main_2024.py detect target #156

Ethan118 · 2023-11-27T22:38:50Z

Checked detect target worker integration in main_2024.py.

What changed

Changed return type to Detections and Time
Added CLI option to display annotated image

Files changed

main_2024.py
detect_target.py
detect_target_worker.py

main_2024.py

Trotyl15 · 2023-11-28T19:27:46Z

modules/detect_target/detect_target.py

+        if self.__show_annotations:
+            cv2.imshow("Annotated Image", image_annotated)
+
+        return True, detections


Does it work on your end? I don't think cv2.imshow is thread safe. Maybe consider passing image_annotated to the main process and display it from there instead of in worker process or implement locks.

It probably isn't threadsafe, but since only a single process will be using it, it should be fine. The Autonomy bootcamp is an example of where it works without issue.

Did a little test and when cv2.imshow was placed in worker process, the window freezes at start up my machine. For where it's currently placed, it works fine. Not sure if it's the same case with @Ethan118

Xierumeng

Reviewed.

modules/detect_target/detect_target.py

tests/test_detect_target.py

Xierumeng

Reviewed.

Xierumeng · 2023-12-01T07:35:30Z

modules/detect_target/detect_target.py

Revert to when you were displaying the image in run() . Return only the detections.

Amy mentioned above that this causes issues. Is there a work around?

Does it work on you end? If it does then maybe I missed something in the set up?

Can you try adding cv2.waitKey(1) after the imshow() ?

Can you try adding cv2.waitKey(1) after the imshow() ?

Oh this works! @Ethan118 you can do this instead.

tests/test_detect_target.py

Xierumeng

Reviewed.

main_2024.py

Xierumeng · 2024-01-16T04:17:16Z

main_2024.py

-        cv2.imshow("Landing Pad Detector", image)
-
-        if cv2.waitKey(1) & 0xFF == ord('q'):
+        if cv2.waitKey(1) & 0xFF == ord("q"):


Does pressing q work for exiting the program?

tests/model_example/generate_expected.py

tests/test_detect_target.py

…r of detections, Changed variable names

Xierumeng

Reviewed.

tests/model_example/generate_expected.py

tests/test_detect_target.py

Xierumeng

Reviewed.

tests/model_example/generate_expected.py

tests/test_detect_target.py

Xierumeng

Reviewed.

tests/model_example/generate_expected.py

tests/test_detect_target.py

Xierumeng

Reviewed. The tolerances may need to be relaxed, since the unit test isn't passing on GitHub.

main_2024.py

tests/model_example/generate_expected.py

tests/test_detect_target.py

Ethan118 · 2024-02-07T23:18:23Z

Reviewed. The tolerances may need to be relaxed, since the unit test isn't passing on GitHub.

Ya it's weird because the tests pass on my computer. Maybe it has something to do with the override precision?

Xierumeng

Reviewed.

tests/test_detect_target.py

modules/detect_target/detect_target.py

Xierumeng

Reviewed. Does test_detect_target_worker.py pass as well?

Xierumeng · 2024-02-09T04:36:35Z

main_2024.py

Remove line 12 import (no longer being used).

Xierumeng · 2024-02-09T04:36:51Z

main_2024.py

@@ -45,6 +45,7 @@ def main() -> int:
    parser = argparse.ArgumentParser()
    parser.add_argument("--cpu", action="store_true", help="option to force cpu")
    parser.add_argument("--full", action="store_true", help="option to force full precision")
+    parser.add_argument("--show-annotated", action="store_true", help="option to show annotated image")


Make multiline.

Xierumeng · 2024-02-09T04:37:54Z

modules/detect_target/detect_target.py

Remove line 7 import (no longer being used).

Xierumeng · 2024-02-09T04:38:46Z

modules/detect_target/detect_target.py

@@ -17,7 +17,7 @@ class DetectTarget:
    """
    Contains the YOLOv8 model for prediction.
    """
-    def __init__(self, device: "str | int", model_path: str, override_full: bool, save_name: str = ""):
+    def __init__(self, device: "str | int", model_path: str, override_full: bool, show_annotations: bool = False, save_name: str = ""):


Make multiline.

Xierumeng · 2024-02-09T04:39:17Z

modules/detect_target/detect_target.py

        if override_full:
            self.__enable_half_precision = False
        self.__filename_prefix = ""
        if save_name != "":
            self.__filename_prefix = save_name + "_" + str(int(time.time())) + "_"

-    def run(self, data: image_and_time.ImageAndTime) -> "tuple[bool, np.ndarray | None]":
+    def run(self, data: image_and_time.ImageAndTime) -> "tuple[bool, detections_and_time.DetectionsAndTime | None]":


Make multiline.

Xierumeng · 2024-02-09T04:48:51Z

tests/test_detect_target.py

+        np.testing.assert_almost_equal(expected_detection.confidence, actual_detection.confidence, decimal=CONFIDENCE_DECIMAL_TOLERANCE)
+
+        np.testing.assert_almost_equal(actual_detection.x1, expected_detection.x1, decimal=BOUNDING_BOX_DECIMAL_TOLERANCE)
+        np.testing.assert_almost_equal(actual_detection.y1, expected_detection.y1, decimal=BOUNDING_BOX_DECIMAL_TOLERANCE)
+        np.testing.assert_almost_equal(actual_detection.x2, expected_detection.x2, decimal=BOUNDING_BOX_DECIMAL_TOLERANCE)
+        np.testing.assert_almost_equal(actual_detection.y2, expected_detection.y2, decimal=BOUNDING_BOX_DECIMAL_TOLERANCE)


Make multiline.

