Merge remote-tracking branch 'origin/main' into main

.gitignore

+
+*.pyc

Code/Ball_Detection/PyTorch_with_ESPCAM/live_full_detection_detecto_with_ESP_CAM.py

@@ -18,7 +18,7 @@ from matplotlib import patches
 from detecto import core, utils
 from torchvision import transforms
 from matplotlib import pyplot as plt
-from IPython.display import Image, display, Javascript
+# from IPython.display import Image, display, Javascript
 distanceDetect = __import__('distance-detection-torch.distance-detection-torch', fromlist = ['distanceDetect']).distanceDetect
 print("torch.cuda.is_available() = ", torch.cuda.is_available())
 
@@ -26,22 +26,20 @@ print("torch.cuda.is_available() = ", torch.cuda.is_available())
 #change the IP address below according to the
 #IP shown in the Serial monitor of Arduino code
 # url='http://192.168.1.107/cam-lo.jpg'
-url='http://192.168.4.1/cam-hi.jpg'
+# url='http://192.168.4.1/cam-hi.jpg'
 # url='http://192.168.1.107/cam-mid.jpg'
-
+url='http://192.168.0.230/cam-hi.jpg'
 
 #### Modify Detecto Core to include possibility of other base models
 def modifyCore():
-  cModLineNums = [221, 254]
+  cModLineNums = [221, 253, 254]
   cAddLineNums = [254, 256, 257, 258, 259]
 
   # REPLACABLE LINE FOR DIFFERENT LOCAL COMPUTER DEVICES
-  coreFile     = 'C:\\Users\\uclal\\.conda\\envs\\FORAY\\Lib\\site-packages\\detecto\\core.py'
-
-
-  print('debug')
+  coreFile     = 'C:\\Users\\uclal\\.conda\\envs\\foray2\\Lib\\site-packages\\detecto\\core.py'
 
   cModLineVals = ["    def __init__(self, classes=None, device=None, pretrained=True, modelname=\'fasterrcnn_resnet50_fpn\'):\n",
+                  "        # Load a model pre-trained on COCO - User-Modified",
                   "            self._model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=pretrained)\n"]
   cAddLineVals = ["        if modelname == \'fasterrcnn_resnet50_fpn\':\n",
                   "        elif modelname == \'fasterrcnn_mobilenet_v3_large_fpn\':\n",
@@ -146,7 +144,7 @@ def detectLive(model, showSight = True):
     #print(frame)
     gbx = -1
     gby = -1
-    
+
     header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
     req = Request(url, headers=header)
     img_resp = urlopen(req, timeout=60)
@@ -265,13 +263,13 @@ distWtsFile = '.\distance-detection-torch\distance-detection-weights-3-2.0sd-202
 modelAction = 'load' # 'load' to load previous model, 'new' to train new model (only possible on Colab)
 
 #FOR THE NEXT LINE : UNCOMMENT  the first time you run, COMMENT OUT after the first time
-#modifyCore()
+# modifyCore()
 #########
 
-# model = returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
-# # # ## Testing (using Live Streaming)
-# while True:
-#     detectLive(model)
+model = returnModel(modelAction, device, trainLoc, labelSet, modelLoc, modelFile)
+# # ## Testing (using Live Streaming)
+while True:
+    detectLive(model)
 
 # ## Testing (using Untrained Images)
 # for file in sorted(glob.glob(imageLoc + '/test/*.jpg')):

Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py

@@ -11,7 +11,7 @@ def nothing(x):
 
 # detector = apriltag.Detector()
 
-
+detector = Detector()
 
 def get_AT_6DOF_info(url):
     tid,tx,ty,tz= 0,100000,100000,0
@@ -36,7 +36,8 @@ def get_AT_6DOF_info(url):
     fy = 600
     cx = 400
     cy = 300
-    AT_size = 0.16
+    #AT_size = 0.16
+    AT_size = 0.74
     results = detector.detect(gray_image, estimate_tag_pose=True, camera_params=[fx, fy, cx, cy], tag_size=AT_size)
     debug_print = 0
     for r in results:
@@ -64,8 +65,8 @@ def get_AT_6DOF_info(url):
 
 
         tagFamily = r.tag_family.decode("utf-8")
-        
-        
+
+
         cv2.putText(frame, tagFamily, (ptA[0], ptA[1] - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
 
         cv2.putText(frame, "tx: {:.2f}  ty: {:.2f}  tz:{:.2f}".format(tx[0], ty[0], tz[0]), (ptA[0], ptA[1] + 30),
@@ -97,6 +98,11 @@ if __name__ == "__main__":
     # url='http://192.168.1.107/cam-hi.jpg'
     url='http://192.168.4.1/cam-hi.jpg'
     url = 'http://192.168.1.118/cam-hi.jpg'
+    url = 'http://10.0.0.3/cam-hi.jpg'  #03
+    url = 'http://10.0.0.5/cam-hi.jpg'  #01
+    url = 'http://10.0.0.6/cam-hi.jpg'  #02
+    url = 'http://10.0.0.7/cam-hi.jpg'  #06
+
 
 
     # cv2.namedWindow("live transmission", cv2.WINDOW_AUTOSIZE)

Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino

@@ -121,7 +121,7 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
 //Create the interface that will be used by the camera 
 openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer. 
 openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument 
-Camera cam(&interface); 
+//Camera cam(&interface); 
 // ========================== Motor part ==================================== 
 // Create the motor shield object with the default I2C address 
 Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
@@ -195,7 +195,7 @@ void loop()
   int y = 0;  
   bool goalfind_flag = 0; 
    
-  goalfind_flag = cam.exe_goalfinder(goal_id[0],goal_id[1],goal_id[2], id, tx, ty, tz, rx, ry, rz); 
+//  goalfind_flag = cam.exe_goalfinder(goal_id[0],goal_id[1],goal_id[2], id, tx, ty, tz, rx, ry, rz); 
   if (goalfind_flag){ 
       Sent_tx = tx; 
       Sent_ty = ty; 

Code/Control/Laptop_Code/README.md

@@ -70,8 +70,12 @@ pip install opencv-python
 conda install pytorch torchvision torchaudio cudatoolkit=10.2 -c pytorch
 # install pupil-apriltags
 pip install pupil-apriltags
+# install detecto
+pip install detecto==1.2.1
 ```
 
+
+
 ## 3 Main_code
 
 There are two files about main code: