更新scene

robowaiter/proto/camera.py

@@ -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
 
 
 

robowaiter/scene/scene.py

@@ -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===========")
 

robowaiter/scene/ui/scene_ui.py

@@ -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--------------")

robowaiter/scene/ui/window.py

@@ -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"))
 

robowaiter/scene/ui/window.ui

@@ -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>