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RoboWaiter
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更新scene

This commit is contained in:
liwang_zhang 2023-11-29 00:05:12 +08:00
parent 4e9d1e434b
commit 9e4d4f2bf9
5 changed files with 26 additions and 8 deletions
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2
robowaiter/proto/camera.py
View File

@ -480,7 +480,7 @@ def get_obstacle_point(sence, db, scene, cur_obstacle_world_points, map_ratio):
# plt.text(0, 0.7, f'检测物体数量：{obj_detect_count}', fontsize=10)
# plt.show()
return cur_obstacle_world_points, cur_objs_id
return cur_obstacle_world_points, cur_objs_id, obj_detect_count

14
robowaiter/scene/scene.py
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@ -1,4 +1,5 @@
import io
import json
import pickle
import sys
import time
@ -1180,7 +1181,7 @@ class Scene:
# cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(plt, db, scene,
# cur_obstacle_world_points, map_ratio)
cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(self, db, scene,
cur_obstacle_world_points, cur_objs_id, obj_detect_count= camera.get_obstacle_point(self, db, scene,
cur_obstacle_world_points, map_ratio)
# cur_obstacle_world_points, cur_objs_id = self.get_obstacle_point(db, scene, map_ratio)
# # self.get_obstacle_point(db, scene, cur_obstacle_world_points, map_ratio)
@ -1206,12 +1207,12 @@ class Scene:
# cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs,
# objs_name_set)
cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(self, db, scene,
cur_obstacle_world_points, cur_objs_id, obj_detect_count= camera.get_obstacle_point(self, db, scene,
cur_obstacle_world_points, map_ratio)
# if scene.info == "Unreachable":
print(scene.info)
return cur_obstacle_world_points, cur_objs_id
return cur_obstacle_world_points, cur_objs_id, obj_detect_count
def isOutMap(self, pos, min_x=-200, max_x=600, min_y=-250, max_y=1300):
if pos[0] <= min_x or pos[0] >= max_x or pos[1] <= min_y or pos[1] >= max_y:
@ -1610,7 +1611,12 @@ class Scene:
semantic_info_str+= f'检测行人数量：{walker_detect_count}'+"\n\n"
semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n"
semantic_info_str += f'更新语义信息：{update_info_count}' + "\n\n"
semantic_info_str += f'已存语义信息：{self.infoCount}' + "\n"
file_json_name = os.path.join(root_path, 'robowaiter/proto/objs.json')
with open(file_json_name) as f:
data = json.load(f)
semantic_info_str += f'已存语义信息：{len(data)}' + "\n"
# print("======semantic_info_str===========")

14
robowaiter/scene/ui/scene_ui.py
View File

@ -77,7 +77,7 @@ class SceneUI(Scene):
break
# cur_obstacle_world_points, cur_objs_id = self.navigation_move(plt, cur_objs, cur_obstacle_world_points,
# [[goal[0], goal[1]]], map_ratio, db, 0, 11)
cur_obstacle_world_points, cur_objs_id = self.navigation_move(self, cur_objs, cur_obstacle_world_points,
cur_obstacle_world_points, cur_objs_id, obj_detect_count = self.navigation_move(self, cur_objs, cur_obstacle_world_points,
[[goal[0], goal[1]]], map_ratio, db, 0, 11)
for point in cur_obstacle_world_points:
if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450:
@ -113,7 +113,19 @@ class SceneUI(Scene):
# 已存语义信息
added_info += new_add_info
# plt.text(0, 0.3, f'已存语义信息：{added_info}', fontsize=10) # 在图中添加文字，x和y坐标是在这个图片大小内的相对位置，fontsize是字体大小
semantic_info_str = ""
# semantic_info_str += f'检测行人数量：{walker_detect_count}' + "\n\n"
semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n"
semantic_info_str += f'更新语义信息：{new_add_info}' + "\n\n"
semantic_info_str += f'已存语义信息：{self.infoCount}' + "\n"
self.infoCount = added_info
# print("======semantic_info_str===========")
self.ui_func(("get_semantic_info", semantic_info_str))
plt.axis("off")
# plt.show()
print("------------当前检测到的物品信息--------------")

2
robowaiter/scene/ui/window.py
View File

@ -344,7 +344,7 @@ class Ui_MainWindow(object):
self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航"))
self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作"))
self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话"))
self.btn_OT.setText(_translate("MainWindow", "开放具身任务"))
self.btn_OT.setText(_translate("MainWindow", "复杂具身任务"))
self.btn_AT.setText(_translate("MainWindow", "自主具身任务"))
self.cb_task.setPlaceholderText(_translate("MainWindow", "其他任务"))

2
robowaiter/scene/ui/window.ui
View File

@ -496,7 +496,7 @@ p, li { white-space: pre-wrap; }
</font>
</property>
<property name="text">
<string>开放具身任务</string>
<string>复杂具身任务</string>
</property>
</widget>
</item>