def get_car_path(self, steer_factor, distance=20):
"""
:param steer_factor: [-1, 1] (max left max right)
:return:
"""
num_points = self.num_points
idx = np.clip(int(num_points/2. * steer_factor + num_points/2.), 0, num_points-1)
r = get_radius(self.angles[idx])
c, lw, rw = get_car_path(r, distance=distance)
return c, lw, rw
def update_steer(val):
data['r'] = get_radius((val - 500) / WHEEL_STEER_RATIO)
loop()
def update(val):
data['r'] = get_radius(angles[400 - val - 1])
loop()
def render_steer(self, image, steer_angle):
r = get_radius(steer_angle / WHEEL_STEER_RATIO)
return self.render(image, r)
def loop():
r = get_radius(0)
background_img = get_frame_from_image()
image = tv.render(background_img, r)
image = cv2.resize(image, (1280, 720))
cv2.imshow("image", image)