Ajouter la représentation au fichier de configuration

Dans ce tutoriel, nous allons voir comment ajouter la nouvelle représentation au fichier de configuration, en utilisant toujours le cas précis de la détection d’un objet rouge via la caméra.

Le code

Extrait du fichier de configuration

defaultRepresentations = [
    GoalPostsPercept,
    ReplayWalkRequestGenerator,
];
threads = [
    {
        name = Upper;
        priority = 0;
        debugReceiverSize = 2800000;
        debugSenderSize = 5200000;
        debugSenderInfrastructureSize = 100000;
        executionUnit = Perception;
        representationProviders = [
            {representation = OtherFieldBoundary; provider = LowerProvider;},
            {representation = OtherGoalPostsPercept; provider = LowerProvider;},
            {representation = OtherObstaclesPerceptorData; provider = LowerProvider;},

            {representation = AutoExposureWeightTable; provider = AutoExposureWeightTableProvider;},
            {representation = BallPercept; provider = BallPerceptor;},
            {representation = BallSpecification; provider = ConfigurationDataProvider;},
            {representation = BallSpots; provider = BallSpotsProvider;},
            {representation = BodyContour; provider = BodyContourProvider;},
            {representation = CameraImage; provider = CameraProvider;},
            {representation = CameraInfo; provider = CameraProvider;},
            {representation = CameraIntrinsics; provider = CameraProvider;},
            {representation = CameraMatrix; provider = CameraMatrixProvider;},
            {representation = CameraSettings; provider = ConfigurationDataProvider;},
            {representation = CameraStatus; provider = CameraProvider;},
            {representation = CirclePercept; provider = LinePerceptor;},
            {representation = CNSImage; provider = CNSImageProvider;},
            {representation = CNSPenaltyMarkRegions; provider = PenaltyMarkRegionsProvider;},
            {representation = CNSRegions; provider = CNSRegionsProvider;},
            {representation = ColorDetect; provider = ColorDetector;},
            {representation = ColorScanLineRegionsHorizontal; provider = ScanLineRegionizer;},
            {representation = ColorScanLineRegionsVerticalClipped; provider = ScanLineRegionizer;},
            {representation = ECImage; provider = ECImageProvider;},
            {representation = FieldBoundary; provider = FieldBoundaryProvider;},
            {representation = FieldDimensions; provider = ConfigurationDataProvider;},
            {representation = FieldLineIntersections; provider = FieldLinesProvider;},
            {representation = FieldLines; provider = FieldLinesProvider;},
            {representation = FrameInfo; provider = CameraProvider;},
            {representation = ImageCoordinateSystem; provider = CoordinateSystemProvider;},
            {representation = IntersectionsPercept; provider = IntersectionsProvider;},
            {representation = JerseyClassifier; provider = JerseyClassifierProvider;},
            {representation = JPEGImage; provider = CameraProvider;},
            {representation = LinesPercept; provider = LinePerceptor;},
            {representation = ObstaclesFieldPercept; provider = PlayersDeeptector;},
            {representation = ObstaclesImagePercept; provider = PlayersDeeptector;},
            {representation = ObstaclesPerceptorData; provider = PlayersDeeptector;},
            {representation = PenaltyMarkPercept; provider = PenaltyMarkPerceptor;},
            {representation = PenaltyMarkRegions; provider = PenaltyMarkRegionsProvider;},
            {representation = RelativeFieldColors; provider = RelativeFieldColorsProvider;},
            {representation = RelativeFieldColorsParameters; provider = ConfigurationDataProvider;},
            {representation = RobotCameraMatrix; provider = RobotCameraMatrixProvider;},
            {representation = RobotDimensions; provider = ConfigurationDataProvider;},
            {representation = ScanGrid; provider = ScanGridProvider;},
        ];
    }, {
        name = Lower;
        priority = 0;
        debugReceiverSize = 1000000;
        debugSenderSize = 2000000;
        debugSenderInfrastructureSize = 100000;
        executionUnit = Perception;
        representationProviders = [
            {representation = OtherFieldBoundary; provider = UpperProvider;},
            {representation = OtherGoalPostsPercept; provider = UpperProvider;},
            {representation = OtherObstaclesPerceptorData; provider = UpperProvider;},

