if not os.path.isdir("log_data"):
os.mkdir("log_data")
if args.record:
if os.path.isfile("log_data/out_no_vis.avi") or os.path.isfile(
"log_data/out_with_vis.avi"):
print("video exist, quitting")
sys.exit()
fourcc = cv2.VideoWriter_fourcc(*'X264')
out_raw = cv2.VideoWriter("log_data/out_no_vis.avi", fourcc, 5.0,
(640, 480))
out_pose = cv2.VideoWriter("log_data/out_with_vis.avi", fourcc, 5.0,
(640, 480))
if args.camera == "webcam":
from threaded_cam import ThreadedCamera
cap = ThreadedCamera()
elif args.camera == "jetson":
from threaded_cam import jetson_csi_camera
camSet = "nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM), width=3280, height=2464, framerate=21/1, format=NV12 ! nvvidconv flip-method=0 ! video/x-raw, format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink"
cap = jetson_csi_camera(camSet)
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(args.checkpoint_path, map_location='cpu')
load_state(net, checkpoint)
run_demo(net, args.height_size, args.track, args.smooth, args.record,
args.camera)
lowerY = data["W_hue_min"], data["W_sat_min"], data["W_val_min"]
upperY = data["W_hue_max"], data["W_sat_max"], data["W_val_max"]
lane_ROI = np.array([[(data["X1_lane"], data["Y1_lane"]),
(data["X2_lane"], data["Y2_lane"]),
(data["X3_lane"], data["Y3_lane"]),
(data["X4_lane"], data["Y4_lane"])]], np.int32)
lowerR = data["R_hue_min"], data["R_sat_min"], data["R_val_min"]
upperR = data["R_hue_max"], data["R_sat_max"], data["R_val_max"]
except FileNotFoundError as identifier:
print("no lane config found")
print("Please configs your robot first.")
sys.exit()
if args.camera:
cap = jetson_csi_camera(CAMSET)
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BCM)
BUTTON_PIN = 18
GPIO.setup(BUTTON_PIN, GPIO.IN)
while GPIO.input(BUTTON_PIN) == 1:
pass
tag = apriltag_reader([131])
# topY = [lane_ROI[0][0][1], lane_ROI[0][1][1]]
# highestY = max(topY)
# lane_ROI[0][0][1] = np.array([0], np.int32)
import cv2 from threaded_cam import jetson_csi_camera from utils.apriltag_reader import apriltag_reader from utils.lane_reader import lane cap = jetson_csi_camera()
