#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]