            {representation = AutoExposureWeightTable; provider = AutoExposureWeightTableProvider;},
            {representation = BallPercept; provider = BallPerceptor;},
            {representation = BallSpecification; provider = ConfigurationDataProvider;},
            {representation = BallSpots; provider = BallSpotsProvider;},
            {representation = BodyContour; provider = BodyContourProvider;},
            {representation = CameraImage; provider = CameraProvider;},
            {representation = CameraInfo; provider = CameraProvider;},
            {representation = CameraIntrinsics; provider = CameraProvider;},
            {representation = CameraMatrix; provider = CameraMatrixProvider;},
            {representation = CameraSettings; provider = ConfigurationDataProvider;},
            {representation = CameraStatus; provider = CameraProvider;},
            {representation = CirclePercept; provider = LinePerceptor;},
            {representation = CNSImage; provider = CNSImageProvider;},
            {representation = CNSPenaltyMarkRegions; provider = PenaltyMarkRegionsProvider;},
            {representation = CNSRegions; provider = CNSRegionsProvider;},
            {representation = ColorScanLineRegionsHorizontal; provider = ScanLineRegionizer;},
            {representation = ColorScanLineRegionsVerticalClipped; provider = ScanLineRegionizer;},
            {representation = ECImage; provider = ECImageProvider;},
            {representation = FieldBoundary; provider = FieldBoundaryProvider;},
            {representation = FieldDimensions; provider = ConfigurationDataProvider;},
            {representation = FieldLineIntersections; provider = FieldLinesProvider;},
            {representation = FieldLines; provider = FieldLinesProvider;},
            {representation = FrameInfo; provider = CameraProvider;},
            {representation = ImageCoordinateSystem; provider = CoordinateSystemProvider;},
            {representation = IntersectionsPercept; provider = IntersectionsProvider;},
            {representation = JerseyClassifier; provider = JerseyClassifierProvider;},
            {representation = JPEGImage; provider = CameraProvider;},
            {representation = LinesPercept; provider = LinePerceptor;},
            {representation = ObstaclesFieldPercept; provider = PlayersDeeptector;},
            {representation = ObstaclesImagePercept; provider = PlayersDeeptector;},
            {representation = ObstaclesPerceptorData; provider = PlayersDeeptector;},
            {representation = PenaltyMarkPercept; provider = PenaltyMarkPerceptor;},
            {representation = PenaltyMarkRegions; provider = PenaltyMarkRegionsProvider;},
            {representation = RelativeFieldColors; provider = RelativeFieldColorsProvider;},
            {representation = RelativeFieldColorsParameters; provider = ConfigurationDataProvider;},
            {representation = RobotCameraMatrix; provider = RobotCameraMatrixProvider;},
            {representation = RobotDimensions; provider = ConfigurationDataProvider;},
            {representation = ScanGrid; provider = ScanGridProvider;},
        ];
    },{
        name = Cognition;
        priority = 1;
        debugReceiverSize = 2000000;
        debugSenderSize = 2000000;
        debugSenderInfrastructureSize = 200000;
        executionUnit = Cognition;
        representationProviders = [
            {representation = BallPercept; provider = PerceptionBallPerceptProvider;},
            {representation = BodyContour; provider = PerceptionBodyContourProvider;},
            {representation = CameraInfo; provider = PerceptionCameraInfoProvider;},
            {representation = CameraMatrix; provider = PerceptionCameraMatrixProvider;},
            {representation = CameraStatus; provider = PerceptionCameraStatusProvider;},
            {representation = CirclePercept; provider = PerceptionCirclePerceptProvider;},
            {representation = FieldBoundary; provider = PerceptionFieldBoundaryProvider;},
            {representation = FieldLines; provider = PerceptionFieldLinesProvider;},
            {representation = FieldLineIntersections; provider = PerceptionFieldLineIntersectionsProvider;},
            {representation = FrameInfo; provider = PerceptionFrameInfoProvider;},
            {representation = ImageCoordinateSystem; provider = PerceptionImageCoordinateSystemProvider;},
            {representation = IntersectionsPercept; provider = PerceptionIntersectionsPerceptProvider;},
            {representation = LinesPercept; provider = PerceptionLinesPerceptProvider;},
            {representation = ObstaclesFieldPercept; provider = PerceptionObstaclesFieldPerceptProvider;},
            {representation = PenaltyMarkPercept; provider = PerceptionPenaltyMarkPerceptProvider;},
            {representation = RobotCameraMatrix; provider = PerceptionRobotCameraMatrixProvider;},

