def test_renqder(vehicle: Vehicle) -> None:
while True:
vehicle.update_parts()
gray = vehicle.mem.get(vehicle.parts[1]['outputs'])[0]
gray2 = vehicle.mem.get(vehicle.parts[4]['outputs'])[0]
blur = vehicle.mem.get(vehicle.parts[5]['outputs'])[0]
canny = vehicle.mem.get(vehicle.parts[6]['outputs'])[0]
# hough = vehicle.mem.get(vehicle.parts[6]['outputs'])[0]
road = vehicle.mem.get(vehicle.parts[8]['outputs'])[0]
# threshold = vehicle.mem.get(vehicle.parts[6]['outputs'])[0]
# dilate = vehicle.mem.get(vehicle.parts[7]['outputs'])[0]
cv2.imshow('gray', gray)
cv2.imshow('gray2', gray2)
cv2.imshow('blur', blur)
cv2.imshow('canny', canny)
# cv2.imshow('hough', hough)
cv2.imshow('road', road)
# cv2.imshow('threshold', threshold)
# cv2.imshow('dilate', dilate)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if cv2.waitKey(1) & 0xFF == ord(' '):
while True:
if cv2.waitKey(1) & 0xFF == ord(' '):
break
sleep(0.01)
def rpi2research(initial_angle=160,
final_angle=90,
final_bits=8,
final_rows=224,
final_cols=224):
"""
Inputs:
initial_angle : Float. Viewing angle of input_image.
final_angle : Float. Desired viewing angle of the output image.
final_bits : Integer. The number of bits used to define an
individual pixel in the output image.
final_rows : Integer. The number of rows in the output image.
final_cols : Integer. The number of columns in the output image.
Returns:
None.
"""
# Set up the connection to the Raspberry Pi
# defines a vehicle to take and record pictures 10 times per second
V = Vehicle()
#add a camera part
#cam = PiCamera()
cam = vid2research(0)
V.add(cam, outputs=['image'], threaded=True)
#add tub part to record images
tub = Tub(path='~/mycar/get_started',
inputs=['image'],
types=['image_array'])
V.add(tub, inputs=['image'])
#start the drive loop at 10 Hz
V.start(rate_hz=10)
def test_render(vehicle: Vehicle) -> None:
while True:
vehicle.update_parts()
gray = vehicle.mem.get([ConvertToGrayPart.IMG_GRAY_RAW])[0]
threshold = vehicle.mem.get([ThresholdPart.IMG_THRESHOLD])[0]
road = vehicle.mem.get([RoadDebugPart.IMG_ROAD])[0]
road_ellipse = vehicle.mem.get([RoadEllipseDebugPart.IMG_ROAD_ELLIPSE])[0]
cv2.imshow('gray', gray)
cv2.imshow('threshold', threshold)
cv2.imshow('road', road)
if road_ellipse is not None:
cv2.imshow('road_ellipse', road_ellipse)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if cv2.waitKey(1) & 0xFF == ord(' '):
while True:
if cv2.waitKey(1) & 0xFF == ord(' '):
break
sleep(0.01)
import sys
sys.path.append('/home/royd1990/donkeycar')
from donkeycar import Vehicle
from donkeycar.parts.camera import MockCamera
from donkeycar.parts.datastore import Tub
V = Vehicle()
#add a camera part
cam = MockCamera()
V.add(cam, outputs=['image'], threaded=True)
#add tub part to record images
tub = Tub(path='~/d2/gettings_started',
inputs=['image'],
types=['image_array'])
V.add(tub, inputs=['image'])
#start the drive loop at 10 Hz
#V.start(rate_hz=10)
def fixture_vehicle(video_camera: VideoCamera,
road_config: RoadConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ConvertToGrayPart())
vehicle.register(
BoundingBoxPart(input_img_key=ConvertToGrayPart.IMG_GRAY_RAW,
output_img_key=ConvertToGrayPart.IMG_GRAY_RAW))
vehicle.register(HistogramPart())
vehicle.register(ThresholdPart())
vehicle.register(
BlurPart(input_key=ThresholdPart.IMG_THRESHOLD,
output_key='img/blur',
kernel_size=5))
vehicle.register(
CannyPart(input_img_key='img/blur',
output_img_key='img/canny',
low_threshold=50,
high_threshold=150))
# vehicle.register(HoughPart(input_img_key='img/canny', output_img_key='img/hough'))
vehicle.register(RoadPart(road_config, input_img_type='img/canny'))
vehicle.register(RoadDebugPart())
return vehicle
def fixture_vehicle(video_camera: VideoCamera, road_config: RoadConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ConvertToGrayPart())
vehicle.register(BoundingBoxPart(input_img_key=ConvertToGrayPart.IMG_GRAY_RAW,
output_img_key=ConvertToGrayPart.IMG_GRAY_RAW))
vehicle.register(HistogramPart())
vehicle.register(ThresholdPart())
vehicle.register(BlurPart(input_key=ThresholdPart.IMG_THRESHOLD, output_key='img/blur'))
vehicle.register(CannyPart(input_img_key='img/blur', output_img_key='img/canny'))
# vehicle.register(HoughPart(input_img_key='img/canny', output_img_key='img/hough'))
vehicle.register(RoadPart(road_config, input_img_type='img/canny'))
vehicle.register(RoadDebugPart())
# vehicle.register(BoundingBoxPart(input_img_key=IMG_GRAY_RAW, output_img_key=IMG_GRAY_RAW))
# vehicle.register(HistogramPart())
# vehicle.register(GraySelectorPart())
# vehicle.register(ThresholdController(config=ThresholdConfigController(limit_min=180, limit_max=200,
# threshold_default = 190,
# threshold_delta = 10,
# threshold_dynamic = False, mqtt_enable = False)))
# vehicle.register(DilatePart())
# vehicle.register(RoadPart(road_config))
# vehicle.register(RoadDebugPart())
return vehicle
def fixture_vehicle(video_camera: VideoCamera,
road_config: RoadConfigController,
throttle_config: ThrottleConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ComponentRoadPart())
vehicle.register(AngleRoadPart())
vehicle.register(
ThrottleEllipsePart(throttle_config_controller=throttle_config))
vehicle.register(RoadEllipseDebugPart())
vehicle.register(
ThrottleDebugPart(input_img_key=RoadEllipseDebugPart.IMG_ROAD_ELLIPSE))
return vehicle
import os
import time
from donkeycar import Vehicle
from donkeycar.part.camera import PiCamera
from donkeycar.parts.datastore import Tub
from donkeycar.parts.
#初始化小车
V = Vehicle()
#初始化时间戳,并添加到小车中
clock = Timestamp()
V.add(clock, outputs=['timestamp'])
#添加摄像头模块
cam = PiCamera()
V.add(cam, outputs=['image'], threaded=Ture)
#初始化数据存储模式和路径
tub = Tub(path='./data/test_data',
inputs=['image'],
types=['image_array']
)
#给小车添加数据存储功能
V.add(tub, inputs= ['image'])
#数据搜集频率在每秒十次
V.start(rate_hz=10)