diff --git a/src/client.py b/src/client.py
old mode 100644
new mode 100755
diff --git a/src/creds.py b/src/creds.py
index f1d436c094fadcb7cabee25a930c8845a99c5fe3..ce5142d0034226ca35a6f135ddff446b1d6a7930 100644
--- a/src/creds.py
+++ b/src/creds.py
@@ -1,2 +1,2 @@
-device_id="***REMOVED***"
-token=***REMOVED***
+device_id="***REMOVED***"
+token=***REMOVED***
diff --git a/src/detect.py b/src/detect.py
index acccc62fb22f742f7b50cf8ec6477c9466c3484a..ea1c2dc85989052f919b867f52007b525aab6e11 100644
--- a/src/detect.py
+++ b/src/detect.py
@@ -3,7 +3,7 @@ load images taken by the camera, return bounding boxes
customized based on Alexy/darknet_images.py
'''
-import argparse
+from argparse import ArgumentParser, Namespace
import os
import glob
import random
@@ -14,32 +14,6 @@ import cv2
import numpy as np
-def parser():
- parser = argparse.ArgumentParser(description="YOLO Object Detection")
- parser.add_argument("--input", type=str, default="../img",
- help="image source. It can be a single image, a"
- "txt with paths to them, or a folder. Image valid"
- " formats are jpg, jpeg or png."
- "If no input is given, ")
- parser.add_argument("--batch_size", default=1, type=int,
- help="number of images to be processed at the same time")
- parser.add_argument("--weights", default="../weights/yolov3-vattenhallen_best.weights",
- help="yolo weights path")
- parser.add_argument("--dont_show", action='store_true',
- help="windown inference display. For headless systems")
- parser.add_argument("--ext_output", action='store_true',
- help="display bbox coordinates of detected objects")
- parser.add_argument("--save_labels", action='store_true',
- help="save detections bbox for each image in yolo format")
- parser.add_argument("--config_file", default="../cfg/yolov3-vattenhallen-test.cfg",
- help="path to config file")
- parser.add_argument("--data_file", default="../data/vattenhallen.data",
- help="path to data file")
- parser.add_argument("--thresh", type=float, default=.25,
- help="remove detections with lower confidence")
- return parser.parse_args()
-
-
def check_arguments_errors(args):
assert 0 < args.thresh < 1, "Threshold should be a float between zero and one (non-inclusive)"
if not os.path.exists(args.config_file):
@@ -120,8 +94,7 @@ def save_annotations(original_size, name, image, detections, class_names):
f.write("{} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f}\n".format(label, x*width, y*height, w*width, h*height, float(confidence)))
-def detect():
- args = parser()
+def detect(args: Namespace)-> None:
check_arguments_errors(args)
random.seed(3) # deterministic bbox colors
@@ -160,4 +133,29 @@ def detect():
if __name__ == "__main__":
- detect()
+ parser = ArgumentParser(description="YOLO Object Detection")
+ parser.add_argument("--input", type=str, default="../img",
+ help="image source. It can be a single image, a"
+ "txt with paths to them, or a folder. Image valid"
+ " formats are jpg, jpeg or png."