            {representation = ActivationGraph; provider = BehaviorControl;},
            {representation = AlternativeRobotPoseHypothesis; provider = AlternativeRobotPoseProvider;},
            {representation = ArmMotionRequest; provider = BehaviorControl;},
            {representation = AudioData; provider = AudioProvider;},
            {representation = BallContactChecker; provider = BallContactCheckerProvider;},
            {representation = BallDropInModel; provider = BallDropInLocator;},
            {representation = BallInGoal; provider = BallInGoalTracker;},
            {representation = BallModel; provider = BallStateEstimator;},
            {representation = BallPlayerStrategy; provider = BallPlayerStrategyProvider;},
            {representation = BallSpecification; provider = ConfigurationDataProvider;},
            {representation = BehaviorStatus; provider = BehaviorControl;},
            {representation = NaovaMessageOutputGenerator; provider = TeamMessageHandler;},
            {representation = CameraCalibration; provider = AutomaticCameraCalibrator;},
            {representation = CalibrationRequest; provider = BehaviorControl;},
            {representation = CameraCalibrationStatus; provider = AutomaticCameraCalibrator;},
            {representation = CameraResolutionRequest; provider = AutomaticCameraCalibrator;},
            {representation = CurrentTactic; provider = TacticProvider;},
            {representation = DamageConfigurationBody; provider = ConfigurationDataProvider;},
            {representation = DamageConfigurationHead; provider = ConfigurationDataProvider;},
            {representation = DynamicSupporterPositionning; provider = DynamicSupporterPositionningProvider;},
            {representation = EnhancedKeyStates; provider = KeyStateEnhancer;},
            {representation = ExtendedGameInfo; provider = ExtendedGameInfoProvider;},
            {representation = FieldBall; provider = FieldBallProvider;},
            {representation = FieldCoverage; provider = FieldCoverageProvider;},
            {representation = FieldDimensions; provider = ConfigurationDataProvider;},
            {representation = FieldFeatureOverview; provider = FieldFeatureOverviewProvider;},
            {representation = FieldRating; provider = FieldRatingProvider;},
            {representation = FieldScore; provider = FieldScoreProvider;},
            {representation = FilteredBallPercepts; provider = BallPerceptFilter;},
            {representation = FootSoleRotationCalibration; provider = FootSoleRotationCalibrationProvider;},
            {representation = GameInfo; provider = WhistleHandler;},
            {representation = GlobalFieldCoverage; provider = GlobalFieldCoverageProvider;},
            {representation = HeadAngleRequest; provider = CameraControlEngine;},
            {representation = HeadLimits; provider = ConfigurationDataProvider;},
            {representation = HeadMotionRequest; provider = BehaviorControl;},
            {representation = IMUCalibration; provider = IMUCalibrationProvider;},
            {representation = IntersectionRelations; provider = ConfigurationDataProvider;},
            {representation = JointLimits; provider = ConfigurationDataProvider;},
            {representation = KickInfo; provider = ConfigurationDataProvider;},
            {representation = KickoffState; provider = KickoffStateProvider;},
            {representation = LEDRequest; provider = LEDHandler;},
            {representation = LibCheck; provider = LibCheckProvider;},
            {representation = LibLookActive; provider = LibLookActiveProvider;},
            {representation = LibPosition; provider = LibPositionProvider;},
            {representation = LibTeam; provider = LibTeamProvider;},
            {representation = LibTeammates; provider = LibTeammatesProvider;},
            {representation = LibWalk; provider = LibWalkProvider;},
            {representation = MidCircle; provider = MidCirclePerceptor;},
            {representation = MotionRequest; provider = BehaviorControl;},
            {representation = ObstacleModel; provider = ObstacleModelProvider;},
