def __init__(self, datadir, ppi, writeData=False):
# Initialise data parameters
self.ppi = ppi
self.ppi.set_velocity(0, 0)
self.img = np.zeros([240, 320, 3], dtype=np.uint8)
self.aruco_img = np.zeros([240, 320, 3], dtype=np.uint8)
self.previous_time = -1
# Set up subsystems
camera_matrix, dist_coeffs, scale, baseline = self.getCalibParams(
datadir)
# Control subsystem
self.keyboard = Keyboard.Keyboard(self.ppi)
# SLAM subsystem
self.pibot = Robot.Robot(baseline, scale, camera_matrix, dist_coeffs)
self.aruco_det = aruco.aruco_detector(self.pibot, marker_length=0.07)
self.slam = Slam.Slam(self.pibot)
# Optionally record input data to a dataset
if writeData:
self.data = dh.DatasetWriter('test')
else:
self.data = None
self.output = dh.OutputWriter('system_output')
def __init__(self, args):
self.folder = 'pibot_dataset/'
if not os.path.exists(self.folder):
os.makedirs(self.folder)
else:
shutil.rmtree(self.folder)
os.makedirs(self.folder)
# Initialise data parameters
if args.play_data:
self.pibot = dh.DatasetPlayer("record")
else:
self.pibot = PenguinPi(args.ip, args.port)
# ckpt = ""
self.ekf = self.init_ekf(args.calib_dir, args.ip)
self.aruco_det = aruco.aruco_detector(self.ekf.robot,
marker_length=0.07)
if args.save_data:
self.data = dh.DatasetWriter('record')
else:
self.data = None
self.output = dh.OutputWriter('workshop_output')
self.command = {
'motion': [0, 0],
'inference': False,
'output': False,
'save_inference': False,
'save_image': False
}
self.quit = False
self.pred_fname = ''
self.request_recover_robot = False
self.file_output = None
self.ekf_on = False
self.double_reset_comfirm = 0
self.image_id = 0
self.notification = 'Press ENTER to start SLAM'
#
self.count_down = 300
self.start_time = time.time()
self.control_clock = time.time()
#
self.detector_output = np.zeros([240, 320], dtype=np.uint8)
self.img = np.zeros([240, 320, 3], dtype=np.uint8)
self.aruco_img = np.zeros([240, 320, 3], dtype=np.uint8)
if args.ckpt == "":
self.detector = None
self.network_vis = cv2.imread('pics/rvss_8bit/detector_splash.png')
else:
self.detector = Detector(args.ckpt, use_gpu=False)
self.network_vis = np.ones((240, 320, 3)) * 100
self.bg = pygame.image.load('pics/gui_mask.jpg')
def __init__(self, datadir, ppi):
# Initialise
self.ppi = ppi
self.ppi.set_velocity(0, 0)
self.img = np.zeros([240, 320, 3], dtype=np.uint8)
self.aruco_img = np.zeros([240, 320, 3], dtype=np.uint8)
# Keyboard teleoperation components
# Get camera / wheel calibration info for SLAM
camera_matrix, dist_coeffs, scale, baseline = self.getCalibParams(
datadir)
# SLAM components
self.pibot = Robot.Robot(baseline, scale, camera_matrix, dist_coeffs)
self.aruco_det = aruco.aruco_detector(self.pibot, marker_length=0.1)
self.slam = Slam.Slam(self.pibot)