def __init__(self, pitch, color, our_side, video_port=0, comm_port='/dev/ttyUSB0', comms=1):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
*[int] port The camera port to take the feed from
*[Robot_Controller] attacker Robot controller object - Attacker Robot has a RED
power wire
*[Robot_Controller] defender Robot controller object - Defender Robot has a YELLOW
power wire
"""
assert pitch in [0, 1]
assert color in ['yellow', 'blue']
assert our_side in ['left', 'right']
self.pitch = pitch
# Set up the Arduino communications
self.arduino = Arduino(comm_port, 115200, 1, comms)
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=self.pitch)
frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
self.vision = Vision(
pitch=pitch, color=color, our_side=our_side,
frame_shape=frame.shape, frame_center=center_point,
calibration=self.calibration)
# Set up postprocessing for vision
self.postprocessing = Postprocessing()
# Set up main planner
self.planner = Planner(our_side=our_side, pitch_num=self.pitch)
# Set up GUI
self.GUI = GUI(calibration=self.calibration, arduino=self.arduino, pitch=self.pitch)
self.color = color
self.side = our_side
self.preprocessing = Preprocessing()
self.attacker = Attacker_Controller()
self.defender = Defender_Controller()
b.show(frame)
"""
scalibration = tools.get_colors(0)
# print scalibration
vision = _Vision(pitch=0,
color='blue',
our_side='left',
frame_shape=frame.shape,
frame_center=cam.get_adjusted_center(frame),
calibration=scalibration)
# Set up postprocessing for oldvision
postprocessing = Postprocessing()
GUI = GUI(calibration=scalibration, pitch=0)
preprocessing = Preprocessing()
frame = cam.get_frame()
pre_options = preprocessing.options
# Apply preprocessing methods toggled in the UI
preprocessed = preprocessing.run(frame, pre_options)
frame = preprocessed['frame']
if 'background_sub' in preprocessed:
cv2.imshow('bg sub', preprocessed['background_sub'])
cv2.waitKey()
height, width, channels = frame.shape
metavar='Parameter Set Name',
type=str,
help='Name of parameter set')
args = parser.parse_args()
batch_name = args.batch_name
param_set_name = args.param_set_name
# load config module
config_module = importlib.import_module('postprocessing.pp_config_' +
param_set_name)
Config = config_module.Config
# create Config and Postprocessing
config = Config(batch_name)
post = Postprocessing(config)
submission = Submission(config)
path_to_test_preds = config.POST_PREDICTIONS_IN_DIR
path_to_test_imgs = config.TEST_IMAGES_IN_DIR
out_dir = config.OUTPUT_DIR
if not os.path.exists(out_dir):
os.makedirs(out_dir)
# aux function
def get_id_from_filename(file_name):
int_list = list(filter(str.isdigit, f))
result = ''
for el in int_list:
result += str(el)
