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()