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RoboWaiter
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更新了 行人地图信息

This commit is contained in:
Caiyishuai 2023-11-20 17:04:22 +08:00
parent 14fde64ce3
commit 6ea4d91a44
2 changed files with 42 additions and 6 deletions
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37
robowaiter/scene/scene.py
View File

@ -122,6 +122,11 @@ class Scene:
self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2))
self.infoCount = 0
file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl')
if os.path.exists(file_name):
with open(file_name, 'rb') as file:
self.map_map_real = pickle.load(file)
# init robot
if robot:
robot.set_scene(self)
@ -1138,6 +1143,7 @@ class Scene:
d_depth = np.transpose(d_depth, (1, 0, 2))
d_segment = np.transpose(d_segment, (1, 0, 2))
for i in range(0, d_segment.shape[0], map_ratio):
for j in range(0, d_segment.shape[1], map_ratio):
if d_depth[i][j][0] == 600:
@ -1151,7 +1157,7 @@ class Scene:
# print(f"kettle的像素坐标：({i},{j})")
# print(f"kettle的深度：{d_depth[i][j][0]}")
# print(f"kettle的世界坐标: {transform_co(img_data_depth, i, j, d_depth[i][j][0], scene)}")
if d_segment[i][j][0] in self.obstacle_objs_id:
if d_segment[i][j][0] in [251]:
cur_obstacle_pixel_points.append([i, j])
if d_segment[i][j][0] not in not_key_objs_id:
# 首先检查键是否存在
@ -1161,6 +1167,32 @@ class Scene:
else:
# 如果键不存在，那么创建一个新的键值对，其中键是d_segment[i][j][0]，值是一个包含元组(i, j)的列表
object_pixels[d_segment[i][j][0]] = [[i, j]]
for i in range(0, d_segment.shape[0], map_ratio):
for j in range(0, d_segment.shape[1], map_ratio):
if d_depth[i][j][0] == 600:
continue
# if d_segment[i][j] == 96:
# print(f"apple的像素坐标：({i},{j})")
# print(f"apple的深度：{d_depth[i][j][0]}")
# print(f"apple的世界坐标: {transform_co(img_data_depth, i, j, d_depth[i][j][0], scene)}")
# if d_segment[i][j] == 113:
# print(f"kettle的像素坐标：({i},{j})")
# print(f"kettle的深度：{d_depth[i][j][0]}")
# print(f"kettle的世界坐标: {transform_co(img_data_depth, i, j, d_depth[i][j][0], scene)}")
if d_segment[i][j][0] in [251]:
cur_obstacle_pixel_points.append([i, j])
if d_segment[i][j][0] not in not_key_objs_id:
# 首先检查键是否存在
if d_segment[i][j][0] in object_pixels:
# 如果键存在，那么添加元组(i, j)到对应的值中
object_pixels[d_segment[i][j][0]].append([i, j])
else:
# 如果键不存在，那么创建一个新的键值对，其中键是d_segment[i][j][0]，值是一个包含元组(i, j)的列表
object_pixels[d_segment[i][j][0]] = [[i, j]]
# print(cur_obstacle_pixel_points)
for pixel in cur_obstacle_pixel_points:
world_point = self.transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0], scene)
@ -1237,7 +1269,8 @@ class Scene:
# return cur_obstacle_world_points
def updateMap(self, points):
map = copy.deepcopy(self.map_map)
# map = copy.deepcopy(self.map_map)
map = copy.deepcopy(self.map_map_real)
for point in points:
if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450:
continue

11
robowaiter/scene/tasks/VLN/VLN_greet_lead.py
View File

@ -14,24 +14,27 @@ class SceneVLM(Scene):
# (5, self.customer_say, (0, "请问哪里有空位啊？")),
# (5, self.customer_say, (0, "我想坐高脚凳子。")),
(3, self.customer_say, (0, "你带我去吧。")),
(13, self.control_walker, (0, False,100, -250, 480,-90)),
(-1, self.customer_say, (0, "谢谢你！这儿还不错！")),
]
def _reset(self):
self.gen_obj()
self.add_walkers([
[29, 60, 520], #顾客 0
[23, 20, 320], #秃头老头子 1
[0, -55, 150], #小男孩走来走去 2
[23, 10, 220], #秃头老头子 1
[0, -55, 150], #小男孩d走来走去 2
[10, -55, 750], # 3
[19, 70, -200], #后门站着不动的 4
[21, 65, 1000, -90], #大胖男占了一号桌 5
[5, 230, 1200], #小女孩 6
[26, -28, -150, 90] , #在设置一个在后门随机游走的 7
[26, -28, 0, 90] , #在设置一个在后门随机游走的 7
[31, 280, 1200, -45] # 8
])
self.control_walker(2, True, 200, -55, 155, 90) #飞速奔跑的小男孩
self.control_walker(7, True, 80, -25, -150, 90)
# self.control_walker(7, True, 80, -25, -150, 90)
self.control_walker(5, True, 65, 995, 520, 90)
self.control_walker(4, True, 65, 70, -200, 90)
pass
def _run(self):