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add new robotourist model #24

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fd8a1ff
add new robotourist model
m3d Apr 10, 2026
f90091c
view_mask.py - implement fast/normal play and image downscale
m3d Apr 14, 2026
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2 changes: 1 addition & 1 deletion robotem-rovne/config/matty-redroad.json
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@
"stereo_left_right_check": true,
"sleep_on_start_sec": 3,
"model": {
"blob": "models/robotourist-083-redroad-20260116-224x224-rgb-chw-1shave.blob"
"blob": "models/robotourist-093-redroad-20260409-224x224-rgb-chw-1shave.blob"
},
"nn_config": {
"output_format": "LayerFp16",
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Binary file added robotem-rovne/models/robotourist-093-redroad-20260409-224x224-rgb-chw-1shave.blob
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16 changes: 10 additions & 6 deletions robotem-rovne/view_mask.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ def read_h264_image(data, i_frame_only=True):
return image


def read_logfile(logfile, writer=None, add_time=True, threshold=None):
def read_logfile(logfile, writer=None, add_time=True, threshold=None, downscale=1, fast=False):
if threshold is None:
nn_mask_stream = lookup_stream_id(logfile, 'oak.nn_mask')
else:
Expand All @@ -70,7 +70,7 @@ def read_logfile(logfile, writer=None, add_time=True, threshold=None):
orig_height, orig_width = mask.shape
# mask[:height//2, :] = 0 # remove sky detections
center_y, center_x = mask_center(mask)
mask = cv2.resize(mask, (1920, 1080))
mask = cv2.resize(mask, (1920//downscale, 1080//downscale))
height, width = mask.shape
scale = width // orig_width # 160 -> 640 -> 1920
center_x *= scale
Expand Down Expand Up @@ -125,7 +125,9 @@ def read_logfile(logfile, writer=None, add_time=True, threshold=None):
break

elif stream_id == img_stream:
img = read_h264_image(deserialize(data), i_frame_only=not mear_the_end)
img = read_h264_image(deserialize(data), i_frame_only=fast and not mear_the_end)
if img is not None:
img = cv2.resize(img, (1920//downscale, 1080//downscale))
elif stream_id == pose2d_stream:
pose2d = deserialize(data)
dist += math.hypot((pose2d[0] - prev[0]) / 1000.0, (pose2d[1] - prev[1]) / 1000.0)
Expand All @@ -144,11 +146,13 @@ def main():
parser.add_argument('logfile', nargs='+', help='recorded log file(s)')
parser.add_argument('--create-video', help='filename of output video')
parser.add_argument('--threshold', '-t', type=int, help='threshold value for redroad detection')
parser.add_argument('--fast', help='faster video except near end', action='store_true')
parser.add_argument('--downscale', type=int, help='downscale image with given factor', default=2)
args = parser.parse_args()

if args.create_video is not None:
fps = 20
width, height = 1920, 1080
fps = 20 if args.fast else 10
width, height = 1920//args.downscale, 1080//args.downscale
writer = cv2.VideoWriter(args.create_video,
cv2.VideoWriter_fourcc(*"mp4v"),
fps,
Expand All @@ -157,7 +161,7 @@ def main():
writer = None # no video writer

for logfile in args.logfile:
read_logfile(logfile, writer=writer, threshold=args.threshold)
read_logfile(logfile, writer=writer, threshold=args.threshold, downscale=args.downscale, fast=args.fast)

if writer is not None:
writer.release()
Expand Down
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