Added Lane Follower constants to .toml, beginning effort to move this…

… full module to dev

components/lane_follower/src/Follower_Consts.toml

@@ -8,3 +8,20 @@ LANE_POLY_SIZE = 2
 BOX_COLOR = [0, 255, 0]
 LANE_COLOR = [255, 0, 0]
 DRAW_THICKNESS = 2
+
+[Lane_Follower]
+GUI = true
+# TODO: Move these into a conf
+KERNEL = 31
+LANE_TOLERANCE = 10
+MISSING_IMAGE_TOLERANCE = 100
+EMPTY_WINDOWS_THRESHOLD = 3
+OVERFLOW = 1000.0
+FORMAT = [640, 480]
+TOLERANCE = 100
+PIXELS_TO_METERS = 260.8269125
+lower_hsv = [100, 0, 220]
+upper_hsv = [255, 255, 255]
+# Alignment points
+bottom_coordinates = [[12, 472], [499, 475]]
+top_coordinates = [[90, 8], [435, 24]]

components/lane_follower/src/lane_follower.py

@@ -0,0 +1,20 @@
+import toml
+import cv2
+
+# import numpy as np
+
+
+class LaneFollower:
+
+    def __init__(
+        self, odom_sub, cam_left, cam_right, toml_path='Follower_Consts.toml'
+    ):
+        self.vidcap_left = cv2.VideoCapture(cam_left)
+        self.vidcap_right = cv2.VideoCapture(cam_right)
+        self.const = toml.load(toml_path)["Lane_Follower"]
+        # LOWER = np.array(self.const['lower_hsv'])
+        # UPPER = np.array(self.const['upper_hsv'])
+        # PTS1 = np.float32([tl, bl, tr, br])
+        # PTS2 = np.float32([[0, 0], [0, 480], [640, 0], [640, 480]])
+        # # Matrix to warp the image for birdseye window
+        # UNWARP = cv2.getPerspectiveTransform(pts1, pts2)