import donkeycar as dk
import cv2
from donkeycar.parts.cv import CvImageView, ImgBGR2RGB, ImgRGB2BGR, ImageScale, ImgWriter, ArrowKeyboardControls
from donkeycar.parts.salient import SalientVis
from donkeycar.parts.network import MQTTValuePub, MQTTValueSub
from donkeycar.parts.transform import Lambda
from donkeycar.parts.image import JpgToImgArr
V = dk.vehicle.Vehicle()
args = docopt(__doc__)
print(args)
V.add(MQTTValueSub(name="donkey/%s/camera" % args["--name"], broker=args["--broker"]), outputs=["jpg"])
V.add(JpgToImgArr(), inputs=["jpg"], outputs=["img_arr"])
V.add(ImgBGR2RGB(), inputs=["img_arr"], outputs=["rgb"])
V.add(ImageScale(4.0), inputs=["rgb"], outputs=["lg_img"])
V.add(CvImageView(), inputs=["lg_img"])
V.add(ArrowKeyboardControls(), outputs=["control"])
V.add(MQTTValuePub(name="donkey/%s/controls" % args["--name"]), inputs=["control"])
record_path = args["--record"]
if record_path is not None:
class ImageSaver:
def __init__(self, path):
self.index = 0
self.path = path
def run(self, img_arr):
if img_arr is None:
import donkeycar as dk
from donkeycar.parts.cv import CvImageView, ImgBGR2RGB, ImgRGB2BGR, ImageScale, ImgWriter
from donkeycar.parts.salient import SalientVis
from donkeycar.parts.network import ZMQValueSub, UDPValueSub, TCPClientValue
from donkeycar.parts.transform import Lambda
from donkeycar.parts.image import JpgToImgArr
V = dk.vehicle.Vehicle()
args = docopt(__doc__)
cfg = dk.load_config(args['--config'])
model_path = args['--model']
model_type = args['--type']
ip = args['--ip']
if model_type is None:
model_type = "categorical"
model = dk.utils.get_model_by_type(model_type, cfg)
model.load(model_path)
V.add(TCPClientValue(name="camera", host=ip), outputs=["packet"])
V.add(JpgToImgArr(), inputs=["packet"], outputs=["img"])
V.add(ImgBGR2RGB(), inputs=["img"], outputs=["img"])
V.add(SalientVis(model), inputs=["img"], outputs=["img"])
V.add(ImageScale(4.0), inputs=["img"], outputs=["lg_img"])
V.add(CvImageView(), inputs=["lg_img"])
V.start(rate_hz=1)