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 work(img, intr_cam_calib_path, extr_cam_calib_path):
cam = trr_vu.load_cam_from_files(intr_cam_calib_path, extr_cam_calib_path)
undistorted_img = cam.undistort_img(img)
p = trr_vu.ChristineBirdEyeParam()
be = trr_vu.BirdEyeTransformer(cam, p)
if 0: # OK, sortof... needs to investigate the differences - interpolation?
img_be, img_be_ref = make_be_map(be, undistorted_img)
print('same? {}'.format(np.allclose(img_be, img_be_ref)))
cv2.imshow('bird eye', img_be)
cv2.imshow('bird eye ref', img_be_ref)
cv2.imwrite('/tmp/be_frame_000000.png', img_be)
cv2.waitKey(0)
if 0: # OK
img_undist, img_undist_ref = make_undist_map(cam, img)
if 1:
make_composite_map(be, cam, img)
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)