Lucas Liao's Bootcamp #103
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| self.command_index = 0 | ||
| self.commands = [ | ||
| commands.Command.create_set_relative_destination_command( | ||
| waypoint.location_x, waypoint.location_y |
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This is a relative destination command, so your own position matters. You may end up going somewhere you didn't expect.
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| command = self.commands[self.command_index] | ||
| self.command_index += 1 | ||
| elif report.status == drone_status.DroneStatus.HALTED and not self.has_sent_landing_command: |
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Although this can work for the bootcamp, what happens if the drone halts somewhere while it was on its way? Try to find a way to make sure it gets there.
| self.command_index = 0 | ||
| self.commands = [ | ||
| commands.Command.create_set_relative_destination_command( | ||
| waypoint.location_x, waypoint.location_y |
| command = self.commands[self.command_index] | ||
| self.command_index += 1 | ||
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| elif report.status == drone_status.DroneStatus.HALTED and not self.waypoint_reached: |
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Again, try to find a different way to guarantee the drone gets to the waypoint
| self.commands.append( | ||
| commands.Command.create_set_relative_destination_command( | ||
| landing_pad_locations[index].location_x - report.position.location_x, | ||
| landing_pad_locations[index].location_y - report.position.location_y, | ||
| ) | ||
| ) | ||
| command = self.commands[self.command_index] |
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You could just set command to your desired command rather than adding it to a list and then reading it from there.
| ) | ||
| command = self.commands[self.command_index] | ||
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| elif ( |
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Again, please ensure drone has reached the landing pad
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| # Get the Result object | ||
| prediction = ... | ||
| prediction = self.__model.predict(source=image) |
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This was supposed to be the predictions variable, and then take prediction to be the 0th index. Also, please read the comments above for which kwargs to include
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| # Plot the annotated image from the Result object | ||
| # Include the confidence value | ||
| image_annotated = ... | ||
| image_annotated = prediction[0].orig_img |
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Please use the plot function, and include the confidence value, not just the image
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| # Detach the xyxy boxes to make a copy, | ||
| # move the copy into CPU space, | ||
| # and convert to a numpy array | ||
| boxes_cpu = ... | ||
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| boxes_cpu = boxes_xyxy.xyxy.cpu().numpy() |
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You can put the xyxy in the previous variable. Here, you should also detach to make a copy before moving it to CPU
| return [], image_annotated | ||
| for i in range(np.shape(boxes_cpu)[0]): | ||
| # Create BoundingBox object and append to list | ||
| temp_box = bounding_box.BoundingBox.create(np.array(boxes_cpu[i]))[1] |
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Please use the result variable rather than discarding it. It contains important information if the creation succeeded or not. You also don't need to convert a numpy array to a numpy array, you already did so in the last step.
| @staticmethod | ||
| def is_close(x: float, y: float, target_x: float, target_y: float, tolerance: float) -> bool: | ||
| """Determines if coordinate x,y, is within tolerence of coordinate target_x, target_y.""" | ||
| return abs(x - target_x) < tolerance and abs(y - target_y) < tolerance |
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Please use euclidean distance instead of manhattan distance
| self.waypoint.location_y - report.position.location_y, | ||
| ) | ||
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| elif ( |
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I don't think this else statement can ever be reached, because the first part is checking whether the drone is halted. This can only be reached if the drone is not halted, but then you check if the drone is halted again, which can never happen.
| @staticmethod | ||
| def is_close(x: float, y: float, target_x: float, target_y: float, tolerance: float) -> bool: | ||
| """Determines if coordinate x,y, is within tolerence of coordinate target_x, target_y.""" | ||
| return abs(x - target_x) < tolerance and abs(y - target_y) < tolerance |
| # self.waypoint_reached = True | ||
| dist = float("inf") | ||
| index = -1 | ||
| for i, landing_pad in enumerate(landing_pad_locations): |
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You do not need to continuously calculate which landing pad is closest to you as you are moving towards the landing pad (this is unnecessary as you are never going to get closer to a different landing pad since you are moving straight towards the "closest" one)
| landing_pad_locations[index].location_x - report.position.location_x, | ||
| landing_pad_locations[index].location_y - report.position.location_y, | ||
| ) | ||
| # print("HALTED AND WAYPOINT REACHED\n\n\n\n\n\n\n\n") |
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You do not need to keep commented code, since git will save history. You can just delete it. You also seem to have a lot of print statements that print every iteration of run, which will be a lot of messages really fast. You can probably delete those too if you don't need it, as it won't clutter your screen. (also production doesn't need debug prints)
| prediction = ... | ||
| prediction = predictions[0] | ||
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| # print('\n\nHEYYYYYYYYYYY\n\n') |
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Same, can just delete these commented print statements
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