Xierumeng · 2024-02-09T04:49:25Z

tests/test_detect_target.py

+    assert detections is not None
+
+    for i in range(0, detections_from_file.shape[0]):
+        result, detection = detections_and_time.Detection.create(detections_from_file[i][2:], int(detections_from_file[i][1]), detections_from_file[i][0])


Make multiline or use intermediate variables.

Xierumeng · 2024-02-09T04:50:20Z

tests/test_detect_target.py

+    """
+    Load expected bus detections.
+    """
+    expected_bus = np.loadtxt(BOUNDING_BOX_BUS_PATH)


Rename this to something that is not the function name (e.g. expected ).

Xierumeng · 2024-02-09T04:50:30Z

tests/test_detect_target.py

-        # Test
-        np.testing.assert_almost_equal(actual_error, EXPECTED_ERROR)
+@pytest.fixture()
+def expected_zidane():


Same as above.

Xierumeng · 2024-02-09T04:51:03Z

tests/test_detect_target.py

-
-            error = rmse(actual, expected)
-            assert error < self.__IMAGE_DIFFERENCE_TOLERANCE
+


Remove unnecessary space characters.

…tections and time

Xierumeng

Approved.

Ethan118 added 4 commits November 13, 2023 09:08

added annotated image option

2dbe3c9

integrated in main_2024

10c489e

added cli option

bfa1978

added window closing

ad9ac08

Ethan118 requested review from Xierumeng and mgupta27 November 27, 2023 22:38

Trotyl15 reviewed Nov 28, 2023

View reviewed changes

Ethan118 added 2 commits November 28, 2023 16:51

fixed unit tests

f23f62d

fixed image annotation and modified test cases

dd6e5a1

Ethan118 requested a review from Trotyl15 November 28, 2023 22:05

Xierumeng reviewed Nov 29, 2023

View reviewed changes

modules/detect_target/detect_target.py Outdated Show resolved Hide resolved

tests/test_detect_target.py Show resolved Hide resolved

tests/test_detect_target.py Outdated Show resolved Hide resolved

converted unit tests to use bounding boxes

3ee9905

Ethan118 requested a review from Xierumeng November 30, 2023 03:05

added device to predict arg

d7ca078

Xierumeng reviewed Dec 1, 2023

View reviewed changes

Ethan118 added 11 commits December 4, 2023 10:55

added annotated image option

8819c3c

integrated in main_2024

d08e556

added cli option

bd2a59d

added window closing

a49c660

fixed unit tests

20e4018

fixed image annotation and modified test cases

0da5e01

converted unit tests to use bounding boxes

37a37bc

added device to predict arg

cb186f4

remove annotated image from function return

724de57

added hardcoded values for testing target detection

5e6c8e7

fixed conflicts

0133d97

Xierumeng reviewed Jan 16, 2024

View reviewed changes

Ethan118 added 2 commits January 27, 2024 10:46

Changed tests to use absolute error tolerance, Added checks for numbe…

479a361

…r of detections, Changed variable names

Merge branch 'main' into detect_target-integration

864bcaa

Xierumeng reviewed Jan 29, 2024

View reviewed changes

Ethan118 added 4 commits February 4, 2024 20:07

edited paths to use pathlib

0b2f4b7

Fixed tests to use detections and time object

ba05393

merged with main

108c7c6

fixed path errors in build

ca549ba

Xierumeng reviewed Feb 6, 2024

View reviewed changes

Offloaded fixture setup to a separate function and added comments

0ab48c9

Xierumeng reviewed Feb 6, 2024

View reviewed changes

Cleaned up test_detect_target and generate_expected

435992c

Xierumeng reviewed Feb 7, 2024

View reviewed changes

Fixed formatting

73a28a8

Ethan118 added 4 commits February 7, 2024 18:19

Fixed renamed variables

69be32a

Changed tolerance

5117781

Merge branch 'main' into detect_target-integration

dea615a

fixed create detections

3080db0

Xierumeng reviewed Feb 8, 2024

View reviewed changes

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tests/test_detect_target.py Show resolved Hide resolved

tests/test_detect_target.py Show resolved Hide resolved

modules/detect_target/detect_target.py Outdated Show resolved Hide resolved

Set tolerance to 0 and fixed formatting

6b00c7e

Xierumeng reviewed Feb 9, 2024

View reviewed changes

Ethan118 added 3 commits February 13, 2024 21:34

Changed formatting mostly multiline

ef80b03

Final formatting changes, Updated test_detect_target_worker to use de…

68fab82

…tections and time

Some refactoring of main_2024 and final formatting changes

f8359ec

Xierumeng approved these changes Feb 17, 2024

View reviewed changes

Ethan118 merged commit f7acbeb into main Feb 17, 2024
1 check passed

Ethan118 deleted the detect_target-integration branch February 17, 2024 21:20

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main_2024.py detect target #156

main_2024.py detect target #156

Ethan118 commented Nov 27, 2023

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		error = rmse(actual, expected)
		assert error < self.__IMAGE_DIFFERENCE_TOLERANCE

main_2024.py detect target #156

main_2024.py detect target #156

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Ethan118 commented Nov 27, 2023

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