From 5ee44b47475befc28f8f93581befa11d673d891e Mon Sep 17 00:00:00 2001
From: Rodja Trappe <rodja@zauberzeug.com>
Date: Wed, 17 Jul 2024 05:43:00 +0200
Subject: [PATCH 1/3] display weed locations on real robot

---
 .../interface/components/camera_card.py       | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/field_friend/interface/components/camera_card.py b/field_friend/interface/components/camera_card.py
index d086d303..5da11c9f 100644
--- a/field_friend/interface/components/camera_card.py
+++ b/field_friend/interface/components/camera_card.py
@@ -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:
@@ -232,17 +232,20 @@ 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 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>'
+            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())
+        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>'
         return svg
 
     # async def save_last_image(self) -> None:

From 3351f1767b9b2b959730ad50e8f69b085d1c4a24 Mon Sep 17 00:00:00 2001
From: Pascal Schade <pascal@zauberzeug.com>
Date: Wed, 17 Jul 2024 09:43:59 +0200
Subject: [PATCH 2/3] fix indentation

---
 field_friend/interface/components/camera_card.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/field_friend/interface/components/camera_card.py b/field_friend/interface/components/camera_card.py
index 5da11c9f..17e253d1 100644
--- a/field_friend/interface/components/camera_card.py
+++ b/field_friend/interface/components/camera_card.py
@@ -243,9 +243,9 @@ def build_svg_for_plant_provider(self) -> str:
                 # 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())
-        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>'
+            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>'
         return svg
 
     # async def save_last_image(self) -> None:

From e4bde476d541ed1f030a9e1179b7c3697c6b691d Mon Sep 17 00:00:00 2001
From: Rodja Trappe <rodja@zauberzeug.com>
Date: Wed, 17 Jul 2024 10:35:03 +0200
Subject: [PATCH 3/3] remove projection call

---
 field_friend/interface/components/camera_card.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/field_friend/interface/components/camera_card.py b/field_friend/interface/components/camera_card.py
index 17e253d1..211b9769 100644
--- a/field_friend/interface/components/camera_card.py
+++ b/field_friend/interface/components/camera_card.py
@@ -242,7 +242,7 @@ def build_svg_for_plant_provider(self) -> str:
             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())
+                screen = self.odometer.prediction.transform(relative)
             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>'