def __init__(self,
world,
filename=None,
simulator=None,
once=False,
headless=False):
logging.info('Initialising vision')
if simulator:
self.capture = SimCapture(simulator)
else:
self.capture = Capture(self.rawSize, filename, once)
self.headless = headless
self.threshold = threshold.AltRaw()
self.pre = Preprocessor(self.rawSize, self.threshold, simulator)
self.featureEx = FeatureExtraction(self.pre.cropSize)
self.interpreter = Interpreter()
self.world = world
self.gui = GUI(world, self.pre.cropSize, self.threshold)
self.histogram = Histogram(self.pre.cropSize)
self.times = []
self.N = 0
#debug.thresholdValues(self.threshold.Tblue, self.gui)
logging.debug('Vision initialised')
def initComponents(self, crop=None):
undistort = False
self.pre = Preprocessor(self.rawSize,
self.threshold,
undistort,
crop=crop)
self.featureEx = FeatureExtraction(self.pre.cropSize)
self.gui = GUI(self.world, self.pre.cropSize, self.threshold, self)
self.world.setResolution(self.pre.cropSize)
def requires(self):
return FeatureExtraction()
