如何避免 Pepper Robot 多次识别同一个地标？

Question

由于开发了一个模块来进行自我定位，我需要在 Choreragphe 中构建一个 python 盒子，这有助于避免 Pepper Robot 多次识别同一个地标。 原始地标只负责检测地标，但对同一地标重复该过程。 我的基本想法是构建一个包含已识别地标的数字的字符串。但是在 Choreragphe 中，如果我们基于获取 AlMemory 模块的值来执行此操作；每次检测到地标时都会刷新变量，无论它是否是新的。 （请看图一） 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)

返回这个结果：

    [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，如果我们仅在 python 脚本中执行此操作，然后将其导入 Choregraphe，则建议我遵循 Mr.Emile,robot-jumpstarter 的 Github 项目中的工作流程，我尝试过但未能成功让它在 Choregraphe 中工作。

因此，是否可以在 Choregraphe 中（如图 3 所示）中与 Naomark 模块并行执行一些本地 python 脚本来保存检测到的 MarkID 等等 ?

Answer 1

我可能没有抓住困难，反正解决起来似乎很简单： 添加一个连接到 DetectLandmark 输出的框并执行以下代码：

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