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Display weed locations as white dots in camera augmentation on real robot #122

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Display weed locations as white dots in camera augmentation on real robot #122

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5ee44b4
display weed locations on real robot
rodja Jul 17, 2024
3351f17
fix indentation
pascalzauberzeug Jul 17, 2024
e4bde47
remove projection call
rodja Jul 17, 2024
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13 changes: 8 additions & 5 deletions field_friend/interface/components/camera_card.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@

from field_friend.automations.implements.weeding_implement import WeedingImplement

from ...automations import PlantLocator, Puncher
from ...hardware import FieldFriend, FlashlightPWM, FlashlightPWMV2, Tornado, ZAxis
from ...hardware import FlashlightPWM, FlashlightPWMV2, Tornado, ZAxis
from ...vision import SimulatedCam
from .calibration_dialog import calibration_dialog

if TYPE_CHECKING:
Expand Down Expand Up @@ -232,14 +232,17 @@ def build_svg_for_implement(self) -> str:
def build_svg_for_plant_provider(self) -> str:
if self.camera is None or self.camera.calibration is None:
return ''
if self.system.is_real:
return '' # NOTE: until https://github.com/zauberzeug/rosys/discussions/130 is resolved and integrated real robots will have problems with reverse projection
position = rosys.geometry.Point(x=self.camera.calibration.extrinsics.translation[0],
y=self.camera.calibration.extrinsics.translation[1])
svg = ''
for plant in self.plant_provider.get_relevant_weeds(position):
position_3d = rosys.geometry.Point3d(x=plant.position.x, y=plant.position.y, z=0)
screen = self.camera.calibration.project_to_image(position_3d)
if isinstance(self.camera, SimulatedCam):
screen = self.camera.calibration.project_to_image(position_3d)
else:
# TODO remove this when RoSys supports multiple extrinsics (see https://github.com/zauberzeug/rosys/discussions/130)
relative = self.system.odometer.prediction.relative_point(position)
screen = self.odometer.prediction.transform(relative.projection())
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if screen is not None:
svg += f'<circle cx="{int(screen.x/self.shrink_factor)}" cy="{int(screen.y/self.shrink_factor)}" r="5" fill="white" />'
svg += f'<text x="{int(screen.x/self.shrink_factor)}" y="{int(screen.y/self.shrink_factor)+16}" fill="black" font-size="9" text-anchor="middle">{plant.id[:4]}</text>'
Expand Down
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