+ "If no input is given, ")
+ parser.add_argument("--batch_size", default=1, type=int,
+ help="number of images to be processed at the same time")
+ parser.add_argument("--weights", default="../weights/yolov3-vattenhallen_best.weights",
+ help="yolo weights path")
+ parser.add_argument("--dont_show", action='store_true',
+ help="windown inference display. For headless systems")
+ parser.add_argument("--ext_output", action='store_true',
+ help="display bbox coordinates of detected objects")
+ parser.add_argument("--save_labels", action='store_true',
+ help="save detections bbox for each image in yolo format")
+ parser.add_argument("--config_file", default="../cfg/yolov3-vattenhallen-test.cfg",
+ help="path to config file")
+ parser.add_argument("--data_file", default="../data/vattenhallen.data",
+ help="path to data file")
+ parser.add_argument("--thresh", type=float, default=.25,
+ help="remove detections with lower confidence")
+ parser.add_argument('-v', '--verbose', action='store_true', help='Verbose mode')
+ arguments = parser.parse_args()
+
+ detect(arguments)
diff --git a/src/location.py b/src/location.py
index 69a8b163d5d7cda4475321241476efaeabf727b4..856f8b566e4f79a96572e38131c177ae80aab58c 100644
--- a/src/location.py
+++ b/src/location.py
@@ -98,9 +98,12 @@ def read_locations(locations_path: Path) -> Optional[ndarray]:
return None
number_files = len(listdir(locations_path))
- if number_files != 1:
+ if number_files > 1:
_LOG.error('More than one file of locations found the {}'.format(locations_path))
- return None
+ raise FileExistsError
+ elif number_files == 0:
+ _LOG.error('No file of locations found the {}'.format(locations_path))
+ raise FileNotFoundError
locations_file = Path(locations_path, [file for file in listdir(locations_path)][0])
if not locations_file.suffix.lstrip('.') in _LOCATIONS_EXTENSIONS:
@@ -164,8 +167,8 @@ def cal_location(args: Namespace) -> ndarray:
main function for this script
'''
cam_offset, gripper_offset = read_offsets(args.offset)
- K_matrix = load_cam_matrix(args.camera_matrix)
- list_location = read_locations(args.locations)
+ K_matrix = load_cam_matrix(args.camera_matrix)
+ list_location = read_locations(args.locations) # 如果没有文件，会报错
# iterate over each annotation file
_LOG.info('Global coordinate calculation begins.')
list_annotations = listdir(args.annotations)
@@ -201,15 +204,15 @@ def cal_location(args: Namespace) -> ndarray:
center_x = detection[1]
center_y = detection[2]
category = detection[0]
+ confidence = detection[5]
# pixel coordinate to camera coordinate
local_coordinate = cam_coordinate(center_x, center_y, K_matrix)
# camera coordinate to global coordinate
global_x, global_y = global_coordinate(local_coordinate,
list_location[index_photo], cam_offset, gripper_offset)
- list_global_coordinate.append([category, global_x, global_y])
+ list_global_coordinate.append([category, global_x, global_y, confidence])
_LOG.debug(list_global_coordinate[-1])
-
_LOG.info('Global coordinate calculation is done.')
return array(list_global_coordinate)
diff --git a/src/main.py b/src/main.py
index d33fc3b8378bdad6605718becb488b1d534a2f76..5d876c21bba0f9771690391ba30a3b09eb23338c 100644
--- a/src/main.py
+++ b/src/main.py
@@ -5,7 +5,8 @@ The main script of the project, it calls scripts for movement, detection, and co
'''
from argparse import ArgumentParser, Namespace
from logging import StringTemplateStyle
-import os
+from os import listdir, remove
+from os.path import join
from pathlib import Path
from typing import Tuple
from numpy import sqrt
@@ -19,7 +20,9 @@ _Log = getLogger(__name__)
GRIP_Z = -200 # measure!
SCAN_Z = -100
-
+ORIGIN_X = 0
+ORIGIN_Y = 0
+ORIGIN_Z = 0
def remove_overlap(table_coordinate:DataFrame, tolerance=50.00)->DataFrame:
'''
@@ -45,8 +48,15 @@ def remove_overlap(table_coordinate:DataFrame, tolerance=50.00)->DataFrame:
return table_coordinate
-# 还要定期清理掉img下所有文件
-def remove_temp():
+
+def remove_temp(path: Path)-> None:
+ '''
+ Clean temporary files, i.e., photos, location.txt, annotations
+ '''
+ for filename in listdir(path):
+ file =Path(join(path, filename))
+ if file.is_file():