            {representation = Odometer; provider = OdometerProvider;},
            {representation = OpponentTeamInfo; provider = GameDataProvider;},
            {representation = OwnTeamInfo; provider = GameDataProvider;},
            {representation = PathPlanner; provider = PathPlannerProvider;},
            {representation = PenaltyArea; provider = PenaltyAreaPerceptor;},
            {representation = PenaltyMarkWithPenaltyAreaLine; provider = PenaltyMarkWithPenaltyAreaLinePerceptor;},
            {representation = PerceptRegistration; provider = PerceptRegistrationProvider;},
            {representation = RawGameInfo; provider = GameDataProvider;},
            {representation = RobotDimensions; provider = ConfigurationDataProvider;},
            {representation = RobotHealth; provider = RobotHealthProvider;},
            {representation = RobotInfo; provider = GameDataProvider;},
            {representation = RobotPose; provider = SelfLocator;},
            {representation = SelfLocalizationHypotheses; provider = SelfLocator;},
            {representation = SetupPoses; provider = ConfigurationDataProvider;},
            {representation = SideInformation; provider = SideInformationProvider;},
            {representation = StaticInitialPose; provider = StaticInitialPoseProvider;},
            {representation = SupporterPositioning; provider = SupporterPositioningProvider;},
            {representation = TeamActivationGraph; provider = TeamBehaviorControl;},
            {representation = TeamBallModel; provider = TeamBallLocator;},
            {representation = TeamBehaviorStatus; provider = TeamBehaviorControl;},
            {representation = TeamData; provider = TeamMessageHandler;},
            {representation = TeamPlayersModel; provider = TeamPlayersLocator;},
            {representation = TeamTalk; provider = BehaviorControl;},
            {representation = Whistle; provider = WhistleRecognizer;},
            {representation = WorldModelPrediction; provider = WorldModelPredictor;},
        ];
    },{
        name = Motion;
        priority = 20;
        debugReceiverSize = 500000;
        debugSenderSize = 130000;
        debugSenderInfrastructureSize = 100000;
        executionUnit = Motion;
        representationProviders = [
            {representation = ArmContactModel; provider = ArmContactModelProvider;},
            {representation = ArmKeyFrameGenerator; provider = ArmKeyFrameEngine;},
            {representation = ArmMotionInfo; provider = MotionEngine;},
            {representation = BallSpecification; provider = ConfigurationDataProvider;},
            {representation = DamageConfigurationBody; provider = ConfigurationDataProvider;},
            {representation = DamageConfigurationHead; provider = ConfigurationDataProvider;},
            {representation = DribbleGenerator; provider = DribbleEngine;},
            {representation = DynamicTesting; provider = DynamicController;},
            {representation = EnergySaving; provider = EnergySavingProvider;},
            {representation = FallDownState; provider = FallDownStateProvider;},
            {representation = FallGenerator; provider = FallEngine;},
            {representation = FilteredCurrent; provider = FilteredCurrentProvider;},
            {representation = FootBumperState; provider = FootBumperStateProvider;},
            {representation = FootSupport; provider = FootSupportProvider;},
            {representation = FootOffset; provider = ConfigurationDataProvider;},
            {representation = FrameInfo; provider = NaoProvider;},
            {representation = FsrSensorData; provider = NaoProvider;},
            {representation = GetUpGenerator; provider = KeyframeMotionEngine;},
            {representation = GlobalOptions; provider = ConfigurationDataProvider;},
            {representation = GroundContactState; provider = GroundContactDetector;},
            {representation = GyroOffset; provider = GyroOffsetProvider;},
            {representation = GyroState; provider = GyroStateProvider;},
