config/settings.toml
index fe532b0..ec0e563 100644
--- a/robots-at-robots/config/settings.toml
+++ b/robots-at-robots/config/settings.toml
@@ -1,5 +1,5 @@
[default]
-MODEL_NAME = 'robots/TRT_ssd_mobilenet_v2_roco.bin'
+MODEL_NAME = 'robots/TRT_ssd_mobilenet_v2_roco_2018_03_29_20200314_015411_TWITCH_TEMP_733_IMGS_29595steps.bin'
[development]
diff --git a/robots-at-robots/research/demos/demo_pipeline_camera.py b/robots-at-robots/research/demos/demo_pipeline_camera.py
index b340ec2..8e0abd4 100644
--- a/robots-at-robots/research/demos/demo_pipeline_camera.py
+++ b/robots-at-robots/research/demos/demo_pipeline_camera.py
@@ -38,7 +38,7 @@ if __name__ == "__main__":
objects_validators=[ConfidenceObjectValidator(0.6), TypeObjectValidator(ObjectType.Armor)],
object_selector=ClosestObjectSelector(),
target_factory=RatioSimpleTargetFactory(injector.get(Camera), 300, 100),
- target_sender=FileDescriptorTargetSender(int(sys.argv[1])),
+ target_sender=PrintTargetSender(), # FileDescriptorTargetSender(int(sys.argv[1])),
)
fps = 0
@@ -48,18 +48,15 @@ if __name__ == "__main__":
viewer.new(image)
previous_time = time()
try:
- # inference
pipeline.predict_target(image)
-
- # display
+ except NoTargetFound:
+ pass
+ if pipeline.debug_info_.success:
viewer.add_objects(pipeline.debug_info_.validated_objects, forced_color=(0.6, 0.6, 0.6))
viewer.add_object(pipeline.debug_info_.selected_object)
+ fps = 0.9 * fps + 0.1 / (time() - previous_time)
+ viewer.add_text(f"FPS: {fps:.1f}", 10, 10, (0, 0, 0))
+ viewer.display()
- if viewer.finished:
- break
- except NoTargetFound:
- pass
- finally:
- fps = 0.9 * fps + 0.1 / (time() - previous_time)
- viewer.add_text(f"FPS: {fps:.1f}", 10, 10, (0, 0, 0))
- viewer.display()
+ if viewer.finished:
+ break
--
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