OpticalExpansion

The OpticalExpansion class provides core functionality for this module.

License

This code is licensed under the MIT License.

Source

https://github.com/gengshan-y/expansion

class OpticalExpansion()

use_local · boolean · default: "True"

If True, inference call is run on the local VM, else offloaded onto GRID-Cortex. Defaults to False.

def run()

rgbimage · np.ndarray · required

Routes inference to GRID-Cortex if available; otherwise, uses local inference.

Args: rgbimage (np.ndarray): The input RGB image.

Returns: dict: The output containing TTC, occupancy, logarithmic motion in depth, and optical flow.

Returns · np.ndarray

The predicted output.

Inference Call

from grid.model.perception.ttc.optexp import OpticalExpansion
car = AirGenCar()

# We will be capturing an image from the AirGen simulator 
# and run model inference on it.

img =  car.getImage("front_center", "rgb").data

model = OpticalExpansion(use_local = False)
result = model.run(rgbimage=img)
print(result.shape)