[UPDATE] Added metadata that includes tgt positions

app.py

@@ -19,6 +19,7 @@ import gradio as gr
 import os, glob, threading, time
 import torch
 from PIL import Image
+import json
 
 # Import configuration & RL / TTA utilities -------------------------------------------------
 # NOTE: we import * so that the global names (e.g. USE_GPU, MODEL_NAME, etc.)
@@ -71,6 +72,10 @@ if TAXABIND_TTA:
 else:
     clip_seg_tta = None
 
+# Load metadata json
+tgts_metadata_json_path = os.path.join(script_dir, "examples/metadata.json")
+tgts_metadata = json.load(open(tgts_metadata_json_path))
+
 
 # ────────────────────────── Gradio process fn ─────────────────────────
 
@@ -94,6 +99,7 @@ def process(
     # Load images from paths and configure ClipSegTTA inputs
     sat_img = Image.open(sat_path).convert("RGB")
     ground_img_pil = Image.open(ground_path).convert("RGB") if ground_path else None
+    tgts = [tuple(tgt) for tgt in tgts_metadata[taxonomy]["target_positions"]]
 
     clip_seg_tta.img_paths = [ground_path] if ground_path else []
     clip_seg_tta.imo_path = sat_path
@@ -103,8 +109,8 @@ def process(
     clip_seg_tta.sounds = []
     clip_seg_tta.sound_ids = [] # None
     clip_seg_tta.species_name = taxonomy or ""
-    clip_seg_tta.target_positions = [(0,0)]  # PLACEHOLDERS
     clip_seg_tta.gt_mask_name = taxonomy.replace(" ", "_") # None
+    clip_seg_tta.target_positions = tgts if tgts != [] else [(0,0)]
 
     # Define TestWorker
     planner = TestWorker(

env.py

@@ -789,6 +789,7 @@ class Env():
                 xPoints, yPoints = route
                 ax.plot(xPoints, yPoints, c=robot_marker_color, linewidth=2)
                 ax.plot(xPoints[-1], yPoints[-1], markersize=12, zorder=99, marker="^", ls="-", c=robot_marker_color, mec="black")
+                ax.plot(xPoints[0], yPoints[0], 'co', c=robot_marker_color, markersize=8, zorder=5)
 
