如何避免Pepper Robot多次识别同一地标？

Question

By reason of developing a module to do the self-localization I need to build a python box in Choreragphe which helps to avoid that Pepper Robot recognizes the same Landmark more times. The original landmark is only responsible for detecting the landmark but repeats the process for the same landmark. My basic idea is to build a string including the numbers of the recognized landmarks. But in Choreragphe if we do this based on getting values of the AlMemory module; the variables would be refreshed every time when a landmark is detected regardless of if it's new. (Please see picture 1) This code

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)

gives this result back:

    [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] 

But if we do this in a python script alone, and then import it to Choregraphe, at that point I was suggested to follow the workflow in the Github project of Mr.Emile, robot-jumpstarter which I have tried but failed to make it work in Choregraphe.

Thus,is it possible to do some local python script in Choregraphe (like it in picture3)parallel to the Naomark module to save the detected MarkID in that and so on ?

Answer 1

I perhaps don't catch the difficulty, anyway it seems very simple to tackle: add a box connected to the output of DetectLandmark and do this kind of code:

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