cluster-estimation-integration-redo-redo (#221)

* initial commit

* fixed implemented changes

* fixed formatting

* fixed changes

* fixed typo

---------

Co-authored-by: Cyuber <[email protected]>

config.yaml

@@ -34,3 +34,8 @@ geolocation:
     camera_orientation_yaw: 0.0
     camera_orientation_pitch: -1.57079632679
     camera_orientation_roll: 0.0
+
+cluster_estimation:
+    min_activation_threshold: 25
+    min_new_points_to_run: 5
+    random_state: 0

main_2024.py

@@ -19,6 +19,7 @@
 from modules.data_merge import data_merge_worker
 from modules.geolocation import geolocation_worker
 from modules.geolocation import camera_properties
+from modules.cluster_estimation import cluster_estimation_worker
 from modules.common.modules.logger import logger
 from modules.common.modules.logger import logger_main_setup
 from modules.common.modules.read_yaml import read_yaml
@@ -111,6 +112,11 @@ def main() -> int:
         GEOLOCATION_CAMERA_ORIENTATION_YAW = config["geolocation"]["camera_orientation_yaw"]
         GEOLOCATION_CAMERA_ORIENTATION_PITCH = config["geolocation"]["camera_orientation_pitch"]
         GEOLOCATION_CAMERA_ORIENTATION_ROLL = config["geolocation"]["camera_orientation_roll"]
+
+        MIN_ACTIVATION_THRESHOLD = config["cluster_estimation"]["min_activation_threshold"]
+        MIN_NEW_POINTS_TO_RUN = config["cluster_estimation"]["min_new_points_to_run"]
+        RANDOM_STATE = config["cluster_estimation"]["random_state"]
+
         # pylint: enable=invalid-name
     except KeyError as exception:
         main_logger.error(f"Config key(s) not found: {exception}", True)
@@ -139,14 +145,18 @@ def main() -> int:
         mp_manager,
         QUEUE_MAX_SIZE,
     )
-    geolocation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+    geolocation_to_cluster_estimation_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
     flight_interface_decision_queue = queue_proxy_wrapper.QueueProxyWrapper(
         mp_manager,
         QUEUE_MAX_SIZE,
     )
+    cluster_estimation_to_main_queue = queue_proxy_wrapper.QueueProxyWrapper(
+        mp_manager,
+        QUEUE_MAX_SIZE,
+    )
 
     result, camera_intrinsics = camera_properties.CameraIntrinsics.create(
         GEOLOCATION_RESOLUTION_X,
@@ -266,7 +276,7 @@ def main() -> int:
             camera_extrinsics,
         ),
         input_queues=[data_merge_to_geolocation_queue],
-        output_queues=[geolocation_to_main_queue],
+        output_queues=[geolocation_to_cluster_estimation_queue],
         controller=controller,
         local_logger=main_logger,
     )
@@ -277,6 +287,22 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert geolocation_worker_properties is not None
 
+    result, cluster_estimation_worker_properties = worker_manager.WorkerProperties.create(
+        count=1,
+        target=cluster_estimation_worker.cluster_estimation_worker,
+        work_arguments=(MIN_ACTIVATION_THRESHOLD, MIN_NEW_POINTS_TO_RUN, RANDOM_STATE),
+        input_queues=[geolocation_to_cluster_estimation_queue],
+        output_queues=[cluster_estimation_to_main_queue],
+        controller=controller,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create arguments for Cluster Estimation", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_worker_properties is not None
+
     # Create managers
     worker_managers = []
 
@@ -345,6 +371,19 @@ def main() -> int:
 
     worker_managers.append(geolocation_manager)
 
+    result, cluster_estimation_manager = worker_manager.WorkerManager.create(
+        worker_properties=cluster_estimation_worker_properties,
+        local_logger=main_logger,
+    )
+    if not result:
+        main_logger.error("Failed to create manager for Cluster Estimation", True)
+        return -1
+
+    # Get Pylance to stop complaining
+    assert cluster_estimation_manager is not None
+
+    worker_managers.append(cluster_estimation_manager)
+
     # Run
     for manager in worker_managers:
         manager.start_workers()
@@ -357,24 +396,16 @@ def main() -> int:
                 return -1
 
         try:
-            geolocation_data = geolocation_to_main_queue.queue.get_nowait()
+            cluster_estimations = cluster_estimation_to_main_queue.queue.get_nowait()
         except queue.Empty:
-            geolocation_data = None
-
-        if geolocation_data is not None:
-            for detection_world in geolocation_data:
-                main_logger.debug("Detection in world:", True)
-                main_logger.debug(
-                    "geolocation vertices: " + str(detection_world.vertices.tolist()), True
-                )
-                main_logger.debug(
-                    "geolocation centre: " + str(detection_world.centre.tolist()), True
-                )
-                main_logger.debug("geolocation label: " + str(detection_world.label), True)
-                main_logger.debug(
-                    "geolocation confidence: " + str(detection_world.confidence), True
-                )
-
+            cluster_estimations = None
+
+        if cluster_estimations is not None:
+            for cluster in cluster_estimations:
+                main_logger.debug("Cluster in world: " + True)
+                main_logger.debug("Cluster location x: " + str(cluster.location_x))
+                main_logger.debug("Cluster location y: " + str(cluster.location_y))
+                main_logger.debug("Cluster spherical variance: " + str(cluster.spherical_variance))
         if cv2.waitKey(1) == ord("q"):  # type: ignore
             main_logger.info("Exiting main loop", True)
             break
@@ -386,8 +417,9 @@ def main() -> int:
     detect_target_to_data_merge_queue.fill_and_drain_queue()
     flight_interface_to_data_merge_queue.fill_and_drain_queue()
     data_merge_to_geolocation_queue.fill_and_drain_queue()
-    geolocation_to_main_queue.fill_and_drain_queue()
+    geolocation_to_cluster_estimation_queue.fill_and_drain_queue()
     flight_interface_decision_queue.fill_and_drain_queue()
+    cluster_estimation_to_main_queue.fill_and_drain_queue()
 
     for manager in worker_managers:
         manager.join_workers()