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showing annotated images for detect target message bug fix #244

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showing annotated images for detect target message bug fix #244

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1c9d013
showing annotated images for detect target message bug fix
arpanroy18 Nov 29, 2024
af3bc3a
black linter fixes
arpanroy18 Jan 23, 2025
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2 changes: 1 addition & 1 deletion modules/common
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Submodule common updated 24 files
+0 −55 modules/camera/base_camera.py
+57 −0 modules/camera/camera_device.py
+0 −38 modules/camera/camera_factory.py
+0 −87 modules/camera/camera_opencv.py
+0 −137 modules/camera/camera_picamera2.py
+0 −0 modules/data_encoding/__init__.py
+0 −73 modules/data_encoding/message_encoding_decoding.py
+0 −70 modules/data_encoding/metadata_encoding_decoding.py
+0 −28 modules/data_encoding/worker_enum.py
+211 −0 modules/logger/log_file_merger_helpers.py
+84 −0 modules/logger/log_file_merger_main.py
+35 −80 modules/logger/logger.py
+6 −21 modules/logger/logger_main_setup.py
+1 −19 modules/mavlink/flight_controller.py
+1 −1 pyproject.toml
+6 −16 tests/integration/test_camera.py
+0 −59 tests/integration/test_camera_picamera2.py
+4 −11 tests/integration/test_camera_qr_example.py
+15 −16 tests/integration/test_flight_controller.py
+0 −51 tests/integration/test_send_messages.py
+0 −38 tests/unit/data_encoding/test_message_encoding_decoding.py
+0 −34 tests/unit/data_encoding/test_metadata_encoding_decoding.py
+336 −0 tests/unit/test_log_file_merger.py
+10 −46 tests/unit/test_logger.py
5 changes: 4 additions & 1 deletion modules/detect_target/detect_target_factory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,10 @@ def create_detect_target(
save_name: str,
) -> tuple[bool, base_detect_target.BaseDetectTarget | None]:
"""
Construct detect target class at runtime.
Factory function to create a detection target object.

Return:
Success, detect target object.
"""
match detect_target_option:
case DetectTargetOption.ML_ULTRALYTICS:
Expand Down
14 changes: 12 additions & 2 deletions modules/detect_target/detect_target_ultralytics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import time

import cv2
import torch
import ultralytics

from . import base_detect_target
Expand Down Expand Up @@ -37,7 +38,7 @@ def __init__(
self.__device = device
self.__model = ultralytics.YOLO(model_path)
self.__counter = 0
self.__enable_half_precision = not self.__device == "cpu"
self.__enable_half_precision = self.__device != "cpu"
self.__local_logger = local_logger
self.__show_annotations = show_annotations
if override_full:
Expand All @@ -46,6 +47,10 @@ def __init__(
if save_name != "":
self.__filename_prefix = save_name + "_" + str(int(time.time())) + "_"

if self.__device != "cpu" and not torch.cuda.is_available():
self.__local_logger.warning("CUDA not available. Falling back to CPU.")
self.__device = "cpu"

def run(
self, data: image_and_time.ImageAndTime
) -> "tuple[bool, detections_and_time.DetectionsAndTime | None]":
Expand Down Expand Up @@ -111,6 +116,11 @@ def run(
self.__counter += 1

if self.__show_annotations:
cv2.imshow("Annotated", image_annotated) # type: ignore
if image_annotated is not None:
# Display the annotated image in a named window
cv2.imshow("Annotated", image_annotated)
cv2.waitKey(1) # Short delay to process GUI events
else:
self.__local_logger.warning("Annotated image is invalid.")

return True, detections
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