            {representation = HeadLimits; provider = ConfigurationDataProvider;},
            {representation = HeadMotionGenerator; provider = HeadMotionEngine;},
            {representation = HeadMotionInfo; provider = MotionEngine;},
            {representation = InertialData; provider = InertialDataProvider;},
            {representation = InertialSensorData; provider = NaoProvider;},
            {representation = JointAngles; provider = JointAnglesProvider;},
            {representation = JointCalibration; provider = ConfigurationDataProvider;},
            {representation = JointLimits; provider = ConfigurationDataProvider;},
            {representation = JointRequest; provider = MotionEngine;},
            {representation = JointSensorData; provider = NaoProvider;},
            {representation = KeyframeMotionGenerator; provider = KeyframeMotionEngine;},
            {representation = KeyframeMotionParameters; provider = ConfigurationDataProvider;},
            {representation = KeyStates; provider = NaoProvider;},
            {representation = KickGenerator; provider = KickEngine;},
            {representation = KickInfo; provider = ConfigurationDataProvider;},
            {representation = MassCalibration; provider = ConfigurationDataProvider;},
            {representation = MotionInfo; provider = MotionEngine;},
            {representation = MotionRobotHealth; provider = MotionRobotHealthProvider;},
            {representation = OdometryData; provider = MotionEngine;},
            {representation = PointAtGenerator; provider = PointAtEngine;},
            // {representation = ReplayWalkRequestGenerator; provider = ReplayWalkRequestProvider;},
            {representation = RobotDimensions; provider = ConfigurationDataProvider;},
            {representation = RobotModel; provider = RobotModelProvider;},
            {representation = StandGenerator; provider = WalkingEngine;},
            {representation = StiffnessSettings; provider = ConfigurationDataProvider;},
            {representation = SystemSensorData; provider = NaoProvider;},
            {representation = TorsoMatrix; provider = TorsoMatrixProvider;},
            {representation = WalkAtAbsoluteSpeedGenerator; provider = WalkAtSpeedEngine;},
            {representation = WalkAtRelativeSpeedGenerator; provider = WalkAtSpeedEngine;},
            {representation = WalkGenerator; provider = WalkingEngine;},
            {representation = WalkingEngineOutput; provider = WalkingEngine;},
            {representation = WalkKickGenerator; provider = WalkKickEngine;},
            {representation = WalkLearner; provider = WalkLearnerProvider;},
            {representation = WalkModifier; provider = ConfigurationDataProvider;},
            {representation = WalkStepData; provider = WalkingEngine;},
            {representation = WalkToBallGenerator; provider = WalkToBallEngine;},
            {representation = WalkToBallAndKickGenerator; provider = WalkToBallAndKickEngine;},
            {representation = WalkToPoseGenerator; provider = WalkToPoseEngine;},
        ];
    },
];

Explications

Nous allons ajouter notre représentation dans le fichier de configuration (thread.cfg) qui se trouve dans le répertoire Config/Scenarios/Default/. Comme expliqué dans Concepts de base, le système s’appuie sur plusieurs threads parallèles, chacun ayant une fonction spécifique. Par exemple, les threads de perception traitent les images des caméras, tandis que d’autres gèrent la cognition, le mouvement ou encore la communication avec un PC distant pour le débogage.

Ici, nous nous concentrons sur le thread « Upper » de la caméra, car il correspond à la caméra frontale du NAO, offrant ainsi une vision directement orientée vers l’avant du robot.

Il est important d’ajouter la représentation et son fournisseur dans la section correspondante, en respectant l’ordre alphabétique.

{representation = ColorDetect; provider = ColorDetector;},

Vous venez ainsi d’intégrer la représentation dans le fichier de configuration. Passez maintenant au tutoriel suivant pour poursuivre l’intégration de cette représentation dans l’ensemble du système.