exit(1)
if args.nms < 0 or args.nms >= 1:
eprint("the nms must be within [0, 1[")
exit(1)
if args.mask_threshold < 0 or args.mask_threshold >= 1:
eprint("the mask_threshold must be within [0, 1[")
exit(1)
if args.input_size < 224 or args.input_size > 720:
eprint("As input image is 960*720 and 224 is quite small, input size must be within [224, 720]")
exit(1)
if args.model == "None":
frame_processor = FrameProcessor()
elif args.model.startswith("yolo") or args.model.startswith("ssd"):
frame_processor = ObjectDetector(args.model, args.input_size, args.threshold, args.nms, args.use_gpu)
elif args.model == "posenet":
frame_processor = PoseDetector(args.model, args.threshold)
elif args.model == "maskrcnn":
frame_processor = ObjectSegmentor(args.input_size, args.threshold, args.mask_threshold, args.use_gpu)
elif args.model == "midas":
if args.input_size % 32 != 0:
eprint("Input size must be a multiple of 32 for Midas")
exit(1)
frame_processor = DepthEstimator(args.input_size, args.use_gpu)
else:
raise ValueError("Not implemented")
frontend = FrontEnd(args.drone_speed, args.azerty and os.name != "nt", frame_processor) # azerty keyboard
# automatically handled on windows
frontend.run()
