#pts_plot(a['Image']['floats_to_pixels'](xy)) pause(0.000001) if len(cars['Mr_Black']['pts']) > 3: sample_points, potential_values = get_sample_points( array(cars['Mr_Black']['pts']), angles, a['Image']['img'], 3) steer = interpret_potential_values(potential_values) img = cars['Mr_Black']['get_left_image'](run_name).copy() print steer #mi(img,6,img_title=potential_values) #animate.prepare_and_show_or_return_frame(img,steer,0,6,66,1.0,cv2.COLOR_RGB2BGR) #apply_rect_to_img(img,steer,0,99,bar_color,bar_color,0.9,0.1,center=True,reverse=True,horizontal=True) animate.prepare_and_show_or_return_frame( img=img, steer=steer, motor=None, state=6, delay=66, scale=1, color_mode=cv2.COLOR_RGB2BGR) pause(0.06) #print timer.time() if False: from arena.markers_clockwise import markers_clockwise markers = Markers(markers_clockwise, 4 * 107 / 100.) Origin = int(2 * 1000 / 300. * 300) # / 5) Mult = 1000 / 300. * 50 # / 5 a = Arena_Potential_Field(Origin, Mult, markers) a['other_cars']([[-3.2, 0], [0, 3.2]]) mi(a['Image']['img']) figure(2)
if GRAPHICS: figure(9) if ctr_q > 1: clf() ctr_q = 0 plot(potential_values, 'r.-') xylim(0, 9, 0, 2) ctr_q += 1 img = cars[our_car]['get_left_image'](run_name).copy() img = cars[our_car]['get_left_image'](run_name).copy() k = animate.prepare_and_show_or_return_frame( img=img, steer=steer, motor=None, state=1, delay=1, scale=2, color_mode=cv2.COLOR_RGB2BGR, window_title='plan') img = cars[our_car]['get_left_image'](run_name).copy() k = animate.prepare_and_show_or_return_frame( img=img, steer=real_steer, motor=None, state=6, delay=1, scale=2, color_mode=cv2.COLOR_RGB2BGR, window_title='real') if k == ord('q'):
clf() ctr_q = 0 ctr_q += 1 figure(9) plot(potential_values,'r.-');xylim(0,10,0,5); n=objects_to_angle_distance_representation(view_angles,other_cars_in_view_angle_distance_list) m=objects_to_angle_distance_representation(view_angles,markers_angle_distance_list) figure(10) plot(n,'r.-') plot(m,'b.-') pause(0.0001) img_left = cars[our_car]['get_image'](run_name,'left') img_right = cars[our_car]['get_image'](run_name,'right') img = img_left.copy() k = animate.prepare_and_show_or_return_frame(img=img,steer=steer,motor=49+20*plan_vel,state=1,delay=1,scale=2,color_mode=cv2.COLOR_RGB2BGR,window_title='plan') print((steer,current_direction_max,dp(dist,1))) steer = 49 if type(img_left_previous) != bool: imgs = {} imgs['left'] = [img_left_previous,img_left] imgs['right'] = [img_right_previous,img_right] ctr = 0 for c in range(3): for camera in ['left','right']: for t in range(2): solver.net.blobs['ZED_data_pool2'].data[0,ctr,:,:] = imgs[camera][t][:,:,c] ctr += 1 solver.net.forward() steer = 100*solver.net.blobs['ip2'].data[0,9] vel = solver.net.blobs['ip_velocity'].data[0,0]