def save_image_and_steering_angle(video_file, output_path):
lane_follower = HandCodedLaneFollower()
cap = cv2.VideoCapture(video_file + '.avi')
try:
i = 4646
while cap.isOpened():
_, frame = cap.read()
final_frame , control_ang, ang_deg = lane_follower.follow_lane(frame)
cv2.imwrite(output_path + "%s_%03d_%03d.png" % ("video", i, ang_deg), frame)
i += 1
if cv2.waitKey(1) & 0xFF == ord('q'):
break
finally:
cap.release()
cv2.destroyAllWindows()
def __init__(self, settings, pkg_dir):
self.settings = settings
print("Creating Directory Structure")
self.base_dir = pkg_dir
self.out_dir = self.base_dir + "/output/" + self.settings['subdir'] + "/"
self.out_data_dir = self.out_dir + "data/"
self.out_info_dir = self.out_dir + "info/"
self.out_media_roads = self.out_dir + "source_media/roads/"
self.out_media_backgrounds = self.out_dir + "source_media/backgrounds/"
self.lane_follower = HandCodedLaneFollower()
print("Directory generation may produce error if dir exists, or for true errors")
for directory in [self.out_dir, self.out_data_dir, self.out_info_dir, self.out_media_backgrounds, self.out_media_roads]:
try:
os.makedirs(directory)
except OSError as e:
print(e)
pass
if settings['clear'] and raw_input('Confirm Delete Existing files in ' + settings['subdir'] +' (y/n): ') == 'y':
print('Clearing Existing Files')
def clear_dir(directory):
for filename in os.listdir(directory):
os.remove(directory + filename)
clear_dir(self.out_data_dir)
clear_dir(self.out_info_dir)
clear_dir(self.out_media_backgrounds)
clear_dir(self.out_media_roads)
else:
print('Not Clearing')
self.media_dir = self.base_dir + "/source_media/"
self.roads_dir = self.media_dir + "roads/"
self.backgrounds_dir = self.media_dir + "backgrounds/"
self.settings['road_images'] = []
for image_file in self.settings['road_image_files']:
img = cv2.imread(self.roads_dir + image_file, cv2.IMREAD_COLOR)
self.settings['road_images'].append(img)
self.settings['background_images'] = []
for image_file in self.settings['background_image_files']:
img = cv2.imread(self.backgrounds_dir + image_file, cv2.IMREAD_COLOR)
img = cv2.resize(img, (WIDTH, HEIGHT), interpolation=cv2.INTER_AREA)
self.settings['background_images'].append(img)
FOURCC = cv2.VideoWriter_fourcc(*'XVID')
RECORD = False
def create_video_recorder(path, width, height):
return cv2.VideoWriter(path, FOURCC, 20.0, (width, height))
if __name__ == "__main__":
car = ClientGenerator.CreateRCCarClient(
rospy.get_param("client_context_type"),
rospy.get_param("client_comm_type"))
basic_cam_calc = BasicCameraCalc()
lidar_calc = LidarCalc()
lane_follower = HandCodedLaneFollower()
status_msg = SimpleLaneFollowStatus()
status_pub = rospy.Publisher("/status",
SimpleLaneFollowStatus,
queue_size=3)
rospack = rospkg.RosPack()
package_dir = rospack.get_path("auto_rc_car_demos")
video_filepath = package_dir + "/training_data/video"
img, dt = car.get_latest_camera_rgb()
img = car.camera_to_cv_image(img)
height, width, _ = img.shape
datestr = datetime.datetime.now().strftime("%y%m%d_%H%M%S")