+ remove(file)
return
@@ -54,15 +64,15 @@ def main(args: Namespace):
# scan
scan()
# detect
- detect()
+ detect(args)
# calculate locations
- list_global_coordinate = cal_location()
+ list_global_coordinate = cal_location(args)
# choose class
table_global_coordinate = DataFrame(list_global_coordinate, columns=['class', 'x', 'y', 'confidence'])
# remove overlap
table_global_coordinate = remove_overlap(table_global_coordinate)
goal_class = table_global_coordinate[table_global_coordinate['class']==args.category]
- # if there is no desiered class og plants
+ # if there is no desiered class of plants
if goal_class.empty:
_LOG.info("There is no {}".format(args.category))
# move and grip
@@ -70,13 +80,16 @@ def main(args: Namespace):
for i in range(num_goals):
x, y = goal_class.loc[i, ['x','y']]
simple_move(x, y, GRIP_Z, False)
- gripper(True)
- gripper(False) # 如何保证每次gripper都是开着的？
- # 等待若干秒
- # 回原点
- simple_move(x, y, GRIP_Z, False)
+ gripper(True) # to ensure the gripper is open
+ gripper(False)
+
+ # go back to the origin
+ simple_move(ORIGIN_X, ORIGIN_Y, ORIGIN_Z, False)
gripper(True)
# clean temporary files if all the previous step work
+ remove_temp(args.input)
+ remove_temp(args.locations)
+ remove_temp(args.annotations)
return
@@ -85,27 +98,27 @@ def main(args: Namespace):
if __name__ == '__main__':
parser = ArgumentParser(description="YOLOv3 detection on Farmbot")
# parsers for detect
- parser.add_argument(
- '-w',
- "--weights",
- type=Path,
- default="yolov4.weights",
- help="yolo pretrained weights path"
- )
- parser.add_argument(
- '-cfg',
- "--config_file",
- type = Path,
- default = "./cfg/yolov4.cfg",
- help = "path to config file"
- )
- parser.add_argument(
- '-d',
- "--data_file",
- type = Path,
- default="./cfg/coco.data",
- help="path to data file"
- )
+ parser.add_argument("--input", type=str, default="../img",
+ help="image source. It can be a single image, a"
+ "txt with paths to them, or a folder. Image valid"
+ " formats are jpg, jpeg or png."
+ "If no input is given, ")
+ parser.add_argument("--batch_size", default=1, type=int,
+ help="number of images to be processed at the same time")
+ parser.add_argument("--weights", default="../weights/yolov3-vattenhallen_best.weights",
+ help="yolo weights path")
+ parser.add_argument("--dont_show", action='store_true',
+ help="windown inference display. For headless systems")
+ parser.add_argument("--ext_output", action='store_true',
+ help="display bbox coordinates of detected objects")
+ parser.add_argument("--save_labels", action='store_true',
+ help="save detections bbox for each image in yolo format")
+ parser.add_argument("--config_file", default="../cfg/yolov3-vattenhallen-test.cfg",
+ help="path to config file")
+ parser.add_argument("--data_file", default="../data/vattenhallen.data",
+ help="path to data file")
+ parser.add_argument("--thresh", type=float, default=.25,
+ help="remove detections with lower confidence")
# arguemtns for grip
parser.add_argument(
'-ca',
@@ -114,10 +127,42 @@ if __name__ == '__main__':
help='Choose the class of fruits to be picked up. There are tomato, mushroom,\
potato, carrot, beetroot, zucchini, hand'
)
- # parsers for move
# arguments for location
-
-
+ parser.add_argument(
+ '-cam',
+ '--camera_matrix',
+ type=Path,
+ default='../static/camera_no_distortion.mat',
+ help='Path to mat file that contains intrinsic camera matrix K'
+ )
+ parser.add_argument(
+ '-loc',
+ '--locations',
+ type=Path,
+ default='../img/locations/',
+ help='the path to txt files contains locations from encoders corresponds to each photo'
+ )
+ parser.add_argument(
+ '-a',
+ '--annotations',
+ type=Path,
+ default='../img/annotations',
+ help='the path to txt files contains annotations for each photo'
+ )
+ parser.add_argument(
+ '-o',
+ '--offset',
+ type=Path,
+ default='../static/distance.txt',
+ help='the txt contains distance offset for camera and gripper'
+ )
+ parser.add_argument(
+ '-l',
+ '--log',
+ type=Path,
+ default='../log/main.log',
+ help='Path to the log file'
+ )
parser.add_argument('-v', '--verbose', action='store_true', help='Verbose mode.')