         # Plot target positions
         for target in self.target_positions:

examples/metadata.json

@@ -0,0 +1,367 @@
+{
+    "Animalia Arthropoda Malacostraca Decapoda Ocypodidae Ocypode quadrata": {
+        "id": 277303,
+        "sat_key": "277303_38.72364_-75.07749",
+        "sat_path": "277303_38.72364_-75.07749.jpg",
+        "taxonomy": "Animalia Arthropoda Malacostraca Decapoda Ocypodidae Ocypode quadrata",
+        "count": 3,
+        "spread": 205.8465849051111,
+        "sat_bounds": {
+        "min_lat": 38.71210951816465,
+        "max_lat": 38.73517045903165,
+        "min_lon": -75.0922090090773,
+        "max_lon": -75.0627709909227
+        },
+        "img_ids": [
+        2291779,
+        2274104,
+        1170233
+        ],
+        "target_positions": [
+        [
+            483,
+            295
+        ],
+        [
+            316,
+            272
+        ],
+        [
+            12,
+            223
+        ]
+        ],
+        "num_landmarks": 4
+    },
+    "Animalia Chordata Aves Charadriiformes Laridae Larus marinus": {
+        "id": 80645,
+        "sat_key": "80645_39.76079_-74.10316",
+        "sat_path": "80645_39.76079_-74.10316.jpg",
+        "taxonomy": "Animalia Chordata Aves Charadriiformes Laridae Larus marinus",
+        "count": 3,
+        "spread": 135.20949822662968,
+        "sat_bounds": {
+          "min_lat": 39.749261576999864,
+          "max_lat": 39.772318400033065,
+          "min_lon": -74.11809737606718,
+          "max_lon": -74.0882226239328
+        },
+        "img_ids": [
+          902579,
+          1385582,
+          262110
+        ],
+        "target_positions": [
+          [
+            326,
+            203
+          ],
+          [
+            192,
+            263
+          ],
+          [
+            380,
+            319
+          ]
+        ],
+        "num_landmarks": 3
+    },
+    "Animalia Chordata Mammalia Carnivora Canidae Canis aureus": {
+        "id": 1528408,
+        "sat_key": "1528408_13.00422_80.23033",
+        "sat_path": "1528408_13.00422_80.23033.jpg",
+        "taxonomy": "Animalia Chordata Mammalia Carnivora Canidae Canis aureus",
+        "count": 3,
+        "spread": 58.14007011752667,
+        "sat_bounds": {
+          "min_lat": 12.992649951077192,
+          "max_lat": 13.015790038631529,
+          "min_lon": 80.21853090802841,
+          "max_lon": 80.24212909197156
+        },
+        "img_ids": [
+          1528479,
+          2555188,
+          2555189
+        ],
+        "target_positions": [
+          [
+            309,
+            128
+          ],
+          [
+            239,
+            428
+          ],
+          [
+            240,
+            419
+          ]
+        ],
+        "num_landmarks": 3
+    },
+    "Animalia Chordata Mammalia Carnivora Canidae Urocyon littoralis": {
+        "id": 304160,
+        "sat_key": "304160_34.0144_-119.54417",
+        "sat_path": "304160_34.0144_-119.54417.jpg",
+        "taxonomy": "Animalia Chordata Mammalia Carnivora Canidae Urocyon littoralis",
+        "count": 3,
+        "spread": 237.64152837579553,
+        "sat_bounds": {
+          "min_lat": 34.00286041606169,
+          "max_lat": 34.02593956225012,
+          "min_lon": -119.55802743361286,
+          "max_lon": -119.53031256638712
+        },
+        "img_ids": [
+          304160,
+          1473173,
+          384867
+        ],
+        "target_positions": [
+          [
+            255,
+            256
+          ],
+          [
+            19,
+            22
+          ],
+          [
+            29,
+            274
+          ]
+        ],
+        "num_landmarks": 3
+    },
+    "Animalia Chordata Mammalia Carnivora Phocidae Mirounga angustirostris": {
+        "id": 27423,
+        "sat_key": "27423_35.64005_-121.17595",
+        "sat_path": "27423_35.64005_-121.17595.jpg",
+        "taxonomy": "Animalia Chordata Mammalia Carnivora Phocidae Mirounga angustirostris",
+        "count": 10,
+        "spread": 52.04100547557302,
+        "sat_bounds": {
+          "min_lat": 35.62851350436902,
+          "max_lat": 35.65158647348936,
+          "min_lon": -121.1900824597284,
+          "max_lon": -121.16181754027158
+        },
+        "img_ids": [
+          2563189,
+          636413,
+          344385,
+          447768,
+          2477167,
+          2665354,
+          1031066,
+          2314007,
+          1236526,
+          1551827
+        ],
+        "target_positions": [
+          [
+            480,
+            480
+          ],
+          [
+            202,
+            69
+          ],
+          [
+            203,
+            49
+          ],
+          [
+            168,
+            13
+          ],
+          [
+            168,
+            13
+          ],
+          [
+            168,
+            13
+          ],
+          [
+            168,
+            13
+          ],
+          [
+            258,
+            276
+          ],
+          [
+            258,
+            273
+          ],
+          [
+            253,
+            284
+          ]
+        ],
+        "num_landmarks": 3
+    },
+    "Animalia Chordata Mammalia Rodentia Caviidae Hydrochoerus hydrochaeris": {
+        "id": 28871,
+        "sat_key": "28871_-12.80255_-69.29999",
+        "sat_path": "28871_-12.80255_-69.29999.jpg",
+        "taxonomy": "Animalia Chordata Mammalia Rodentia Caviidae Hydrochoerus hydrochaeris",
+        "count": 3,
+        "spread": 115.09473035567798,
+        "sat_bounds": {
+          "min_lat": -12.814120216791382,
+          "max_lat": -12.79097977306587,
+          "min_lon": -69.31177964194578,
+          "max_lon": -69.28820035805421
+        },
+        "img_ids": [
+          621489,
+          1383962,
+          28883
+        ],
+        "target_positions": [
+          [
+            392,
+            270
+          ],
+          [
+            246,
+            266
+          ],
+          [
+            155,
+            226
+          ]
+        ],
+        "num_landmarks": 3
+    },
+    "Animalia Chordata Mammalia Rodentia Sciuridae Marmota marmota": {
+        "id": 388246,
+        "sat_key": "388246_45.49036_7.14796",
+        "sat_path": "388246_45.49036_7.14796.jpg",
+        "taxonomy": "Animalia Chordata Mammalia Rodentia Sciuridae Marmota marmota",
+        "count": 4,
+        "spread": 42.40001792494752,
+        "sat_bounds": {
+          "min_lat": 45.47884312388116,
+          "max_lat": 45.50187685279689,
+          "min_lon": 7.131585725464218,
+          "max_lon": 7.164334274535785
+        },
+        "img_ids": [
+          2439657,
+          2611928,
+          2048974,
+          2378210
+        ],
+        "target_positions": [
+          [
+            479,
+            164
+          ],
+          [
+            366,
+            141
+          ],
+          [
+            352,
+            124
+          ],
+          [
+            290,
+            173
+          ]
+        ],
+        "num_landmarks": 3
+    },
+    "Animalia Chordata Reptilia Squamata Varanidae Varanus salvator": {
+        "id": 410613,
+        "sat_key": "410613_5.35573_100.28948",
+        "sat_path": "410613_5.35573_100.28948.jpg",
+        "taxonomy": "Animalia Chordata Reptilia Squamata Varanidae Varanus salvator",
+        "count": 6,
+        "spread": 58.00460580210422,
+        "sat_bounds": {
+          "min_lat": 5.344155081363914,
+          "max_lat": 5.367304914271601,
+          "min_lon": 100.27793148340874,
+          "max_lon": 100.30102851659126
+        },
+        "img_ids": [
+          707815,
+          411949,
+          701168,
+          1619682,
+          2100008,
+          1548498
+        ],
+        "target_positions": [
+          [
+            225,
+            240
+          ],
+          [
+            232,
+            275
+          ],
+          [
+            277,
+            449
+          ],
+          [
+            220,
+            369
+          ],
+          [
+            180,
+            393
+          ],
+          [
+            294,
+            478
+          ]
+        ],
+        "num_landmarks": 2
+    },
+    "Animalia Chordata Mammalia Carnivora Ursidae Ursus americanus": {
+        "taxonomy": "Animalia Chordata Mammalia Carnivora Ursidae Ursus americanus",
+        "count": 8,
+        "target_positions": [
+          [
+            50,
+            347
+          ],
+          [
+            68,
+            444
+          ],
+          [
+            136,
+            505
+          ],
+          [
+            142,
+            465
+          ],
+          [
+            345,
+            343
+          ],
+          [
+            130,
+            241
+          ],
+          [
+            367,
+            281
+          ],
+          [
+            315,
+            80
+          ]
+        ]
+    }
+}