def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(
self.__vStream, cascadePath
) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
