From b59748b5003dc67c8a2d9155d95eaeae275e9c9e Mon Sep 17 00:00:00 2001
From: Zilian <13718722639leo@gmail.com>
Date: Tue, 16 Nov 2021 21:00:37 +0100
Subject: [PATCH] add main
---
README.md | 2 +-
src/detect.py | 4 ++--
src/location.py | 1 +
src/main.py | 30 +++++++++++++++---------------
src/move.py | 5 +++--
5 files changed, 22 insertions(+), 20 deletions(-)
diff --git a/README.md b/README.md
index 832fb08..c70a027 100644
--- a/README.md
+++ b/README.md
@@ -59,7 +59,7 @@ The software has three main modules:
We also provide `main.py` as a warpper for all the modules above. By runing it, you can make Farmbot automatically conduct the whole process. The three modules can also be run sperately, mostly for debugging purpose.
-First go to `/src/` to run the following scripts.
+First go to `/src/` and `conda activate <env>` to run the following scripts. `<env>` is the same as the one you created in *Install, Compile*
### Move Famrbot, take photos, and open/close the gripper
### YOLO detection
All the arguments for file path are set to default.
diff --git a/src/detect.py b/src/detect.py
index 28f2fe8..acccc62 100644
--- a/src/detect.py
+++ b/src/detect.py
@@ -120,7 +120,7 @@ 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 main():
+def detect():
args = parser()
check_arguments_errors(args)
@@ -160,4 +160,4 @@ def main():
if __name__ == "__main__":
- main()
+ detect()
diff --git a/src/location.py b/src/location.py
index 864ca95..69a8b16 100644
--- a/src/location.py
+++ b/src/location.py
@@ -254,6 +254,7 @@ if __name__ == '__main__':
parser.add_argument('-v', '--verbose', action='store_true', help='Verbose mode')
arguments = parser.parse_args()
+
if arguments.verbose:
basicConfig(filename=arguments.log, level=DEBUG)
else:
diff --git a/src/main.py b/src/main.py
index c4d9b16..ba5dc8a 100644
--- a/src/main.py
+++ b/src/main.py
@@ -17,30 +17,30 @@ from location import *
_Log = getLogger(__name__)
-def remove_overlap():
- return
+def remove_overlap(table_coordinate:DataFrame, tolerance=50.00)->DataFrame:
+ '''
+ compare every two coordinates, if their Euclidean distance is smaller than tolerance
+ , delete the one with lower probability
+ '''
+ # 这又要求重写前面的了，加入 probability
+ return table_coordinate
# 还要定期清理掉img下所有文件
def remove_temp():
return
-def choose_class(category: int) -> :
- '''
- Choose the category to pick up
- '''
- return
-
def main(args: Namespace):
# scan
-
+ scan()
# detect
-
+ detect()
# calculate locations
-
+ list_global_coordinate = cal_location()
# choose class
- list_global_coordinate[:, 0]
-
+ table_global_coordinate = DataFrame(list_global_coordinate, columns=['class', 'x', 'y'])
+ goal_class = list_global_coordinate[table_global_coordinate['class']==args.category]
+ # 添加一个if判断，如果该类为空，则显示
# remove overlap
# move
@@ -79,8 +79,8 @@ if __name__ == '__main__':
)
# arguemtns for grip
parser.add_argument(
- '-cl',
- '--class',
+ '-ca',
+ '--category',
type=str,
help='Choose the class of fruits to be picked up. There are tomato, mushroom,\
potato, carrot, beetroot, zucchini, hand'
diff --git a/src/move.py b/src/move.py
index 5f380fa..32efa82 100644
--- a/src/move.py
+++ b/src/move.py
@@ -39,10 +39,11 @@ 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:
+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
'''
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
+ The default value of x, y should be from the measurement of Farmbot
Input: min_x: left most point on x axis
max_x: right most point on x axis
min_y: front most point on y axis
@@ -77,7 +78,7 @@ def scan(min_x=0, max_x=1300, min_y=0, max_y=1000, delta=500, offset=0, flag=Tru
#client #需要添加一个函数，读取当前位置,需要吗？
client.take_photo() # 拍照时，需要记住每张照片对应的相机位置！
client.shutdown()
- return pts
+ return pts # 这里应该写入文件 img/location
def download_images() -> Path:
--
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