def main():
# read in tire data
config = configparser.ConfigParser()
config.read('data/tire/hoosier_lc0_sorted.ini')
# Extract coefficients
general = {key: float(config['general'][key]) for key in config['general']}
py = {key: float(config['lateral'][key]) for key in config['lateral']}
qz = {key: float(config['self_aligning'][key]) for key in config['self_aligning']}
px = {key: float(config['longitudinal'][key]) for key in config['longitudinal']}
qx = {key: float(config['overturning'][key]) for key in config['overturning']}
rx = {key: float(config['longitudinal_combined'][key]) for key in config['longitudinal_combined']}
ry = {key: float(config['lateral_combined'][key]) for key in config['lateral_combined']}
sz = {key: float(config['self_aligning_combined'][key]) for key in config['self_aligning_combined']}
qy = {key: float(config['roll_moment'][key]) for key in config['roll_moment']}
# build tire model
tire_model = Pacejka(general, py, qz, px, qx, rx, ry, sz, qy)
# read in vehicle data
config.read('data/vehicle/generic_fsae.ini')
dimensions = {key: float(config['dimensions'][key]) for key in config['dimensions']}
# build vehicle class
car = Vehicle(tire_model, tire_model, tire_model, tire_model,
dimensions)
# do some basic tasks
car.velocity = 50/3.6
delta_sweep = np.arange(-20,20) # in degrees
forces = [car.resolve_forces(math.radians(delta)).flat[1] for delta in delta_sweep]
import pdb; pdb.set_trace()
def read_vehicle(self):
if not self.read_boolean():
return None
return Vehicle(
self.read_long(), self.read_double(), self.read_double(), self.read_double(), self.read_long(),
self.read_int(), self.read_int(), self.read_double(), self.read_double(), self.read_double(),
self.read_double(), self.read_double(), self.read_double(), self.read_double(), self.read_int(),
self.read_int(), self.read_int(), self.read_int(), self.read_int(), self.read_int(),
self.read_enum(VehicleType), self.read_boolean(), self.read_boolean(), self.read_ints()
)
def read_vehicle(self):
if not self.read_boolean():
return None
byte_array = self.read_bytes(128)
vehicle = RemoteProcessClient.VEHICLE_STRUCT.unpack(byte_array)
return Vehicle(vehicle[0], vehicle[1], vehicle[2], vehicle[3],
vehicle[4], vehicle[5], vehicle[6], vehicle[7],
vehicle[8], vehicle[9], vehicle[10], vehicle[11],
vehicle[12], vehicle[13], vehicle[14], vehicle[15],
vehicle[16], vehicle[17], vehicle[18], vehicle[19],
self.read_enum(VehicleType), self.read_boolean(),
self.read_boolean(), self.read_ints())
def build_vehicle_model(vehicle_config, tire_config):
'''Builds a vehicle model instance using parameters in vehicle_config and tire_config'''
config = configparser.ConfigParser(inline_comment_prefixes=';')
config.read(vehicle_config)
mass = {key: float(config['mass'][key]) for key in config['mass']}
geometry = {key: float(config['geometry'][key]) for key in config['geometry']}
suspension = {key: float(config['suspension'][key]) for key in config['suspension']}
# TODO: allow flexible way to specify tires on all tires
tire_model = build_tire_model(tire_config)
return Vehicle(tire_model, tire_model, tire_model, tire_model, mass, geometry, suspension)
def read_vehicle(self):
if not self.read_boolean():
return None
byte_array = self.read_bytes(128)
vehicle = struct.unpack(
RemoteProcessClient.BYTE_ORDER_FORMAT_STRING + "q3dq2i7d6i",
byte_array)
return Vehicle(vehicle[0], vehicle[1], vehicle[2], vehicle[3],
vehicle[4], vehicle[5], vehicle[6], vehicle[7],
vehicle[8], vehicle[9], vehicle[10], vehicle[11],
vehicle[12], vehicle[13], vehicle[14], vehicle[15],
vehicle[16], vehicle[17], vehicle[18], vehicle[19],
self.read_enum(VehicleType), self.read_boolean(),
self.read_boolean(), self.read_ints())
def simulate(cars_no):
# env = simpy.rt.RealtimeEnvironment()
env = simpy.Environment()
light_groups = [[13, 15], [17, 19], [12, 14], [16, 18]]
lightManager = TrafficLightManager(env, light_groups, 20)
graph = Graph(lightManager)
vehicles = []
for c in range(cars_no):
vehicle = Vehicle(env, c, random.choice(graph.start_nodes),
random.choice(graph.end_nodes), graph,
max(numpy.random.normal(loc=20.0, scale=2.0), 20.0))
vehicles.append(vehicle)
env.run(until=60 * 60 * 2)
return vehicles
def dispatch_vehicle(vehicle: Vehicle):
with Client(
transport=backend_transport,
fetch_schema_from_transport=True,
) as session:
vehicle.image = base64.b64encode(
cv2.imencode('.jpg', vehicle.image)[1])
session.execute(
gql('''
query{
fuckCrossroad(vehicle: {
image:"''' + vehicle.image.decode('utf-8') + '''",
licensePlate: ''' + 'null' + ''',
color: "''' + vehicle.color + '''",
speed: ''' + str(vehicle.speed) + '''
}){
licensePlate
}
}
'''))
def draw_bounding_box_on_image(current_frame_number,
image,
ymin,
xmin,
ymax,
xmax,
color='red',
thickness=4,
display_str_list=(),
use_normalized_coordinates=True,
roi_position=200):
"""Adds a bounding box to an image.
