Code Quality

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.

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 code, camera calibration etc.

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.

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.

Flowchart on TaskPerceiver, TaskReceiver, AlgorithmRunner.