From 18bf01f132882cfb0acf7cfe6527402c652518aa Mon Sep 17 00:00:00 2001 From: Yassine AMAGHZAZ Date: Tue, 19 Dec 2023 22:39:17 +0100 Subject: [PATCH 1/2] new processing pipline (slow) --- ml/data/plant/0.jpg | Bin 1441 -> 896 bytes ml/data/plant/1.jpg | Bin 1526 -> 899 bytes ml/data/plant/10.jpg | Bin 1310 -> 883 bytes ml/data/plant/11.jpg | Bin 1228 -> 861 bytes ml/data/plant/12.jpg | Bin 1626 -> 953 bytes ml/data/plant/13.jpg | Bin 1371 -> 864 bytes ml/data/plant/14.jpg | Bin 1268 -> 871 bytes ml/data/plant/15.jpg | Bin 1427 -> 886 bytes ml/data/plant/16.jpg | Bin 1356 -> 877 bytes ml/data/plant/17.jpg | Bin 1380 -> 864 bytes ml/data/plant/18.jpg | Bin 1364 -> 867 bytes ml/data/plant/19.jpg | Bin 1389 -> 862 bytes ml/data/plant/2.jpg | Bin 1436 -> 873 bytes ml/data/plant/20.jpg | Bin 1487 -> 890 bytes ml/data/plant/21.jpg | Bin 1428 -> 890 bytes ml/data/plant/22.jpg | Bin 1681 -> 947 bytes ml/data/plant/23.jpg | Bin 1526 -> 912 bytes ml/data/plant/24.jpg | Bin 1690 -> 950 bytes 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pot and plant > obj: + if plant > 85.0: + return "plant" + if pot > plant and pot > obj: + if pot > 85.0: + return "pot" + if obj > plant and obj > pot: + if obj > 85.0: + return "object" + return None + + +while xa < 64: + while ya < 64: + window = img.crop((xa, ya, xa + window_size, ya + window_size)) + window = window.resize((32, 32)) + fd = hog( + window, + orientations=8, + pixels_per_cell=pixels_per_cell, + cells_per_block=cell_per_block, + visualize=True, + channel_axis=-1, + ) + res = clf.predict_proba([fd[0]]) # type:ignore + if get_value(res) == "plant": # type:ignore + print(res) + cv2.rectangle( + imgcv, (xa, ya), (xa + window_size, ya + window_size), (255, 0, 0), 1 + ) + ya += window_size + xa += window_size + continue + # print(f"{xa}:{ya} = {res[0]}") + ya += 1 + xa += 1 + ya = 0 +print(f"time elapsed : { (time.time() - now) *1000 } ms") + +cv2.imshow("image", imgcv) +cv2.waitKey(0) + + +# # save model +# with open("model.pkl", "wb") as f: +# pickle.dump(clf, f) From d5ea1ddc1b09735e88b1533bdb8cba31270acc0b Mon Sep 17 00:00:00 2001 From: Yassine AMAGHZAZ Date: Tue, 19 Dec 2023 23:41:35 +0100 Subject: [PATCH 2/2] add robovision folder --- .gitignore | 4 +- assets/logo.png | Bin 22553 -> 0 bytes tools/eql.py | 2 +- tools/requirements.txt | 1 - tools/robovision/assets/logo.png | Bin 0 -> 12740 bytes {assets => tools/robovision/assets}/table.png | Bin tools/robovision/assets/tank.png | Bin 0 -> 168668 bytes tools/robovision/components/leftpane.py | 37 ++++++++++++ tools/robovision/components/table.py | 39 ++++++++++++ tools/robovision/main.py | 57 ++++++++++++++++++ tools/simba.py | 46 -------------- 11 files changed, 137 insertions(+), 49 deletions(-) delete mode 100644 assets/logo.png delete mode 100644 tools/requirements.txt create mode 100644 tools/robovision/assets/logo.png rename {assets => tools/robovision/assets}/table.png (100%) create mode 100644 tools/robovision/assets/tank.png create mode 100644 tools/robovision/components/leftpane.py 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register(self): + with dpg.texture_registry(show=False): + width, height, _, data = dpg.load_image("assets/logo.png") + dpg.add_static_texture( + width=width, + height=height, + default_value=data, + tag="logo_texture", + ) + with dpg.window( + label="RoboVision 0.0.1", + no_close=True, + pos=[0, 0], + width=200, + height=self.height, + no_collapse=True, + no_move=True, + ): + dpg.add_image( + "logo_texture", + width=185, + height=32, + tag="logo_img", + ) + dpg.add_text(source="mouse_pos") diff --git a/tools/robovision/components/table.py b/tools/robovision/components/table.py new file mode 100644 index 