def ctrl_z(self):
print '\n< < < CTRL-Z MODE ACTIVATED! > > >'
last_dir = dir_log[-1]
# Forward -> Reverse
if last_dir == 'Forward':
car.reverse(200)
car.pause(500)
print '< REVERSE >'
# Left -> Reverse-Left
elif last_dir == 'Left':
car.left(300)
car.reverse_left(250)
car.left(700)
car.pause(500)
print '< REVERSE-LEFT >'
# Right -> Reverse-Right
elif last_dir == 'Right':
car.right(300)
car.reverse_right(250)
car.right(700)
car.pause(500)
print '< REVERSE-RIGHT >'
return
def make_decision(self):
# Calculate the percent_difference to decide whether to act on 'difference'
print 'make_decision1'
calc_difference = np.sum(self.difference)
max_difference = np.sum(255 * self.difference.shape)
percent_difference = float(calc_difference) / max_difference
print 'make_decision2'
# If percent_difference is below ctrlz_thresh (i.e. the two images are < 5% different), then commence ctrl-z protocol.
if percent_difference <= self.ctrlz_thresh:
# Activate ctrl-z mode
print '< < < CTRL-Z MODE ACTIVATED! > > >'
# Get the last 10 directions executed from the log (or however many you specified for self.ctrlz_iter)
recent_dirs = dir_log[-self.ctrlz_iter:]
recent_dirs_reversed = recent_dirs.reverse()
for each in recent_dirs_reversed:
# Forward -> Reverse
if each == 'Forward':
car.reverse(100)
car.pause(300)
print '< REVERSE >'
# Left -> Right
elif each == 'Left':
car.right(300)
car.reverse_right(200)
car.right(700)
car.pause(200)
print '< REVERSE-RIGHT >'
# FORWARD-RIGHT
elif each == 'Right':
car.left(300)
car.reverse_left(200)
car.left(700)
car.pause(200)
print '< REVERSE-LEFT >'
def steer(self):
while self.send_inst:
for event in pygame.event.get():
if event.type == KEYDOWN:
key_input = pygame.key.get_pressed()
if key_input[pygame.K_UP]:
car.forward(self.duration)
elif key_input[pygame.K_DOWN]:
car.reverse(self.duration)
elif key_input[pygame.K_RIGHT]:
car.forward_right(self.duration)
car.right(700)
elif key_input[pygame.K_LEFT]:
car.forward_left(self.duration)
car.left(700)
# These combination key press events don't work for some reason...
elif key_input[pygame.K_DOWN] and key_input[
pygame.K_RIGHT]:
car.reverse_right(self.duration)
car.right(700)
elif key_input[pygame.K_DOWN] and key_input[pygame.K_LEFT]:
car.reverse_left(self.duration)
car.left(700)
# exit
elif key_input[pygame.K_x] or key_input[pygame.K_q]:
print 'Exit'
self.send_inst = False
# self.ser.write('00000000\n')
# self.ser.close()
break
import car ''' Move forward for 1000ms (1s) and pause. ''' car.forward(1000) car.pause(1000) car.forward(1000) car.pause(1000) ''' Move backward for 1000ms (1s) and pause. ''' car.reverse(1000) car.pause(1000) car.reverse(1000) car.pause(500)
import car print(car.forward()) print(car.reverse())
def collect_image(self):
total_frame = 0
# collect images for training
print 'Start collecting NEGATIVE images...'
e1 = cv2.getTickCount()
# stream video frames one by one
try:
stream_bytes = ' '
frame = 1
while self.send_inst:
stream_bytes += self.connection.read(1024)
first = stream_bytes.find(
'\xff\xd8'
) # ? What is this string and where did it come from?
last = stream_bytes.find('\xff\xd9')
if first != -1 and last != -1:
jpg = stream_bytes[first:last + 2]
stream_bytes = stream_bytes[last + 2:]
# image is a np matrix.
image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),
cv2.IMREAD_GRAYSCALE)
image_framecount = cv2.imdecode(
np.fromstring(jpg, dtype=np.uint8),
cv2.IMREAD_GRAYSCALE)
# overlay click counts: cv2.putText(clicks_*)
cv2.putText(image_framecount,
"Total frames: {}".format(total_frame),
(10, 30), cv2.FONT_HERSHEY_SIMPLEX, .45,
(255, 255, 0), 1)
# save streamed images
cv2.imwrite(
'negative_images/frame{:>05}.jpg'.format(frame), image)
# Display feeds on host (laptop)
cv2.imshow('image', image)
cv2.imshow('image_framecount', image_framecount)
frame += 1
total_frame += 1
# get input from human driver
for event in pygame.event.get():
if event.type == KEYDOWN: #''' 'KEYDOWN' : Does this just indicate when a key is pressed DOWN? '''
key_input = pygame.key.get_pressed()
# FORWARD
if key_input[pygame.K_UP]:
car.forward(300)
# FORWARD_RIGHT
elif key_input[pygame.K_RIGHT]:
car.right(300)
car.forward_right(400)
car.right(700)
# FORWARD_LEFT
elif key_input[pygame.K_LEFT]:
car.left(300)
car.forward_left(400)
car.left(700)
# REVERSE
elif key_input[pygame.K_DOWN]:
car.reverse(300)
# Quit
elif key_input[pygame.K_x] or key_input[
pygame.K_q]:
print 'exit'
self.send_inst = False
break
elif event.type == pygame.KEYUP: #'''Key is lifted UP?'''
break
e2 = cv2.getTickCount()
# calculate streaming duration
time0 = (e2 - e1) / cv2.getTickFrequency()
print 'Streaming duration:', time0
print 'Total NEGATIVE frames collected:', total_frame
finally:
self.connection.close()
self.server_socket.close
print 'Connection closed'
print 'Socket closed'
import car
while True:
car.forward(2000)
car.pause(1000)
print ''
car.reverse(2000)
car.pause(1000)
print ''
car.left(3000)
car.pause(1000)
print ''
car.right(3000)
car.pause(1000)
print ''
def collect_images(self):
saved_frame = 0
total_frame = 0
clicks_forward = 0
clicks_forward_left = 0
clicks_forward_right = 0
print('Start collecting images...')
label_array = np.zeros((1, 3), 'float')
# Stream video frames one by one.
try:
stream_bytes = ' '
frame = 0
while self.send_inst:
stream_bytes += self.connection.read(1024)
first = stream_bytes.find(
'\xff\xd8'
) # ? What is this string and where did it come from?
last = stream_bytes.find('\xff\xd9')
if first != -1 and last != -1:
jpg = stream_bytes[first:last + 2]
stream_bytes = stream_bytes[last + 2:]
# 'image' (original, in grayscale)
image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),
cv2.IMREAD_GRAYSCALE)
# Overlay click counts: cv2.putText(clicks_*)
clicks_total = clicks_forward + clicks_forward_left + clicks_forward_right
cv2.putText(
image, "FW: {}, LT: {}, RT: {}, TOTAL: {}".format(
clicks_forward, clicks_forward_left,
clicks_forward_right, clicks_total), (10, 30),
cv2.FONT_HERSHEY_SIMPLEX, .45, (255, 255, 0), 1)
# Display feeds on host (laptop)
cv2.imshow('image', image)
# Get input from human driver
for event in pygame.event.get():
if event.type == KEYDOWN:
key_input = pygame.key.get_pressed()
# FORWARD
if key_input[pygame.K_UP]:
# save streamed images
cv2.imwrite(
'training_images/frame{:>05}.jpg'.format(
frame), image)
label_array = np.vstack(
(label_array,
self.k[2])) # self.k[2] = [ 0., 0., 1.]
car.forward(200)
clicks_forward += 1
frame += 1
total_frame += 1
saved_frame += 1
# FORWARD_RIGHT
elif key_input[pygame.K_RIGHT]:
# save streamed images
cv2.imwrite(
'training_images/frame{:>05}.jpg'.format(
frame), image)
label_array = np.vstack(
(label_array,
self.k[1])) # self.k[1] = [ 0., 1., 0.]
car.right(300)
car.forward_right(300)
car.right(700)
clicks_forward_right += 1
frame += 1
total_frame += 1
saved_frame += 1
# FORWARD_LEFT
elif key_input[pygame.K_LEFT]:
# save streamed images
cv2.imwrite(
'training_images/frame{:>05}.jpg'.format(
frame), image)
label_array = np.vstack(
(label_array,
self.k[0])) # self.k[0] = [ 1., 0., 0.]
car.left(300)
car.forward_left(300)
car.left(700)
clicks_forward_left += 1
frame += 1
total_frame += 1
saved_frame += 1
# REVERSE; not saving images for this
elif key_input[pygame.K_DOWN]:
car.reverse(200)
elif key_input[pygame.K_x] or key_input[
pygame.K_q]:
print('EXIT')
self.send_inst = False
break
elif event.type == pygame.KEYUP: #'''Key is lifted UP?'''
break
train_labels = label_array[1:, :]
np.savez('training_images/label_array_ORIGINALS.npz',
train_labels=train_labels)
with open('./logs/log_img_collect.txt', 'a') as f:
f.write('Date: ' + time.strftime('%x') + '\n')
f.write('Time: ' + time.strftime('%X') + '\n')
f.write('Total frames: ' + str(total_frame) + '\n')
f.write('Saved frames: ' + str(saved_frame) + '\n')
f.write('Dropped frames: ' + str(total_frame - saved_frame) +
'\n')
f.write('Forward clicks: ' + str(clicks_forward) + '\n')
f.write('Forward-left clicks: ' + str(clicks_forward_left) +
'\n')
f.write('Forward-right clicks: ' + str(clicks_forward_right) +
'\n')
f.write('-----------------------------\n')
print('Forward clicks: '), clicks_forward
print('Forward-left clicks: '), clicks_forward_left
print('Forward-right clicks: '), clicks_forward_right
print('Total frame:'), total_frame
print('Saved frame:'), saved_frame
print('Dropped frame'), total_frame - saved_frame
finally:
self.connection.close()
self.server_socket.close
print('Connection closed')
print('Socket closed')