Each string in display_str_list is displayed on a separate line above the
bounding box in black text on a rectangle filled with the input 'color'.
If the top of the bounding box extends to the edge of the image, the strings
are displayed below the bounding box.
Args:
image: a PIL.Image object.
ymin: ymin of bounding box.
xmin: xmin of bounding box.
ymax: ymax of bounding box.
xmax: xmax of bounding box.
color: color to draw bounding box. Default is red.
thickness: line thickness. Default value is 4.
display_str_list: list of strings to display in box
(each to be shown on its own line).
use_normalized_coordinates: If True (default), treat coordinates
ymin, xmin, ymax, xmax as relative to the image. Otherwise treat
coordinates as absolute.
:param roi_position:
"""
csv_line = "" # to create new csv line consists of vehicle type, predicted_speed, color and predicted_direction
update_csv = False # update csv for a new vehicle that are passed from ROI - just one new line for each vehicles
is_vehicle_detected = [0]
draw = ImageDraw.Draw(image)
im_width, im_height = image.size
if use_normalized_coordinates:
(left, right, top, bottom) = (xmin * im_width, xmax * im_width,
ymin * im_height, ymax * im_height)
else:
(left, right, top, bottom) = (xmin, xmax, ymin, ymax)
draw.line([(left, top), (left, bottom), (right, bottom), (right, top),
(left, top)],
width=thickness,
fill=color)
predicted_speed = None # means not available, it is just initialization
predicted_direction = None # means not available, it is just initialization
vehicle = None
image_temp = numpy.array(image)
detected_vehicle_image = image_temp[int(top):int(bottom),
int(left):int(right)]
predicted_color = color_recognition_api.color_recognition(
detected_vehicle_image)
if (
bottom > roi_position
): # if the vehicle get in ROI area, vehicle predicted_speed predicted_color algorithms are called - 200 is an arbitrary value, for my case it looks very well to set position of ROI line at y pixel 200
predicted_direction, predicted_speed, is_vehicle_detected, update_csv = speed_prediction.predict_speed(
top, bottom, right, left, current_frame_number,
detected_vehicle_image, roi_position)
vehicle = Vehicle(color=predicted_color,
speed=predicted_speed,
image={
"left": left / image_temp.shape[1],
"right": right / image_temp.shape[1],
"top": top / image_temp.shape[0],
"bottom": bottom / image_temp.shape[0]
},
direction=predicted_direction)
try:
font = ImageFont.truetype('arial.ttf', 16)
except IOError:
font = ImageFont.load_default()
# If the total height of the display strings added to the top of the bounding
# box exceeds the top of the image, stack the strings below the bounding box
# instead of above.
display_str_list[0] = predicted_color + " " + display_str_list[0]
csv_line = predicted_color + "," + str(predicted_direction) + "," + str(
predicted_speed) # csv line created
display_str_heights = [font.getsize(ds)[1] for ds in display_str_list]
# Each display_str has a top and bottom margin of 0.05x.
total_display_str_height = (1 + 2 * 0.05) * sum(display_str_heights)
if top > total_display_str_height:
text_bottom = top
else:
text_bottom = bottom + total_display_str_height
# Reverse list and print from bottom to top.
for display_str in display_str_list[::-1]:
text_width, text_height = font.getsize(display_str)
margin = np.ceil(0.05 * text_height)
draw.rectangle([(left, text_bottom - text_height - 2 * margin),
(left + text_width, text_bottom)],
fill=color)
draw.text((left + margin, text_bottom - text_height - margin),
display_str,
fill='black',
font=font)
text_bottom -= text_height - 2 * margin
return is_vehicle_detected, csv_line, update_csv, vehicle
def main():
# read in tire data
config = configparser.ConfigParser()
config.read('data/tire/hoosier_lc0_sorted.ini')
# Extract coefficients
general = {key: float(config['general'][key]) for key in config['general']}
py = {key: float(config['lateral'][key]) for key in config['lateral']}
qz = {
key: float(config['self_aligning'][key])
for key in config['self_aligning']
}
px = {
key: float(config['longitudinal'][key])
for key in config['longitudinal']
}
qx = {
key: float(config['overturning'][key])
for key in config['overturning']
}
rx = {
key: float(config['longitudinal_combined'][key])
for key in config['longitudinal_combined']
}
ry = {
key: float(config['lateral_combined'][key])
for key in config['lateral_combined']
}
sz = {
key: float(config['self_aligning_combined'][key])
for key in config['self_aligning_combined']
}
qy = {
key: float(config['roll_moment'][key])
for key in config['roll_moment']
}
# build tire model
tire_model = Pacejka(general, py, qz, px, qx, rx, ry, sz, qy)
# read in vehicle data
config.read('data/vehicle/generic_fsae.ini')
dimensions = {
key: float(config['dimensions'][key])
for key in config['dimensions']
}
# build vehicle class
car = Vehicle(tire_model, tire_model, tire_model, tire_model, dimensions)
# do some basic tasks
car.velocity = 50 / 3.6
delta_sweep = np.arange(-20, 20) # in degrees
forces = [
car.resolve_forces(math.radians(delta)).flat[1]
for delta in delta_sweep
]
import pdb
pdb.set_trace()