def get_image(self, record):
from donkeycar.management.makemovie import MakeMovie
img_arr = copy(super().get_image(record))
augmentation = pilot_screen().augmentation if pilot_screen().auglist \
else None
if augmentation:
img_arr = pilot_screen().augmentation.augment(img_arr)
angle = record.underlying['user/angle']
throttle = get_norm_value(record.underlying[self.throttle_field],
tub_screen().ids.config_manager.config,
rc_handler.field_properties[
self.throttle_field])
rgb = (0, 255, 0)
MakeMovie.draw_line_into_image(angle, throttle, False, img_arr, rgb)
if not self.keras_part:
return img_arr
output = self.keras_part.evaluate(record, augmentation)
rgb = (0, 0, 255)
MakeMovie.draw_line_into_image(output[0], output[1], True, img_arr, rgb)
out_record = copy(record)
out_record.underlying['pilot/angle'] = output[0]
# rename and denormalise the throttle output
pilot_throttle_field \
= rc_handler.data['user_pilot_map'][self.throttle_field]
out_record.underlying[pilot_throttle_field] \
= get_norm_value(output[1], tub_screen().ids.config_manager.config,
rc_handler.field_properties[self.throttle_field],
normalised=False)
self.pilot_record = out_record
return img_arr
def run(self, args):
'''
Load the images from a tub and create a movie from them.
Movie
'''
args, parser = self.parse_args(args)
from donkeycar.management.makemovie import MakeMovie
mm = MakeMovie()
mm.run(args, parser)