Update Dockerfile to load garb cls model in build-time

Dockerfile

@@ -52,9 +52,13 @@ COPY --chown=user . $HOME/app
 
 # Pre-download all Hugging Face models
 RUN python -c "from huggingface_hub import snapshot_download; snapshot_download(repo_id='facebook/detr-resnet-50', local_dir='/home/user/app/model/detr', local_dir_use_symlinks=False)"
+# External garbage detection models
 RUN wget -O $HOME/app/model/garbage_detector.pt https://huggingface.co/BinKhoaLe1812/Garbage_Detection/resolve/main/garbage_detector.pt
 RUN wget -O $HOME/app/model/yolov5-detect-trash-classification.pt https://huggingface.co/turhancan97/yolov5-detect-trash-classification/resolve/main/yolov5s.pt
+# YOLOv8n garbage classification model
 RUN wget -O /home/user/app/model/yolov8n.pt https://github.com/ultralytics/assets/releases/download/v0.0.0/yolov8n.pt
+# YOLOv8s garbage classification model
+RUN wget -O $HOME/app/model/garbage_cls_yolov8s.pt https://huggingface.co/BinKhoaLe1812/Garbage_Classification/resolve/main/garbage_cls_yolov8s/weights/best.pt
 
 # Verify model setup
 RUN python setup.py

app.py

@@ -187,39 +187,28 @@ def highlight_water_mask_on_frame(frame, binary_mask, color=(255, 0, 0), alpha=0
 def astar(start, goal, occ):
     h   = lambda a,b: abs(a[0]-b[0])+abs(a[1]-b[1])
     N8  = [(-1,-1),(-1,0),(-1,1),(0,-1),(0,1),(1,-1),(1,0),(1,1)]
-    openq=[(0,start)]; g={start:0}; came={};  visited = set()
+    openq=[(0,start)]; g={start:0}; came={}
     while openq:
         _,cur=heapq.heappop(openq)
         if cur==goal:
             p=[cur];                   # reconstruct
             while cur in came: cur=came[cur]; p.append(cur)
             return p[::-1]
-        if cur in visited:
-            continue
-        visited.add(cur)
-        for dx, dy in N8:
-            nx, ny = cur[0] + dx, cur[1] + dy
-            if not (0 <= nx < 640 and 0 <= ny < 640) or occ[ny, nx] == 0:
-                continue
-            if abs(dx) == 1 and abs(dy) == 1:
-                if occ[cur[1]+dy, cur[0]] == 0 or occ[cur[1], cur[0]+dx] == 0:
+        for dx,dy in N8:
+            nx,ny=cur[0]+dx,cur[1]+dy
+            # out-of-bounds / blocked
+            if not (0<=nx<640 and 0<=ny<640) or occ[ny,nx]==0: continue
+            # if diagonal, ensure both orthogonals are free
+            if abs(dx)==1 and abs(dy)==1:
+                if occ[cur[1]+dy, cur[0]]==0 or occ[cur[1], cur[0]+dx]==0:
                     continue
-            neighbor = (nx, ny)
-            ng = g[cur] + 1
-            if neighbor not in g or ng < g[neighbor]:
-                g[neighbor] = ng
-                f = ng + h(neighbor, goal)
-                heapq.heappush(openq, (f, neighbor))
-                came[neighbor] = cur
-    # Save visited search as debug image
-    visited_img = np.zeros_like(occ, dtype=np.uint8)
-    for x, y in visited:
-        visited_img[y, x] = 127
-    cv2.circle(visited_img, start[::-1], 3, 255, -1)
-    cv2.circle(visited_img, goal[::-1], 3, 255, -1)
-    cv2.imwrite("/home/user/app/outputs/debug_astar_failure.png", visited_img * 2)
-    print(f"🧨 A* failed from {start} to {goal} — frontier saved to debug_astar_failure.png")
-    return [] 
+            ng=g[cur]+1
+            if (nx,ny) not in g or ng<g[(nx,ny)]:
+                g[(nx,ny)]=ng
+                f=ng+h((nx,ny),goal)
+                heapq.heappush(openq,(f,(nx,ny)))
+                came[(nx,ny)]=cur
+    return []
 # KNN fit optimal path
 def knn_path(start, targets, occ):
     todo = targets[:]; path=[]
@@ -488,12 +477,12 @@ def _pipeline(uid,img_path):
             centres.append([int((x1 + x2) / 2), int((y1 + y2) / 2)])
     # add chunk centres and deduplicate
     centres.extend(chunk_centres)
-    centres = [list(c) for c in {tuple(c) for c in centres}]
-    for cx, cy in centres:
-        cv2.circle(movable_mask, (cx, cy), 3, 127, -1)  # gray center dots
-    cv2.imwrite(f"{OUTPUT_DIR}/{uid}_movable_with_centres.png", movable_mask * 255)
-    print(f"🧩 Saved debug movable_mask: {OUTPUT_DIR}/{uid}_movable_mask.png")
-
+    # # Gray overlays for chunk centres that is movable - comment
+    # # centres = [list(c) for c in {tuple(c) for c in centres}]
+    # # for cx, cy in centres:
+    # #     cv2.circle(movable_mask, (cx, cy), 3, 127, -1)  # gray center dots
+    # # cv2.imwrite(f"{OUTPUT_DIR}/{uid}_movable_with_centres.png", movable_mask * 255)
+    # print(f"🧩 Saved debug movable_mask: {OUTPUT_DIR}/{uid}_movable_mask.png")
     if not centres: # No garbages within travelable zone
         print(f"🛑 [{uid}] no reachable garbage"); video_ready[uid]=True; return
     else: # Garbage within valid travelable zone

statics/index.html

@@ -20,8 +20,13 @@
     <div id="upload-container2">
         <input type="file" id="upload2" accept="image/*">
         <button  id="checkAnimalBtn" onclick="uploadAnimal()">Check Animal</button>
-      </div>
-      <div id="animal-result"></div>
+    </div>
+    <div id="animal-result"></div>
+    <div id="upload-container3">
+        <input type="file" id="upload3" accept="image/*">
+        <button  id="checkTrashBtn" onclick="uploadAnimal()">Check Animal</button>
+    </div>
+    <div id="trash-result"></div>
     <script src="/statics/script.js"></script>
 </body>
 </html>

statics/style.css

@@ -8,10 +8,10 @@ h1 {
     -webkit-background-clip: text;
     font-weight: bold;
 }
-#upload-container, #upload-container2 {
+#upload-container, #upload-container2, #upload-container3 {
     background: rgba(255, 255, 255, 0.2); padding: 20px; width: 70%; border-radius: 10px; display: inline-block; box-shadow: 0px 0px 10px rgba(255, 255, 255, 0.3);
 }
-#upload, #upload2 {
+#upload, #upload2, #upload3 {
     font-size: 18px; padding: 10px; border-radius: 5px; border: none; background: #fff; cursor: pointer;
 }
 #loader {
@@ -42,6 +42,12 @@ p {
 #checkAnimalBtn:hover {
     background: #8127ae;
 }
+#checkTrashBtn {
+    display: block; width: 20%; margin-top: 20px; margin-left: auto; margin-right: auto; padding: 10px 15px; font-size: 16px; background: #147712; color: white; border: none; border-radius: 5px; cursor: pointer; text-decoration: none;
+}
+#checkTrashBtn:hover {
+    background: #105e5d;
+}
 .hidden {
     display: none;
 }