def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def __init__(self, car="kari", mqtt_broker="mqtt.eclipse.org"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car, broker=mqtt_broker)
self.state_sub = MQTTValueSub("donkey/%s/state" % car, broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
def update(self):
import select
from donkeycar.parts.image import JpgToImgArr
self.init_video()
jpg_conv = JpgToImgArr()
while self.running:
# Wait for the device to fill the buffer.
select.select((self.video, ), (), ())
image_data = self.video.read_and_queue()
self.frame = jpg_conv.run(image_data)
def __init__(self,
car_name="Kari",
mqtt_broker="mqtt.eclipse.org",
realsense=False,
env_type="DonkeyCar"):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % car_name,
broker=mqtt_broker)
if realsense:
self.state_sub = MQTTValueSub("donkey/%s/state" % car_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % car_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.img = np.zeros((40, 40))
self.state = None
self.speed = 0
self.realsense = realsense
self.sim = env_type != "DonkeyCar"
from docopt import docopt
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):
def __init__(self, donkey_name, mqtt_broker):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
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)