From 3092299cb2bfe9939ae811b2ce1338ed0caecd2f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABl=20Cartier-Michaud?= <gael.cartierm@hes-so.ch>
Date: Mon, 4 Sep 2023 10:26:06 +0200
Subject: [PATCH] simplify harvest callback
---
config/config_detect_only.yaml | 23 +++++++++++++++++++++++
config/config_laptop.yaml | 2 +-
demo/detector.py | 30 +++++++++++++++---------------
3 files changed, 39 insertions(+), 16 deletions(-)
create mode 100644 config/config_detect_only.yaml
diff --git a/config/config_detect_only.yaml b/config/config_detect_only.yaml
new file mode 100644
index 00000000..f5e46984
--- /dev/null
+++ b/config/config_detect_only.yaml
@@ -0,0 +1,23 @@
+# Configuration pour le laptop
+
+detector:
+ harvest : False
+ frame_before_exit : 30
+ homography_path : './demo/homography_matrix.csv'
+
+cam :
+ dev_num : 2
+ img_sz : [1280, 720]
+ pix_format : 'GREY'
+ brightness : 15
+
+model :
+ path : './demo/model/model_demo.pt'
+ img_sz : [1280,1280]
+ show : True
+ verbose : False
+
+ip :
+ detectorIP : '192.168.125.42'
+ armIP : '192.168.125.1'
+ port : 50000
diff --git a/config/config_laptop.yaml b/config/config_laptop.yaml
index 8eda96e1..3401c430 100644
--- a/config/config_laptop.yaml
+++ b/config/config_laptop.yaml
@@ -2,7 +2,7 @@
detector:
harvest : True
- frame_before_exit : 30
+ frame_before_exit : 25
homography_path : './demo/homography_matrix.csv'
cam :
diff --git a/demo/detector.py b/demo/detector.py
index e06d4150..c65e824b 100644
--- a/demo/detector.py
+++ b/demo/detector.py
@@ -27,25 +27,25 @@ class Detector :
return config
def __harvestCallback( self, predictor ) :
- nothing = True
- classes, coordinates = predictor.results[0].boxes.cls.cpu().numpy(), predictor.results[0].cpu().boxes.xywh.numpy()
- for cl, coord in zip( classes, coordinates ) :
- arm_coord = self.myArm.point_projection( (coord[0], coord[1]) )
- if not self.myArm.coordReachable( arm_coord ) or self.myModel.labelNum2Str( cl ) == 'hand' : pass
- else :
- nothing = False
- if not self.harvest_job.is_alive() :
+ if not self.harvest_job.is_alive() :
+ nothing = True
+ classes, coordinates = predictor.results[0].boxes.cls.cpu().numpy(), predictor.results[0].cpu().boxes.xywh.numpy()
+ for cl, coord in zip( classes, coordinates ) :
+ arm_coord = self.myArm.point_projection( (coord[0], coord[1]) )
+ if not self.myArm.coordReachable( arm_coord ) or self.myModel.labelNum2Str( cl ) == 'hand' : pass
+ else :
+ nothing = False
print( "\n{} : x: {}, y: {}".format( self.myModel.labelNum2Str(cl), arm_coord[0], arm_coord[1] ) )
self.myArm.target = ( arm_coord[0], arm_coord[1], cl )
self.startHarvestJob()
break
- if nothing : self.nothing_counter += 1
- if self.isHarvestEnd() :
- if not self.harvest_job.is_alive() :
- print( "\n##### THE END #####\n")
- self.myArm.target = ( 0, 0, self.myArm.end_value )
- self.startHarvestJob()
- self.exit_status = True
+ if nothing : self.nothing_counter += 1
+ if self.isHarvestEnd() :
+ if not self.harvest_job.is_alive() :
+ print( "\n##### THE END #####\n")
+ self.myArm.target = ( 0, 0, self.myArm.end_value )
+ self.startHarvestJob()
+ self.exit_status = True
def startHarvestJob( self ) :
self.harvest_job = Thread( target = self.myArm.harvest, args = ( self.myArm.target, ) )
--
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