def __init__(self, cam, robot_name):
trr_vu.Pipeline.__init__(self)
be_param = trr_vu.NamedBirdEyeParam(robot_name)
self.cam = cam
self.set_roi((0, 0), (cam.w, cam.h))
self.bird_eye = trr_vu.BirdEyeTransformer(cam, be_param)
self.line_finder = trr_vu.HoughLinesFinder(self.bird_eye.mask_unwraped)
self.lane_model = trr_u.LaneModel()
def __init__(self, cam, robot_name):
trr_vu.Pipeline.__init__(self)
be_param = trr_vu.NamedBirdEyeParam(robot_name)
self.bird_eye = trr_vu.BirdEyeTransformer(cam, be_param)
self.line_finder = trr_vu.HoughLinesFinder(self.bird_eye.mask_unwraped)
self.lane_model = trr_u.LaneModel()
self.img = None
self.undistorted_img = None
self.display_mode = Foo4Pipeline.show_be
def __init__(self, cam, robot_name):
trr_vu.Pipeline.__init__(self)
self.thresholder = trr_vu.BinaryThresholder()
self.contour_finder = trr_vu.ContourFinder(min_area=500)
self.floor_plane_injector = trr_vu.FloorPlaneInjector()
be_param = trr_vu.NamedBirdEyeParam(robot_name)
self.bird_eye = trr_vu.BirdEyeTransformer(cam, be_param)
self.lane_model = trru.LaneModel()
self.display_mode = Contour1Pipeline.show_contour
self.img = None
def __init__(self, cam, robot_name):
trr_vu.Pipeline.__init__(self)
be_param = trr_vu.NamedBirdEyeParam(robot_name)
self.cam = cam
self.set_roi((0, 0), (cam.w, cam.h))
self.bird_eye = trr_vu.BirdEyeTransformer(cam, be_param)
self.thresholder = trr_vu.BinaryThresholder()
self.contour_finder = trr_vu.ContourFinder(min_area=500)
self.lane_model = trr_u.LaneModel()
self.display_mode = Contour3Pipeline.show_none
self.img = None
def __init__(self, cam, robot_name):
trr_vu.Pipeline.__init__(self)
self.sfd = trr_vu.StartFinishDetector()
self.dist_to_start, self.dist_to_finish = np.float('inf'), np.float('inf')
self.bird_eye = trr_vu.BirdEyeTransformer(cam, trr_vu.NamedBirdEyeParam(robot_name))
self.img_bgr = None
self.set_debug_display(StartFinishDetectPipeline.show_none, False)
self.set_roi((0, 110), (cam.w, cam.h))
def __init__(self, cam, robot_name):
trr_vu.Pipeline.__init__(self)
be_param = trr_vu.NamedBirdEyeParam(robot_name)
self.bird_eye = trr_vu.BirdEyeTransformer(cam, be_param)
def test_load(filename='/tmp/pipe_run.npz'):
print('loading path from {}'.format(filename))
data = np.load(filename)
times, lane_mod_coefs = data['times'], data['lane_mod_coefs']
plot_run(times, lane_mod_coefs)
if __name__ == '__main__':
#test_load()
robot_pierrette, robot_caroline, robot_christine = range(3)
robot_names = ['pierrette', 'caroline', 'christine']
robot = robot_christine
intr_cam_calib_dir = '/home/poine/.ros/camera_info/'
intr_cam_calib_path = '{}/{}_camera_road_front.yaml'.format(intr_cam_calib_dir, robot_names[robot])
be_param = trr_vu.NamedBirdEyeParam(robot_names[robot])
if robot == robot_pierrette:
extr_cam_calib_path = '/home/poine/work/roverboard/roverboard_description/cfg/pierrette_cam1_extr.yaml'
elif robot == robot_caroline:
extr_cam_calib_path = '/home/poine/work/roverboard/roverboard_description/cfg/caroline_cam_road_front_extr.yaml'
elif robot == robot_christine:
extr_cam_calib_path = '/home/poine/work/oscar/oscar/oscar_description/cfg/christine_cam_road_front_extr.yaml'
cam = trr_vu.load_cam_from_files(intr_cam_calib_path, extr_cam_calib_path)
pipe_1, pipe_2, pipe_3, pipe_4 = range(4)
pipe_type = pipe_2
if pipe_type == pipe_1: # 154hz
pipe = trr_l1.Contour1Pipeline(cam)
pipe.thresholder.set_threshold(150)
pipe.display_mode = pipe.show_contour
elif pipe_type == pipe_2: # now 200hz