def __init__(self, standalone=False, detectorsource="kinect"): self.vectorField = VectorField() # if the obstacle avoider is run a standalone module, # it will get the (scanned) obstacle matrix directly from the # obstacle detector instead of from the memory self.standalone = standalone # initally don't use visualization. # enable it with 'startVisualization(); self.visualize = 0 self.total_frames = 0 self.total_delay = 0 self.total_arch = 0 self.total_network = 0 self.total_local = 0 if standalone == True: import vision.obstacledetector if detectorsource != "kinect": self.obstacleDetector = vision.obstacledetector.ObstacleDetector( standalone=True, source='file', filepath=detectorsource) else: self.obstacleDetector = vision.obstacledetector.ObstacleDetector( standalone=True, source='kinect') else: import memory self.m = memory.Memory() if self.visualize == 1: self.startVisualization()