def main():
scale = 16000.0 # Vjoy stuff.
vj.open()
while (True):
#speed = Get_Speed(clf) # Get current speed. , # I'll leave the speed cap deactivated as a default
#Cap_Speed(speed) # Make sure we aren't going too fast. , # I'll leave the speed cap deactivated as a default
screen = grab_screen(region=ROI) #Screenshot part of window.
screen = np.array(screen) #Make screenshot into array.
screen = cv2.resize(screen, (120, 60)) #Resize to a 120x60 pic.
pic_array = screen.reshape(60, 120, 3)
prediction = model.predict({'input_pic': [pic_array]})[0]
steer = (prediction[2] - prediction[0])**3
setJoy(steer + 0.024, 0, scale) # +0.024 Helps fix joystick offset.
vj.close()
def main():
print("vJoy Opening")
vj.open()
time.sleep(0.5)
# place_waypoints()
print("Scanning Memory")
scanner = HeapScanner(0x034B0000)
wp1d_addr = scanner.scan_memory("2.1 m")
wp1a_addr = scanner.scan_memory("-54.91")
wp2a_addr = scanner.scan_memory("+99.91")
print('Creating pipelines')
# GRIP generated pipelines for cones and mobile goals
cone_pipeline = ConePipeline()
rmg_pipeline = RedMobileGoalPipeline()
bmg_pipeline = BlueMobileGoalPipeline()
print('Running pipeline')
last_time = time.time()
while True:
have_frame, frame = grab_screen()
if have_frame:
# GRIP frame processing
cone_pipeline.process(frame)
rmg_pipeline.process(frame)
bmg_pipeline.process(frame)
# Final processing (coloring, etc.)
images = [
frame,
extra_processing_cones(cone_pipeline),
extra_processing_red_mobile_goals(rmg_pipeline),
extra_processing_blue_mobile_goals(bmg_pipeline),
blank_image.copy()
]
for i in range(len(images)):
images[i] = cv2.resize(images[i],
None,
fx=0.6,
fy=0.6,
interpolation=cv2.INTER_AREA)
r = num_from_distance_string(scanner.read_memory(wp1d_addr, 6))
theta = num_from_angle_string(scanner.read_memory(wp2a_addr, 6))
wp1_t = num_from_angle_string(scanner.read_memory(wp1a_addr, 6))
if r is not None and theta is not None and wp1_t is not None:
theta = radians(theta)
x = r * fabs(mp.cos(theta))
y = x * mp.tan(theta)
# To write to joystick call set_joy
# set_joy(xval, yval)
# Show all filters in 4x4 grid
cv2.imshow(
'Filters',
np.hstack([
np.vstack([np.hstack(images[0:2]),
np.hstack(images[2:4])]),
np.vstack([images[4], blank_image_scaled])
]))
if cv2.waitKey(10) == 27:
print('Capture closed')
cv2.destroyAllWindows()
cleanup_gui_helper()
vj.close()
return
else:
print("fps: ", int(1 / (time.time() - last_time)))
last_time = time.time()
from vjoy import vj, setJoy
import time
SCALE = 16000.0
TRIMMER = 0.025
print("Openning vJoy...")
