Adding model for current power port target in lab
Added new image taken from the camera, along with some quick and dirty
target points to define the outline.
Also, redefined it to be located where the red power port is (the "taped"
target was previously considered a blue power port)
Change-Id: Icc92b43c1c0f0e3516c3d14008537dad285556f1
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2020/vision/tools/python_code/target_definition.py b/y2020/vision/tools/python_code/target_definition.py
index bb19b9e..876d753 100644
--- a/y2020/vision/tools/python_code/target_definition.py
+++ b/y2020/vision/tools/python_code/target_definition.py
@@ -131,28 +131,28 @@
# NOTE: Since we don't have an "ideal" (e.g., graphic) version, we're
# just using the same image as the training image.
ideal_power_port_taped = TargetData(
- 'test_images/train_power_port_taped-2020-08-20-13-27-50.png')
+ 'test_images/partial_971_power_port_red.png')
# Start at lower left corner, and work around clockwise
# These are taken by manually finding the points in gimp for this image
- power_port_taped_main_panel_polygon_points_2d = [(181, 423), (186, 192),
- (45, 191), (188, 93),
- (310, 99), (314, 196),
- (321, 414)]
+ power_port_taped_main_panel_polygon_points_2d = [(220, 449), (220, 162),
+ (37, 169), (210, 43),
+ (371, 35), (378, 147),
+ (400, 456)]
# These are "virtual" 3D points based on the expected geometry
power_port_taped_main_panel_polygon_points_3d = [
- (field_length / 2., -c_power_port_edge_y, 0.),
- (field_length / 2., -c_power_port_edge_y,
+ (-field_length / 2., c_power_port_edge_y, 0.),
+ (-field_length / 2., c_power_port_edge_y,
c_power_port_bottom_wing_height),
- (field_length / 2., -c_power_port_edge_y + c_power_port_wing_width,
+ (-field_length / 2., c_power_port_edge_y - c_power_port_wing_width,
c_power_port_bottom_wing_height),
- (field_length / 2., -c_power_port_edge_y, c_power_port_total_height),
- (field_length / 2., -c_power_port_edge_y - c_power_port_width,
+ (-field_length / 2., c_power_port_edge_y, c_power_port_total_height),
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width,
c_power_port_total_height),
- (field_length / 2., -c_power_port_edge_y - c_power_port_width,
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width,
c_power_port_bottom_wing_height),
- (field_length / 2., -c_power_port_edge_y - c_power_port_width, 0.)
+ (-field_length / 2., c_power_port_edge_y + c_power_port_width, 0.)
]
power_port_taped_wing_panel_polygon_points_2d = [(312, 99), (438, 191),
@@ -176,22 +176,22 @@
ideal_power_port_taped.polygon_list_3d.append(
power_port_taped_main_panel_polygon_points_3d)
# Including the wing panel
- ideal_power_port_taped.polygon_list.append(
- power_port_taped_wing_panel_polygon_points_2d)
- ideal_power_port_taped.polygon_list_3d.append(
- power_port_taped_wing_panel_polygon_points_3d)
+ #ideal_power_port_taped.polygon_list.append(
+ # power_port_taped_wing_panel_polygon_points_2d)
+ #ideal_power_port_taped.polygon_list_3d.append(
+ # power_port_taped_wing_panel_polygon_points_3d)
# Location of target. Rotation is pointing in -x direction
- ideal_power_port_taped.target_rotation = np.identity(3, np.double)
+ ideal_power_port_taped.target_rotation = -np.identity(3, np.double)
ideal_power_port_taped.target_position = np.array([
- field_length / 2., -c_power_port_edge_y - c_power_port_width / 2.,
+ -field_length / 2., c_power_port_edge_y + c_power_port_width / 2.,
c_power_port_target_height
])
- ideal_power_port_taped.target_point_2d = np.float32([[250, 146]]).reshape(
+ ideal_power_port_taped.target_point_2d = np.float32([[292, 106]]).reshape(
-1, 1, 2) # train_power_port_taped-2020-08-20-13-27-50.png
training_target_power_port_taped = TargetData(
- 'test_images/train_power_port_taped-2020-08-20-13-27-50.png')
+ 'test_images/partial_971_power_port_red.png')
training_target_power_port_taped.target_rotation = ideal_power_port_taped.target_rotation
training_target_power_port_taped.target_position = ideal_power_port_taped.target_position
training_target_power_port_taped.target_radius = target_radius_default
@@ -267,7 +267,7 @@
# And add the training image we'll actually use to the training list
training_target_power_port_red = TargetData(
- 'test_images/train_power_port_red_webcam.png')
+ 'test_images/train_power_port_red.png')
#'test_images/train_power_port_red_pi-7971-3.png')
training_target_power_port_red.target_rotation = ideal_power_port_red.target_rotation
training_target_power_port_red.target_position = ideal_power_port_red.target_position
@@ -427,10 +427,10 @@
# targets based on all the definitions above
######################################################################
- ### Taped power port (not currently used)
- #glog.info("Adding hacked/taped up power port to the model list")
- #ideal_target_list.append(ideal_power_port_taped)
- #training_target_list.append(training_target_power_port_taped)
+ ### Taped power port
+ glog.info("Adding hacked/taped up power port to the model list")
+ ideal_target_list.append(ideal_power_port_taped)
+ training_target_list.append(training_target_power_port_taped)
### Red Power Port
glog.info("Adding red power port to the model list")
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png
new file mode 100644
index 0000000..ec402c0
--- /dev/null
+++ b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png
Binary files differ
