class RCControl(object):
def __init__(self, serial_port):
self.car = Motor()
def steer(self, prediction):
if prediction == 2:
self.car.forward(speed)
print("Forward")
elif prediction == 0:
self.car.forward_left(speed)
print("Left")
elif prediction == 1:
self.car.forward_right(speed)
print("Right")
else:
self.stop()
def stop(self):
self.car.stop()
class CollectTrainingData(object):
def __init__(self, host, port, serial_port, input_size):
#self.server_socket = socket.socket()
#self.server_socket.bind((host, port))
#self.server_socket.listen(0)
# accept a single connection
#self.connection = self.server_socket.accept()[0].makefile('rb')
# connect to a seral port
self.car = Motor()
self.send_inst = True
self.input_size = input_size
# create labels
self.k = np.zeros((4, 4), 'float')
for i in range(4):
self.k[i, i] = 1
pygame.init()
pygame.display.set_mode((250, 250))
def collect(self):
saved_frame = 0
total_frame = 0
# collect images for training
print("Start collecting images...")
print("Press 'q' or 'x' to finish...")
start = cv2.getTickCount()
X = np.empty((0, self.input_size))
y = np.empty((0, 4))
# stream video frames one by one
try:
stream_bytes = b' '
frame = 1
while self.send_inst:
#stream_bytes += self.connection.read(1024)
#first = stream_bytes.find(b'\xff\xd8')
#last = stream_bytes.find(b'\xff\xd9')
ret, frame = cap.read()
if True:
image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
#jpg = stream_bytes[first:last + 2]
#stream_bytes = stream_bytes[last + 2:]
#image = cv2.imdecode(np.frombuffer(jpg, dtype=np.uint8), cv2.IMREAD_GRAYSCALE)
# select lower half of the image
if image.any():
height, width = image.shape
else:
continue
roi = image[int(height / 2):height, :]
cv2.imshow('image', image)
# reshape the roi image into a vector
temp_array = roi.reshape(1,
int(height / 2) * width).astype(
np.float32)
frame += 1
total_frame += 1
# get input from human driver
for event in pygame.event.get():
if event.type == KEYDOWN:
key_input = pygame.key.get_pressed()
# complex orders
if key_input[pygame.K_UP] and key_input[
pygame.K_RIGHT]:
print("Forward Right")
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[1]))
saved_frame += 1
self.car.forward_right()
elif key_input[pygame.K_UP] and key_input[
pygame.K_LEFT]:
print("Forward Left")
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[0]))
saved_frame += 1
self.car.forward_left()
elif key_input[pygame.K_DOWN] and key_input[
pygame.K_RIGHT]:
print("Reverse Right")
elif key_input[pygame.K_DOWN] and key_input[
pygame.K_LEFT]:
print("Reverse Left")
# simple orders
elif key_input[pygame.K_UP]:
print("Forward")
saved_frame += 1
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[2]))
self.car.forward()
elif key_input[pygame.K_DOWN]:
print("Reverse")
self.car.backward()
elif key_input[pygame.K_RIGHT]:
print("Right")
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[1]))
saved_frame += 1
self.car.right()
elif key_input[pygame.K_LEFT]:
print("Left")
X = np.vstack((X, temp_array))
y = np.vstack((y, self.k[0]))
saved_frame += 1
self.car.left()
elif key_input[pygame.K_x] or key_input[
pygame.K_q]:
print("exit")
self.send_inst = False
self.car.stop()
break
else:
self.car.stop()
elif event.type == pygame.KEYUP:
self.car.stop()
#self.car.forward(50)
pass
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# save data as a numpy file
file_name = str(int(time.time()))
directory = "training_data"
if not os.path.exists(directory):
os.makedirs(directory)
try:
np.savez(directory + '/' + file_name + '.npz',
train=X,
train_labels=y)
except IOError as e:
print(e)
end = cv2.getTickCount()
# calculate streaming duration
print("Streaming duration: , %.2fs" %
((end - start) / cv2.getTickFrequency()))
print(X.shape)
print(y.shape)
print("Total frame: ", total_frame)
print("Saved frame: ", saved_frame)
print("Dropped frame: ", total_frame - saved_frame)
finally:
pass