vj.open()
time.sleep(1)
class SteeringController():
def __init__(self, keyboardHook):
# joystick axis position
self.xPos = 0.0
self.yPos = 0.0
# mouse control properties
self.neutralPosition = 1920 / 2
self.sensitivity = 800
self.currentPosition = 0
# if the keyboard overrides the network
self.keyboardActive = False
# bind listener to keyboard
keyboardHook.addTapListener(self.keyboardTap)
def updateJoystick(self):
#print("Steering: " + str(self.xPos))
setJoy(self.xPos + TRIMMER, self.yPos, SCALE)
def main():
last_time = time.time()
vj.open()
time.sleep(1)
for i in list(range(4))[::-1]:
print(i + 1)
time.sleep(1)
model_name = 'steer_augmentation.h5'
model = load_model(model_name)
# Load Yolo
net = cv2.dnn.readNet("yolov3-tiny.weights", "yolov3-tiny.cfg")
classes = []
with open("coco.names.txt", "r") as f:
classes = [line.strip() for line in f.readlines()]
layer_names = net.getLayerNames()
confidence_threshold = 0.6
paused = False
while (True):
if not paused:
'''-------------Screenshot for YOLO and CNN------------------------'''
screen = grab_screen(
region=(0, 40, 800, 640)) # take screen shot of the screen
img = screen #make a copy for YOLOv3
window_width = 800
img = img[:, round(window_width / 4):round(window_width * 3 / 4)]
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
height, width, channels = img.shape
#window_width = width
print("FPS: ", 1 / (time.time() - last_time)) #print FPS
last_time = time.time()
'''-------------------resize and reshape the input image for CNN----------------'''
screen = cv2.cvtColor(screen, cv2.COLOR_BGR2GRAY)
screen = cv2.resize(screen, (160, 120))
prediction = model.predict([screen.reshape(-1, 160, 120, 1)])[0]
print(prediction)
steering_angle = prediction[0]
#if steering_angle > 0.20 or steering_angle <-0.20:
#steering_angle = steering_angle*1.5
throttle = prediction[1]
brake = 0
if throttle >= 0:
throttle = throttle / 2
else:
throttle = -0.25
#-----------------YOLO IMPLEMENTATION---------------------------------
blob = cv2.dnn.blobFromImage(img,
0.00392, (416, 416), (0, 0, 0),
True,
crop=False)
net.setInput(blob)
outs = net.forward(output_layers)
#
class_ids = []
confidences = []
boxes = []
for out in outs:
for detection in out:
scores = detection[5:]
class_id = np.argmax(scores)
confidence = scores[class_id]
if confidence > confidence_threshold:
# Object detected
center_x = int(detection[0] * width)
center_y = int(detection[1] * height)
w = int(detection[2] * width)
h = int(detection[3] * height)
# Rectangle coordinates
x = int(center_x - w / 2)
y = int(center_y - h / 2)
boxes.append([x, y, w, h])
confidences.append(float(confidence))
class_ids.append(class_id)
indexes = cv2.dnn.NMSBoxes(boxes, confidences, 0.5, 0.4)
for i in range(len(boxes)):
if i in indexes:
if (classes[class_ids[i]] == 'car'
or classes[class_ids[i]] == 'truck'
or classes[class_ids[i]] == 'person'
or classes[class_ids[i]] == 'motorbike'
or classes[class_ids[i]] == 'bus'
or classes[class_ids[i]] == 'train'
or classes[class_ids[i]] == 'stop sign'
): # person bicycle car motorbike bus train stop sign
#PressKey(S)
x, y, w, h = boxes[i]
diag_len = np.sqrt((w * w) + (h * h))
#print (diag_len)
if diag_len >= 150: # Detected object is too close so STOP
print("STOP")
throttle = -1
steering_angle = 0
brake = 1
elif diag_len >= 50 and diag_len < 150: # Detected object is near by so SLOW DOWN
print("SLOW")
if throttle >= 0:
throttle = throttle / 2
else:
throttle = throttle - ((1 + throttle) / 2)
else: #Detected object is far
print("JUST DRIVE")
if throttle >= 0:
throttle = throttle / 2
else:
throttle = throttle - ((1 + throttle) / 2)
setJoy_Steer_Throttle_Brake(steering_angle, throttle, brake)
time.sleep(0.0001)
keys = key_check()
# p pauses game and can get annoying.
if 'T' in keys:
if paused:
paused = False
time.sleep(1)
else:
paused = True
steering_angle = 0
throttle = -1
brake = 0
setJoy_Steer_Throttle_Brake(steering_angle, throttle, brake)
time.sleep(1)
