time = (time.time() - start)
iterations += 1
"""
src = cv2.cvtColor(src, cv2.COLOR_BGR2RGB)
draw(src, objects)
if cvxhull is not None:
cv2.drawContours(
src, [cvxhull], -1, (255, 255, 255), 3, cv2.LINE_8)
cv2.line(src, (itw + 320, 0), (itw + 320, 480), (0, 0, 0), 3)
src = cv2.cvtColor(src, cv2.COLOR_RGB2BGR)
cv2.putText(
src, '{:.1f}fps'.format(n / total), (0, 20),
cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255))
cv2.imwrite('{}.jpg'.format(x), src)
"""
# Obstacle avoidance
itw = in_the_way(objects)
drivers.LED2.on()
if(in_the_way(objects) != 0):
drivers.move(drivers.RobotState(drivers.TURN, -1 * math.pi * 0.25))
else:
drivers.move(drivers.RobotState(drivers.DRIVE, 5))
drivers.LED2.off()
print("{} frames computed in {}s ({}fps)".format(n, total, n / total))
camera.close()