0000000..78b9d63 --- /dev/null +++ b/tools/robovision/components/table.py @@ -0,0 +1,39 @@ +import dearpygui.dearpygui as dpg + +TABLE_WIDTH = 3000 +TABLE_HEIGHT = 2000 +TABLE_RATIO = 0.3 +TABLE_VIEW_WIDTH = (int)(TABLE_WIDTH * TABLE_RATIO) +TABLE_VIEW_HEIGHT = (int)(TABLE_HEIGHT * TABLE_RATIO) +TABLE_REAL_RATIO = TABLE_WIDTH / TABLE_VIEW_WIDTH +MARGIN_OFFSET = 30 +robot_pos = [0, 0] +robot_size = [450 * TABLE_RATIO, 450 * TABLE_RATIO] + + +class Table2D: + def register(self): + width, height, _, data = dpg.load_image("assets/table.png") + with dpg.texture_registry(show=False): + dpg.add_static_texture( + width=width, + height=height, + default_value=data, + tag="table_texture", + ) + with dpg.window( + label="Table 2D", + tag="table", + pos=[205, 0], + height=640, + no_close=True, + no_move=True, + no_resize=True, + no_collapse=True, + ): + dpg.add_image( + "table_texture", + width=TABLE_VIEW_WIDTH, + height=TABLE_VIEW_HEIGHT, + tag="table_img", + ) diff --git a/tools/robovision/main.py b/tools/robovision/main.py new file mode 100644 index 0000000..4c76420 --- /dev/null +++ b/tools/robovision/main.py @@ -0,0 +1,57 @@ +from math import floor +import dearpygui.dearpygui as dpg +from components.table import Table2D +from components.leftpane import LeftPane + + +TABLE_WIDTH = 3000 +TABLE_HEIGHT = 2000 +TABLE_RATIO = 0.3 +TABLE_VIEW_WIDTH = (int)(TABLE_WIDTH * TABLE_RATIO) +TABLE_VIEW_HEIGHT = (int)(TABLE_HEIGHT * TABLE_RATIO) +TABLE_REAL_RATIO = TABLE_WIDTH / TABLE_VIEW_WIDTH +MARGIN_OFFSET = 30 +robot_pos = [0, 0] +robot_size = [450 * TABLE_RATIO, 450 * TABLE_RATIO] + + +def main(): + dpg.create_context() + dpg.create_viewport(title="RoboVision") + dpg.setup_dearpygui() + dpg.set_viewport_vsync(True) + dpg.toggle_viewport_fullscreen() + register_values() + register_handlers() + + table = Table2D() + table.register() + leftpane = LeftPane() + leftpane.register() + + dpg.show_viewport() + + dpg.start_dearpygui() + dpg.destroy_context() + + +def handle_mouse_click(sender, data): + if dpg.is_item_hovered("table") and dpg.is_item_focused("table"): + pos = dpg.get_mouse_pos() + x = floor(pos[0] * TABLE_REAL_RATIO) - MARGIN_OFFSET + y = floor(pos[1] * TABLE_REAL_RATIO) - MARGIN_OFFSET + dpg.set_value("mouse_pos", f"MOUSE:{pos}") + + +def register_handlers(): + with dpg.handler_registry(): + dpg.add_mouse_move_handler(callback=handle_mouse_click) + + +def register_values(): + with dpg.value_registry(): + dpg.add_string_value(tag="mouse_pos", default_value="MOUSE:[0.0,0.0]") + + +if __name__ == "__main__": + main() diff --git a/tools/simba.py b/tools/simba.py deleted file mode 100644 index a226d83..0000000 --- a/tools/simba.py +++ /dev/null @@ -1,46 +0,0 @@ -import os - -os.environ["PYGAME_HIDE_SUPPORT_PROMPT"] = "hide" -import pygame # noqa: E402 - - -def main(): - pygame.init() - bg = load_background() - print(bg.get_size()) - screen = pygame.display.set_mode((1000, 720)) - clock = pygame.time.Clock() - running = True - x = 0 - y = 0 - while running: - # poll for events - # pygame.QUIT event means the user clicked X to close your window - for event in pygame.event.get(): - if event.type == pygame.QUIT: - running = False - # fill the screen with a color to wipe away anything from last frame - screen.fill("blue") - # RENDER YOUR GAME HERE - - screen.blit(bg, (0, 53)) - draw_robot(screen, x, y) - # flip() the display to put your work on screen - pygame.display.flip() - x += 1 - y += 1 - clock.tick(60) - pygame.quit() - - -def load_background(): - bg = pygame.image.load("assets/table.png") - return bg - - -def draw_robot(screen: pygame.Surface, x: int, y: int): - pygame.draw.rect(screen, "black", (x, y + 53, 150, 150)) - - -if __name__ == "__main__": - main()