log all images to one directory

config.yaml

@@ -2,18 +2,20 @@
 
 queue_max_size: 10
 
+log_directory_path: "logs"
+
 video_input:
-  camera_name: 0
-  worker_period: 1.0 # seconds
-  save_prefix: "log_image"
+    camera_name: 0
+    worker_period: 1.0 # seconds
+    save_prefix: "log_image"
 
 detect_target:
-  worker_count: 1
-  device: 0
-  model_path: "tests/model_example/yolov8s_ultralytics_pretrained_default.pt"  # TODO: update
-  save_prefix: "log_comp"
+    worker_count: 1
+    device: 0
+    model_path: "tests/model_example/yolov8s_ultralytics_pretrained_default.pt" # TODO: update
+    save_prefix: "log_comp"
 
 flight_interface:
-  address: "tcp:127.0.0.1:14550"
-  timeout: 10.0 # seconds
-  worker_period: 0.1 # seconds
+    address: "tcp:127.0.0.1:14550"
+    timeout: 10.0 # seconds
+    worker_period: 0.1 # seconds

main_2024.py

@@ -9,12 +9,14 @@
 import cv2
 import yaml
 
-from utilities.workers import queue_proxy_wrapper
-from utilities.workers import worker_controller
-from utilities.workers import worker_manager
+from modules import odometry_and_time
 from modules.detect_target import detect_target_worker
 from modules.flight_interface import flight_interface_worker
 from modules.video_input import video_input_worker
+from utilities.workers import queue_proxy_wrapper
+from utilities.workers import worker_controller
+from utilities.workers import worker_manager
+
 
 
 CONFIG_FILE_PATH = pathlib.Path("config.yaml")
@@ -49,15 +51,19 @@ def main() -> int:
     try:
         QUEUE_MAX_SIZE = config["queue_max_size"]
 
+        LOG_DIRECTORY_PATH = config["log_directory_path"]
+
         VIDEO_INPUT_CAMERA_NAME = config["video_input"]["camera_name"]
         VIDEO_INPUT_WORKER_PERIOD = config["video_input"]["worker_period"]
-        VIDEO_INPUT_SAVE_PREFIX = config["video_input"]["save_prefix"]
+        VIDEO_INPUT_SAVE_NAME_PREFIX = config["video_input"]["save_prefix"]
+        VIDEO_INPUT_SAVE_PREFIX = f"{LOG_DIRECTORY_PATH}/{VIDEO_INPUT_SAVE_NAME_PREFIX}"
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
         DETECT_TARGET_DEVICE =  "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
-        DETECT_TARGET_SAVE_PREFIX = config["detect_target"]["save_prefix"]
+        DETECT_TARGET_SAVE_NAME_PREFIX = config["detect_target"]["save_prefix"]
+        DETECT_TARGET_SAVE_PREFIX = f"{LOG_DIRECTORY_PATH}/{DETECT_TARGET_SAVE_NAME_PREFIX}"
 
         FLIGHT_INTERFACE_ADDRESS = config["flight_interface"]["address"]
         FLIGHT_INTERFACE_TIMEOUT = config["flight_interface"]["timeout"]
@@ -66,6 +72,8 @@ def main() -> int:
         print("Config key(s) not found")
         return -1
 
+    pathlib.Path(LOG_DIRECTORY_PATH).mkdir(exist_ok=True)
+
     # Setup
     controller = worker_controller.WorkerController()
 
@@ -135,16 +143,21 @@ def main() -> int:
         except queue.Empty:
             image = None
 
-        odometry_and_time = flight_interface_to_main_queue.queue.get()
-
-        if odometry_and_time is not None:
-            print("timestamp: " + str(odometry_and_time.timestamp))
-            print("lat: " + str(odometry_and_time.odometry_data.position.latitude))
-            print("lon: " + str(odometry_and_time.odometry_data.position.longitude))
-            print("alt: " + str(odometry_and_time.odometry_data.position.altitude))
-            print("yaw: " + str(odometry_and_time.odometry_data.orientation.yaw))
-            print("roll: " + str(odometry_and_time.odometry_data.orientation.roll))
-            print("pitch: " + str(odometry_and_time.odometry_data.orientation.pitch))
+        odometry_and_time_info: "odometry_and_time.OdometryAndTime | None" = \
+            flight_interface_to_main_queue.queue.get()
+
+        if odometry_and_time_info is not None:
+            timestamp = odometry_and_time_info.timestamp
+            position = odometry_and_time_info.odometry_data.position
+            orientation = odometry_and_time_info.odometry_data.orientation.orientation
+
+            print("timestamp: " + str(timestamp))
+            print("north: " + str(position.north))
+            print("east: " + str(position.east))
+            print("down: " + str(position.down))
+            print("yaw: " + str(orientation.yaw))
+            print("roll: " + str(orientation.roll))
+            print("pitch: " + str(orientation.pitch))
             print("")
 
         if image is None: