Victor Huang Bootcamp #141

vichua2006 · 2025-01-10T18:32:00Z

No description provided.

TongguangZhang

reviewed

TongguangZhang · 2025-01-14T01:30:03Z

modules/bootcamp/decision_simple_waypoint.py

+        elif status == drone_status.DroneStatus.HALTED:
+            self.been_halted_once = True


can you guarantee that the drone is halted at the waypoint? what if the drone halts before that for some reason?

hint: make sure to use the acceptance radius

TongguangZhang · 2025-01-14T01:30:26Z

modules/bootcamp/decision_simple_waypoint.py

+            command = command.create_set_relative_destination_command(
+                self.waypoint.location_x, self.waypoint.location_y
+            )


note that it's relative destination, not absolute, so you can't just use the waypoint's coordinates

TongguangZhang · 2025-01-14T01:30:49Z

modules/bootcamp/decision_waypoint_landing_pads.py

+                abs(loc1.location_x - loc2.location_x) ** 2
+                + abs(loc1.location_y - loc2.location_y) ** 2


do u need abs if ur alr squaring it?

TongguangZhang · 2025-01-14T01:31:54Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            curr_loc: location.Location, loclist: "list[location.Location]"
+        ) -> location.Location:
+            """find the closest location in a list of locations"""
+            min_dist, res = float("inf"), None


you should name the var smth more descriptive than res

TongguangZhang · 2025-01-14T01:32:22Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            """find the closest location in a list of locations"""
+            min_dist, res = float("inf"), None
+
+            for l in loclist:


we use snake_case - take a look at the python style guide in confluence for these kinds of conventions

TongguangZhang · 2025-01-14T01:33:19Z

modules/bootcamp/decision_waypoint_landing_pads.py

+        def find_squared_dist(loc1: location.Location, loc2: location.Location) -> int:
+            """helper function that finds the squared distance between two Location instances"""
+            return (
+                abs(loc1.location_x - loc2.location_x) ** 2
+                + abs(loc1.location_y - loc2.location_y) ** 2
+            )
+
+        def find_closest_location(


you should declare these functions outside of the run function (it's ok to go outside the comment guards in this case)

if you declare it like this, each time the function is called, you redeclare these functions, which is unnecessary

TongguangZhang · 2025-01-14T01:34:05Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            command = command.create_set_relative_destination_command(
+                self.waypoint.location_x, self.waypoint.location_y
+            )


again, relative distance, not absolute

TongguangZhang · 2025-01-14T01:35:21Z

modules/bootcamp/detect_landing_pad.py

@@ -98,31 +95,35 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
        # * conf
        # * device
        # * verbose
-        predictions = ...
+        predictions = self.__model.predict(image, verbose=False)


note the other params listed above

TongguangZhang · 2025-01-14T01:36:13Z

modules/bootcamp/detect_landing_pad.py

+            if result is None:
+                pass


I don't think pass is what you wanna do here - maybe continue?

however, instead of skipping failed boxes, we acc wanna return an empty list - in data science, when part of a data point is corrupted, we skip the whole data point instead of returning partial data, in this case, 1 image is 1 data point, and the boxes are part of the image, so we skip the whole image if any of the boxes fail

TongguangZhang

reviewed

TongguangZhang · 2025-01-16T20:45:27Z

modules/bootcamp/decision_simple_waypoint.py

+        status = report.status
+        position = report.position


i usually recommend not doing this - it's more clear when u use the full variable since we know that it's the report's status, position, etc.

TongguangZhang · 2025-01-16T20:46:19Z

modules/bootcamp/decision_simple_waypoint.py

+        if status == drone_status.DroneStatus.HALTED and (
+            self.acceptance_radius**2 >= find_squared_dist(self.waypoint, position)
+        ):
+            command = command.create_land_command()
+        elif status == drone_status.DroneStatus.HALTED:


you check if the drone is halted twice here, maybe do a nested if?

TongguangZhang · 2025-01-16T20:47:41Z

modules/bootcamp/decision_simple_waypoint.py

+
+
+# helper functions
+def find_squared_dist(loc1: location.Location, loc2: location.Location) -> int:


you should declare this inside the class (I also recommend making it a static method)

TongguangZhang · 2025-01-16T20:48:10Z

modules/bootcamp/decision_waypoint_landing_pads.py

+def find_squared_dist(loc1: location.Location, loc2: location.Location) -> int:
+    """helper function that finds the squared distance between two Location instances"""
+    return (loc1.location_x - loc2.location_x) ** 2 + (loc1.location_y - loc2.location_y) ** 2
+
+
+def find_closest_location(


declare these inside the class

TongguangZhang · 2025-01-16T20:48:48Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            final_destination = find_closest_location(position, landing_pad_locations)
+            self.final_destination = final_destination


maybe make this one line, you don't really need the second statement

TongguangZhang · 2025-01-16T20:49:16Z

modules/bootcamp/decision_waypoint_landing_pads.py

+            closest_location = loc
+            min_dist = dist
+
+    return closest_location


what if the list is empty and closest location is None? make sure to handle that in the run function

TongguangZhang · 2025-01-16T20:49:33Z

modules/bootcamp/detect_landing_pad.py

@@ -98,31 +95,36 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
        # * conf
        # * device
        # * verbose
-        predictions = ...
+        predictions = self.__model.predict(source=image, verbose=False, conf=0.25, device=None)


0.25 might be a little low for conf

TongguangZhang · 2025-01-16T20:50:06Z

modules/bootcamp/detect_landing_pad.py

+            # Create BoundingBox object and append to list
+            result, box = bounding_box.BoundingBox.create(raw_box)
+            # discard image if failed
+            if result is None:


result won't be none, it's a boolean (make sure to check the create function to understand what it returns)

maxlou05

Conditionally approved!

maxlou05 · 2025-01-18T16:22:42Z

modules/bootcamp/detect_landing_pad.py

@@ -98,31 +95,36 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
        # * conf
        # * device
        # * verbose
-        predictions = ...
+        predictions = self.__model.predict(source=image, verbose=False, conf=0.75, device=None)


Although using default or letting it choose is fine, there is a variable in this bootcamp that indicates which device you should use (You don't have to change anything here, just something to think about)

vichua2006 added 3 commits January 9, 2025 18:27

task 1 done

9e729c5

task 2 + 4 completed; missed task3

59f8bf6

task 3 completed

74ff999

TongguangZhang reviewed Jan 14, 2025

View reviewed changes

code review changes

6882da9

TongguangZhang reviewed Jan 16, 2025

View reviewed changes

make second code review changes

7578c5c

maxlou05 reviewed Jan 18, 2025

View reviewed changes

maxlou05 closed this Jan 18, 2025

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Victor Huang Bootcamp #141

Victor Huang Bootcamp #141

vichua2006 commented Jan 10, 2025

TongguangZhang left a comment

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang Jan 14, 2025

TongguangZhang left a comment

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

TongguangZhang Jan 16, 2025

maxlou05 left a comment

maxlou05 Jan 18, 2025

		elif status == drone_status.DroneStatus.HALTED:
		self.been_halted_once = True

		abs(loc1.location_x - loc2.location_x) ** 2
		+ abs(loc1.location_y - loc2.location_y) ** 2



		# helper functions
		def find_squared_dist(loc1: location.Location, loc2: location.Location) -> int:

		final_destination = find_closest_location(position, landing_pad_locations)
		self.final_destination = final_destination

Victor Huang Bootcamp #141

Victor Huang Bootcamp #141

Conversation

vichua2006 commented Jan 10, 2025

TongguangZhang left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

TongguangZhang left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

maxlou05 left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment