From dd943e39aff5a68f8a3b72bf18020083cfa6f7c0 Mon Sep 17 00:00:00 2001 From: liwang_zhang <2638950452@qq.com> Date: Mon, 20 Nov 2023 14:06:03 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96AEM?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/proto/camera.py | 27 ++++++++++++++++--------- robowaiter/proto/objs.json | 2 +- robowaiter/scene/scene.py | 16 +++++++-------- robowaiter/scene/tasks/AEM.py | 38 +++++++++++++++++++++++++---------- 4 files changed, 54 insertions(+), 29 deletions(-) diff --git a/robowaiter/proto/camera.py b/robowaiter/proto/camera.py index b2ef68c..7400390 100644 --- a/robowaiter/proto/camera.py +++ b/robowaiter/proto/camera.py @@ -29,7 +29,7 @@ objects_dic = {} obstacle_objs_id = [114, 115, 122, 96, 102, 83, 121, 105, 108, 89, 100, 90, 111, 103, 95, 92, 76, 113, 101, 29, 112, 87, 109, 98, 106, 120, 97, 86, 104, 78, 85, 81, 82, 84, 91, 93, 94, - 99, 107, 116, 117, 118, 119, 255] + 99, 107, 116, 117, 118, 119, 255, 251] not_key_objs_id = {255,254,253,107,81} ''' @@ -367,12 +367,11 @@ def get_id_object_pixels(id, scene): world_points.append(transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0], scene)) return world_points - - - def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio): cur_obstacle_pixel_points = [] object_pixels = {} + obj_detect_count = 0 + cur_objs_id = [] colors = [ 'red', 'pink', @@ -403,6 +402,7 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio): for item in items: key, value = item.split(":") objs_id[int(key)] = value + objs_id[251] = "walker" # plt.imshow(d_depth, cmap="gray" if "depth" in im_depth.name.lower() else None) # plt.show() plt.subplot(2, 2, 1) @@ -448,12 +448,14 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio): # plt.tight_layout() for key, value in object_pixels.items(): - if key == 0: + if key == 0 or key not in objs_id.keys(): continue - if key in [91, 84, 96, 87, 102, 106, 120, 85,113, 101, 83]: + + if key in [91, 84, 96, 87, 102, 106, 120, 85,113, 101, 83, 251]: X = np.array(value) db.fit(X) labels = db.labels_ + # 将数据按照聚类标签分组，并打印每个分组的数据 for i in range(max(labels) + 1): # 从0到最大聚类标签的值 group_data = X[labels == i] # 获取当前标签的数据 @@ -463,6 +465,9 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio): y_min = min(p[1] for p in group_data) if x_max - x_min < 10 or y_max - y_min < 10: continue + if key != 251: + obj_detect_count += 1 + cur_objs_id.append(objs_id[key]) # 在指定的位置绘制方框 # 创建矩形框 rect = patches.Rectangle((x_min, y_min), (x_max - x_min), (y_max - y_min), linewidth=1, edgecolor=colors[key % 10], @@ -470,7 +475,11 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio): plt.text(x_min, y_min, f'{objs_id[key]}', fontdict={'family': 'serif', 'size': 10, 'color': 'green'}, ha='center', va='center') plt.gca().add_patch(rect) + else: + if key != 251: + obj_detect_count += 1 + cur_objs_id.append(objs_id[key]) x_max = max(p[0] for p in value) y_max = max(p[1] for p in value) x_min = min(p[0] for p in value) @@ -489,12 +498,12 @@ def get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio): # rect = patches.Rectangle((0, 255), 15, 30, linewidth=1, edgecolor='g', # facecolor='none') + plt.subplot(2, 7, 14) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 - # 将矩形框添加到图像中 - # plt.gca().add_patch(rect) + plt.text(0, 0.7, f'检测物体数量：{obj_detect_count}', fontsize=10) # plt.show() - return cur_obstacle_world_points + return cur_obstacle_world_points, cur_objs_id diff --git a/robowaiter/proto/objs.json b/robowaiter/proto/objs.json index 53228f1..8f4779f 100644 --- a/robowaiter/proto/objs.json +++ b/robowaiter/proto/objs.json @@ -1 +1 @@ -[{"id": "0", "name": "Broom", "location": "X: -120.0\nY: 770.0\n", "height": "0.0"}, {"id": "1", "name": "Sugar", "location": "X: 361.0\nY: 743.0\nZ: 90.5\n", "height": "90.5"}, {"id": "2", "name": "Box", "location": "X: 132.0\nY: 445.0\nZ: 89.0\n", "height": "89.0"}, {"id": "3", "name": "Desk", "location": "Y: -6.000000212225132e-06\nZ: 144.0\n", "height": "288.0"}, {"id": "4", "name": "Kettle", "location": "X: -137.76065063476562\nY: 436.5726318359375\nZ: 89.0\n", "height": "89.0"}, {"id": "5", "name": "TuoBu", "location": "X: -200.0\nY: 685.0\nZ: 3.5\n", "height": "3.5"}, {"id": "6", "name": "SaoBa", "location": "X: -180.0\nY: 720.0\n", "height": "0.0"}, {"id": "7", "name": "ZhiBeiHe", "location": "X: 152.0\nY: 292.0\nZ: 96.0\n", "height": "96.0"}, {"id": "8", "name": "CoffeeCup", "location": "X: 150.0\nY: 471.0\nZ: 84.0\n", "height": "84.0"}, {"id": "9", "name": "TuoPan", "location": "X: 179.0\nY: 470.0\nZ: 95.0\n", "height": "95.0"}, {"id": "10", "name": "XiangGui", "location": "X: 1.2000000424450263e-05\nY: -6.000000212225132e-06\nZ: 144.0\n", "height": "144.0"}, {"id": "11", "name": "WaterCup", "location": "X: 400.0\nY: 829.0999755859375\nZ: 96.0\n", "height": "96.0"}, {"id": "12", "name": "BoJi", 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81.0\n", "height": "81.0"}] \ No newline at end of file diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 3e715ae..e7237b8 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -774,7 +774,7 @@ class Scene: scene = stub.Do(action) print(scene.info) - def navigation_move(self, plt, cur_objs, objs_name_set, cur_obstacle_world_points, v_list, map_ratio, db, scene_id=0, map_id=11): + def navigation_move(self, plt, cur_objs, cur_obstacle_world_points, v_list, map_ratio, db, scene_id=0, map_id=11): print('------------------navigation_move----------------------') scene = stub.Observe(GrabSim_pb2.SceneID(value=scene_id)) walk_value = [scene.location.X, scene.location.Y] @@ -787,10 +787,10 @@ class Scene: print("walk_v", walk_v) action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) scene = stub.Do(action) - cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, - objs_name_set) + # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, + # objs_name_set) - cur_obstacle_world_points = camera.get_obstacle_point(plt, db, scene, cur_obstacle_world_points,map_ratio) + cur_obstacle_world_points, cur_objs_id= camera.get_obstacle_point(plt, db, scene, cur_obstacle_world_points,map_ratio) # if scene.info == "Unreachable": @@ -809,15 +809,15 @@ class Scene: action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) scene = stub.Do(action) - cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, - objs_name_set) + # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, + # objs_name_set) - cur_obstacle_world_points = camera.get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio) + cur_obstacle_world_points, cur_objs_id= camera.get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio) # if scene.info == "Unreachable": print(scene.info) - return cur_objs, objs_name_set, cur_obstacle_world_points + return cur_obstacle_world_points, cur_objs_id 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: diff --git a/robowaiter/scene/tasks/AEM.py b/robowaiter/scene/tasks/AEM.py index 40f2a67..63234b1 100644 --- a/robowaiter/scene/tasks/AEM.py +++ b/robowaiter/scene/tasks/AEM.py @@ -23,22 +23,20 @@ class SceneAEM(Scene): def _reset(self): pass def _run(self): + print(len(self.status.objects)) # 创建一个从白色（1）到灰色（0）的 colormap + objs = self.status.objects cur_objs = [] cur_obstacle_world_points = [] - objs_name_set = set() visited_obstacle = set() obj_json_data = [] + obj_count = 0 + added_info = 0 + map_ratio = 3 db = DBSCAN(eps=map_ratio, min_samples=int(map_ratio / 2)) - # # 创建一个颜色映射，其中0表示黑色，1表示白色 - # cmap = plt.cm.get_cmap('gray') - # cmap.set_under('black') - # cmap.set_over('white') - - file_name = '../../proto/map_1.pkl' if os.path.exists(file_name): @@ -54,13 +52,15 @@ class SceneAEM(Scene): # navigation_test(i,map_id) map_map = np.zeros((math.ceil(950 / map_ratio), math.ceil(1850 / map_ratio))) - + # self.add_walker(0, 30, 520, ) + # self.add_walker(10, 30, 420) while True: + walker_count = 0 fig = plt.figure() - goal = self.explore(map, 120) # cur_pos 指的是当前机器人的位置，场景中应该也有接口可以获取 + goal = self.explore(map, 120) if goal is None: break - cur_objs, objs_name_set, cur_obstacle_world_points= self.navigation_move(plt, cur_objs, objs_name_set, cur_obstacle_world_points, [[goal[0], goal[1]]], map_ratio, db,0, 11) + 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) for point in cur_obstacle_world_points: if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450: @@ -71,7 +71,13 @@ class SceneAEM(Scene): # extent=(-400 / map_ratio, 1450 / map_ratio, # -350 / map_ratio, 600 / map_ratio)) - # 使用imshow函数绘制图像，其中cmap参数设置颜色映射 + for i in range(len(cur_objs_id)): + if cur_objs_id[i] == "walker": + walker_count += 1 + for obj in objs: + if obj.name == cur_objs_id[i] and obj not in cur_objs: + cur_objs.append(obj) + break plt.subplot(2, 1, 2) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 plt.imshow(map_map, cmap='binary', alpha=0.5, origin='lower', @@ -80,6 +86,16 @@ class SceneAEM(Scene): # plt.imshow(map_map, cmap='binary', alpha=0.5, origin='lower') # plt.axis('off') plt.title("地图构建过程") + + plt.subplot(2, 7, 14) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 + + # plt.text(0, 0.7, f'检测行人数量：{walker_count}', fontsize=10) + + new_add_info = len(cur_objs) - added_info + walker_count + plt.text(0, 0.5, f'新增语义信息：{new_add_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 + 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 + plt.axis("off") plt.show() print("------------当前检测到的物品信息--------------") print(cur_objs)