#pwmPin2 = 12 #dirPin2 = 16 __SCREEN_WIDTH = 1280 / 4 __SCREEN_HEIGHT = 720 / 4 #__SCREEN_WIDTH = 320 #__SCREEN_HEIGHT = 240 kit = ServoKit(channels=16) SCREEN_WIDTH = 1280 / 4 SCREEN_HEIGHT = 720 / 4 #SCREEN_WIDTH = 320 #SCREEN_HEIGHT = 240 lane_follower = CobitLaneFollower() cap = cv2.VideoCapture(0) cap.set(3, int(SCREEN_WIDTH)) cap.set(4, int(SCREEN_HEIGHT)) IO.setwarnings(False) IO.setmode(IO.BCM) IO.setup(pwmPin, IO.OUT) IO.setup(dirPin, IO.OUT) #IO.setup(pwmPin2, IO.OUT) #IO.setup(dirPin2,IO.OUT) p = IO.PWM(pwmPin, 100) p.start(0)
import cv2
import logging
from cobit_lane_follower import CobitLaneFollower
from cobit_deep_follower import CobitDeepFollower
import time
video_file = "data/car_video.avi"
cobit_deep_follower = CobitDeepFollower()
cobit_lane_follower = CobitLaneFollower()
cap = cv2.VideoCapture(video_file)
prev_time = 0
curr_time = 0
# skip first second of video.
for i in range(3):
_, frame = cap.read()
#video_type = cv2.VideoWriter_fourcc(*'XVID')
#video_overlay = cv2.VideoWriter("%s_deep_drive.avi" % video_file, video_type, 20.0, (320, 240))
try:
i = 0
while cap.isOpened():
_, frame = cap.read()
frame_copy = frame.copy()
logging.info('Frame %s' % i)
lane_lines, img_lane = cobit_lane_follower.get_lane(frame)
angle_lane, combo_image1 = cobit_lane_follower.get_steering_angle(
img_lane, lane_lines)