feat: add chunks to autopilot, test for estimation

2025-10-01 20:47:06 +03:00
parent 7a1a4050c8
commit 4d3e0d0e59
6 changed files with 297 additions and 55 deletions
--- a/test_autopilot.ipynb
+++ b/test_autopilot.ipynb
@@ -0,0 +1,130 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "\n",
+      "  [Pilot] translate: -1.1016611435961554 -11.000654444967525\n",
+      "  [Pilot] Drone Position: (11.00, 1.10)\n",
+      "  [Pilot] Angle: 5.7°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1802.7756377319947\n",
+      "\n",
+      "  [Pilot] translate: -1.3733859493278928 -62.101186076671574\n",
+      "  [Pilot] Drone Position: (72.66, 8.66)\n",
+      "  [Pilot] Angle: 7.0°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1793.018946479205\n",
+      "\n",
+      "  [Pilot] translate: -0.286107956133153 -61.700187952027996\n",
+      "  [Pilot] Drone Position: (133.86, 16.44)\n",
+      "  [Pilot] Angle: 7.3°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1737.8358192949638\n",
+      "\n",
+      "  [Pilot] translate: -1.217279449147543 -61.59798129394066\n",
+      "  [Pilot] Drone Position: (194.81, 25.43)\n",
+      "  [Pilot] Angle: 8.4°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1683.363020511812\n",
+      "\n",
+      "  [Pilot] translate: -0.5202028232620485 -61.25377666064388\n",
+      "  [Pilot] Drone Position: (255.34, 34.87)\n",
+      "  [Pilot] Angle: 8.9°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1628.8954458349883\n",
+      "\n",
+      "  [Pilot] translate: 0.030834225184026082 -62.02734738952944\n",
+      "  [Pilot] Drone Position: (316.63, 44.41)\n",
+      "  [Pilot] Angle: 8.8°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1575.0091545970413\n",
+      "\n",
+      "  [Pilot] translate: -0.4160221189622985 -62.497522722978935\n",
+      "  [Pilot] Drone Position: (378.32, 54.42)\n",
+      "  [Pilot] Angle: 9.2°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1521.0283267047403\n",
+      "\n",
+      "  [Pilot] translate: 0.5176443048484498 -60.8909129531913\n",
+      "  [Pilot] Drone Position: (438.51, 63.67)\n",
+      "  [Pilot] Angle: 8.7°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1467.065793978559\n",
+      "\n",
+      "  [Pilot] translate: -0.22161188590699135 -62.49031949249053\n",
+      "  [Pilot] Drone Position: (500.24, 73.38)\n",
+      "  [Pilot] Angle: 8.9°\n",
+      "  [Pilot] Target Index: 0\n",
+      "  [Pilot] Target Position: (1500, 1000)\n",
+      "  [Pilot] Distance: 1415.4431252709192\n"
+     ]
+    }
+   ],
+   "source": [
+    "from pathlib import Path\n",
+    "from PIL import Image\n",
+    "import numpy as np\n",
+    "from autopilot import AutoPilot\n",
+    "from visualization import VisualizationManager\n",
+    "\n",
+    "autopilot = AutoPilot([(1500, 1000)], [])\n",
+    "imgs = [Image.open(Path('images') / f'photo_{i}.png') for i in range(10)]\n",
+    "autopilot.handle(imgs[0])\n",
+    "for i in range(1, 10):\n",
+    "    print()\n",
+    "    autopilot.handle(imgs[i])\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "None\n"
+     ]
+    }
+   ],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.0"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}