Question

由于开发模块进行自我定位的原因，我需要在Choreragphe中构建一个python框，这有助于避免Pepper Robot多次识别相同的Landmark。 原始地标仅负责检测地标，但对同一地标重复此过程。 我的基本想法是构建一个字符串，其中包括已识别地标的编号。但是在Choreragphe中，如果我们基于获取AlMemory模块的值来执行此操作；每当检测到地标时，变量都会被刷新，无论它是否是新的。（请参见图片1）这段代码

class MyClass(GeneratedClass):
def __init__(self):
    GeneratedClass.__init__(self)
    #put initialization code here
    self.markIDs = []
    moreInfo = []
    self.memory = ALProxy("ALMemory")
    # Connect the event callback.
    # Get the services ALMotion & ALRobotPosture.
    self.motion_service = ALProxy("ALMotion")
    # Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
    self.motion_service = ALProxy("ALMotion")
    self.got_landmark = False

def onLoad(self):
    self.logger.debug("Loaded box %s", self.getName())

def onUnload(self):
    #puts code for box cleanup here
    pass

def onInput_onStart(self, p):
    markIDs = []
    moreInfo = []
    # Generic Extractor output format:
    # p = [ [timeStampMaj, timeStampMin], [ tag0, tag1, ... tagN] ] with tag = [ shapeInfo, moreInfo ]
    if(len(p) > 0)&(not (moreInfo in markIDs)):
        self.logger.info("moreInfo in markIDs=")
        self.logger.info((moreInfo in markIDs))
        markInfoArray = p[1]
        self.logger.info("markInfoArray =")
        self.logger.info(markInfoArray)
        for markInfo in markInfoArray:
            moreInfo = markInfo[1]
            # moreInfo = [ landmarkID ]
            self.logger.info("markInfo =")
            self.logger.info(str(markInfo))
            self.logger.info("moreInfo=")
            self.logger.info(str(moreInfo))
            if not (moreInfo[-1] in markIDs):
                self.got_landmark = True
            markIDs.append(moreInfo[-1])
            self.logger.info("markIDs =")
            self.logger.info(str(markIDs))

    self.onStopped(markIDs)

将结果返回：

    [INFO ] behavior.box :onInput_onStart:30 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: moreInfo in markIDs= 
[INFO ] behavior.box :onInput_onStart:31 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: False 
[INFO ] behavior.box :onInput_onStart:34 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markInfoArray = 
[INFO ] behavior.box :onInput_onStart:35 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [[[1, 0.18835650384426117, 0.14215253293514252, 0.12947072088718414, 0.12947072088718414, 16], [84]]] 
[INFO ] behavior.box :onInput_onStart:40 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markInfo = 
[INFO ] behavior.box :onInput_onStart:41 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [[1, 0.18835650384426117, 0.14215253293514252, 0.12947072088718414, 0.12947072088718414, 16], [84]] 
[INFO ] behavior.box :onInput_onStart:42 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: moreInfo= 
[INFO ] behavior.box :onInput_onStart:43 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [84] 
[INFO ] behavior.box :onInput_onStart:49 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markIDs = 
[INFO ] behavior.box :onInput_onStart:22 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/ProcessMarksList_2: p[0] =  
[INFO ] behavior.box :onInput_onStart:23 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/ProcessMarksList_2: 84 
[INFO ] behavior.box :onInput_onStart:51 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [84] 
[INFO ] behavior.box :onInput_onStart:30 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: moreInfo in markIDs= 
[INFO ] behavior.box :onInput_onStart:31 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: False 
[INFO ] behavior.box :onInput_onStart:34 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markInfoArray = 
[INFO ] behavior.box :onInput_onStart:40 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markInfo = 
[INFO ] behavior.box :onInput_onStart:42 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: moreInfo= 
[INFO ] behavior.box :onInput_onStart:35 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [[[1, 0.18835650384426117, 0.14215253293514252, 0.12947072088718414, 0.12947072088718414, 16], [84]]] 
[INFO ] behavior.box :onInput_onStart:49 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markIDs = 
[INFO ] behavior.box :onInput_onStart:43 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [84] 
[INFO ] behavior.box :onInput_onStart:41 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [[1, 0.18835650384426117, 0.14215253293514252, 0.12947072088718414, 0.12947072088718414, 16], [84]] 
[INFO ] behavior.box :onInput_onStart:51 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [84] 
[INFO ] behavior.box :onInput_onStart:30 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: moreInfo in markIDs= 
[INFO ] behavior.box :onInput_onStart:31 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: False 
[INFO ] behavior.box :onInput_onStart:34 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markInfoArray = 
[INFO ] behavior.box :onInput_onStart:41 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [[1, 0.08169912546873093, 0.14497141540050507, 0.12635093927383423, 0.12635093927383423, 17], [84]] 
[INFO ] behavior.box :onInput_onStart:35 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [[[1, 0.08169912546873093, 0.14497141540050507, 0.12635093927383423, 0.12635093927383423, 17], [84]]] 
[INFO ] behavior.box :onInput_onStart:43 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [84] 
[INFO ] behavior.box :onInput_onStart:42 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: moreInfo= 
[INFO ] behavior.box :onInput_onStart:49 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markIDs = 
[INFO ] behavior.box :onInput_onStart:40 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: markInfo = 
[INFO ] behavior.box :onInput_onStart:51 _Behavior__lastUploadedChoregrapheBehaviorbehavior_11241679648:/NAOMark_3/Get Marks List_1: [84]

但是，如果我们仅使用python脚本执行此操作，然后将其导入Choregraphe，则建议我遵循Mr.Emile的Github项目中的工作流程，robot-jumpstarter未能在Choregraphe中使用它。

因此，是否可以在Choregraphe中与Naomark模块并行地执行一些本地python脚本（如picture3中所示），以在其中保存检测到的MarkID，依此类推 >？

Answer 1

我也许没有抓住困难，但是解决起来似乎很简单：添加一个连接到DetectLandmark输出的盒子，并执行以下代码：

def onInput( self, p ):
  if p != self.last
    self.last = p
    self.output(p)

如何避免Pepper Robot多次识别同一地标？

1 个答案: