Perception Code Overview

Code Quality

Installation

We will use Conda for managing environments. We recommend installing Miniconda for Python 3.8 here. Then create an environment with

conda create -n urobotics python=3.8

activate it with

conda activate urobotics

Then clone the repo in a directory of your choice

git clone https://github.com/berkeleyauv/perception.git

Change into the cloned repo directory and install it

pip3 install -e ./

Install all dependencies with

pip3 install -r requirements.txt

Also, our training data is stored here https://www.dropbox.com/sh/rrbfqfutrmifrxs/AAAfXxlcCtWZmUELp4wXyTIxa?dl=0 so download it and unzip it in the same folder as perception.

Cython

To compile cythonized code, run the following commands after cding into the folder with Cython setup.py

python setup.py build_ext --inplace
cythonize file_to_cythonize.pyx

misc:

Misc code, camera calibration etc.

tasks:

Code for specific tasks like

1. cross: cross detection
2. segmentation:
3. path_marker: path_marker detection
4. spinny_wheel_detection

etc

In order to create your own algorithm to test:

1. Create <your_algo>.py and put it in one of the specific task folders in perception/tasks.

2. Create a class which extends the TaskPerceiver class. perception/tasks/TaskPerceiver.py includes a template with documentation for how to do this.

vis:

Visualization tools Code for testing tasks (Ideally this should be placed a separate folder called tests).

After writing the code for your specific task algorithm, you can do one of two things:

1. Add this to the end of .py file:

    if __name__ == '__main__':
        from perception.vis.vis import run
        run(<list of file/directory names>, <new instance of your class>, <save your video?>)
   

   and then run

    python <your algorithm>.py
   

2. Add this to the perception/init.py file:

    import <path to your module>
    
    ALGOS = {
        'custom_name': <your module>.<your class reference>
    }
   

   and then run

    python perception/vis/vis.py --algorithm custom_name [--data <path to file/directory>] [--profile <function name>] [--save_video]
   

   The algorithm parameter is required. If data isn't specified, it'll default to your webcam. If profile isn't specified, it will be off by default. Add the save_video tag if you want to save your vis test as an mp4 file.

wiki:

Flowchart on TaskPerceiver, TaskReceiver, AlgorithmRunner.