arguments = parser.parse_args()
diff --git a/src/move.py b/src/move.py
index 26fc55550d800e6d5b0f8b0481b4c35abfd04f4a..77d57d9807889521bf544aa6402776d2efd2f767 100644
--- a/src/move.py
+++ b/src/move.py
@@ -10,7 +10,7 @@ from logging import getLogger
from os import path, makedirs
from time import sleep, time
#from serial import Serial, PARITY_NONE, STOPBITS_ONE, EIGHTBITS
-# from requests.api import delete
+from requests.api import delete
from typing import List
from pathlib import Path
from logging import basicConfig, DEBUG, INFO, error, getLogger
@@ -38,7 +38,7 @@ class Opts:
self.flag = flag
-def scan(min_x=0, max_x=1300, min_y=0, max_y=1000, delta=500, offset=0, flag=True) -> List: #里面的数字需要重新测量
+def scan(min_x=0, max_x=1300, min_y=0, max_y=1000, delta=500, offset=0, flag=True) -> List: #numbers need to be re-measured
'''
scan the bed at a certain height, first move along x axis, then y, like a zig zag;
Taking pictures and record the location of the camera that corresponds to the picture
@@ -140,6 +140,7 @@ def simple_move(x: int, y: int, z: int, photo: bool) -> None:
def gripper(open: bool) -> None:
'''
Use a serial port to drive the gripper to open or close
+ :param open: True: open False: Close
'''
ser = Serial(
port = 'COM4', # 这里不应为hard code
@@ -164,8 +165,16 @@ if __name__ == '__main__':
type=int,
help='Mode for FarmBot, 1 for simple move with an assigned detination, 2 for scaning'
)
-
+ parser.add_argument(
+ '-l',
+ '--log',
+ type=Path,
+ default='../log/move.log',
+ help='Path to the log file'
+ )
+ parser.add_argument('-v', '--verbose', action='store_true', help='Verbose mode')
arguments = parser.parse_args()
+
if arguments.mode == 1:
Logger.info('Input the destination:')
@@ -175,9 +184,10 @@ if __name__ == '__main__':
photo = True if input('Take a photo or not?[Y/N]:') == 'Y' else False
simple_move_start = time()
simple_move(destination_x, destination_y, destination_z, photo)
- Logger.info(f'time cost {time.time()-simple_move_start}')
+ Logger.info(f'time cost {time()-simple_move_start}')
elif arguments.mode == 2:
scan()
else:
Logger.error('Wrong mode number {arguments.mode}')
+
diff --git a/src/request_token.py b/src/request_token.py
new file mode 100755
index 0000000000000000000000000000000000000000..ef793f927a00fa57635ec4f13c74816e0a939bbd
--- /dev/null
+++ b/src/request_token.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+
+# request a token (for creds.py)
+
+import argparse
+import json
+from urllib import request
+
+parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+parser.add_argument('--email', type=str, help="user email for token request")
+parser.add_argument('--password', type=str, help="user password for token request")
+opts = parser.parse_args()
+print("opts %s" % opts)
+
+auth_info = {'user': {'email': opts.email, 'password': opts.password }}
+
+req = request.Request('https://my.farmbot.io/api/tokens')
+req.add_header('Content-Type', 'application/json')
+response = request.urlopen(req, data=json.dumps(auth_info).encode('utf-8'))
+
+token_info = json.loads(response.read().decode())
+
+print("mqtt host [%s]" % token_info['token']['unencoded']['mqtt'])
+
+print("rewriting creds.py")
+with open("creds.py", "w") as f:
+ f.write("device_id=\"%s\"\n" % token_info['token']['unencoded']['bot'])
+ f.write("token=\"%s\"\n" % token_info['token']['encoded'])
diff --git a/src/try.py b/src/try.py
new file mode 100644
index 0000000000000000000000000000000000000000..9f42d8e8956fddf9c0fa5cc0e27b7b2fda4c2000
--- /dev/null
+++ b/src/try.py
@@ -0,0 +1,14 @@
+from os import listdir, remove
+from os.path import join
+from pathlib import Path
+
+def remove_temp(path: Path)-> None:
+ # list file
+ for filename in listdir(path):
+ file =Path(join(path, filename))
+ if file.is_file():
+ remove(file)
+ return
+
+path = '../img'
+remove_temp(path)
\ No newline at end of file