Merge pull request #3563 from wdkwyf/Sept_version

Update smartlab demo with corner case consideration.

Author: Wovchena

demos/smartlab_demo/python/evaluator.py

@@ -31,7 +31,7 @@ def __init__(self):
         self.rider_portion = 6  # [IS_rider & MS_rider] divide the distance between 2 roundscrew1 into rider_portion portion, if rider falls in the first portion mean rider at zeroth position
         self.rider_move_threshold = 20  # [MS_rider_tweezers] if rider moves more than this value, check if tweezers or hand is used to move rider
         self.buffer_rider_size_limit = 30  # [MS_rider_tweezers]
-        self.use_tweezers_threshold = 100  # [MS_rider_tweezers & MS_weights_tweezers] if tweezer and rider/weight distance more than tweezer treshold, consider use hand instead of use tweezer
+        self.use_tweezers_threshold = 99  # [MS_rider_tweezers & MS_weights_tweezers] if tweezer and rider/weight distance more than tweezer treshold, consider use hand instead of use tweezer
         self.tweezers_warning_duration = 60  # [MS_rider_tweezers & MS_weights_tweezers] if score related to tweezers is 0 more than this duration/frames, score is 0 and unrevertible; else still revertible
         self.battery_aspect_ratio = 1.9
         self.reset()
@@ -424,7 +424,7 @@ def get_center_coordinate(self, coor):
     def is_inside(self, small_item_center_coor, big_item_coor):
         [big_x_min, big_y_min, big_x_max, big_y_max] = big_item_coor
         [small_center_x, small_center_y] = small_item_center_coor
-        if small_center_x >= big_x_min and small_center_x <= big_x_max and small_center_y > big_y_min and small_center_y < big_y_max:
+        if big_x_min <= small_center_x <= big_x_max and big_y_min < small_center_y < big_y_max:
             return True
         else:
             return False
@@ -574,12 +574,15 @@ def evaluate_rider_tweezers(self):
                     elif np.linalg.norm(rider_min_coordinate - tweezers_min_coordinate) > self.use_tweezers_threshold:
                         self.scoring['measuring_score_rider_tweezers'] = 0
                         self.keyframe['measuring_score_rider_tweezers'] = self.frame_counter
-                        self.rider_tweezers_lock_mark = True  # once detected not using tweezers, will lose mark and not able to gain back this mark again
-        # corner case: rider and tweezer can't found correctly at the same time. we only detect tweezer_coor whether under balance
+                        # once detected not using tweezers, will lose mark and not able to gain back this mark again
+                        self.rider_tweezers_lock_mark = True
+        # corner case: rider and tweezer can't found correctly at the same time.
+        # we only detect tweezer_coor whether under balance
         elif len(tweezers_coor) == 1 and len(self.side_object_dict['balance']) == 1:
             tweezers_coor = self.side_object_dict['tweezers'][0]
             balance_coor = self.side_object_dict['balance'][0]
-            if self.is_behind(tweezers_coor, balance_coor):
+            if self.is_behind(tweezers_coor, balance_coor) and self.is_inside(self.get_center_coordinate(tweezers_coor),
+                                                                              balance_coor):
                 self.scoring['measuring_score_rider_tweezers'] = 1
                 self.keyframe['measuring_score_rider_tweezers'] = self.frame_counter
 
@@ -789,7 +792,7 @@ def evaluate_weights_tweezers(self, weight_inside_tray):
                 if not self.tweezers_warning \
                     or self.frame_counter - self.tweezers_warning < self.tweezers_warning_duration:
                     self.tweezers_warning = None
-                    if all(use_tweezers_bool):
+                    if all(use_tweezers_bool) and len(use_tweezers_bool) > 0:
                         self.scoring['measuring_score_weights_tweezers'] = 1
                         self.keyframe['measuring_score_weights_tweezers'] = self.frame_counter
                     else: