def drive(model):
global gamepad
gamepad = XInputDevice(1)
gamepad.PlugIn()
# last_time = time.time() # to measure the number of frames
close = False # to exit execution
pause = True # to pause execution
print("Press T to start driving")
while not close:
while not pause:
# apply the preprocessing
image, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(image[194:230, 5:65, :],
cv2.COLOR_RGB2BGR)[:, :, 1:3]
image = preprocess(image)
# predict steering angle for the image
controls = model.predict(
[np.array([image]), np.array([radar])], batch_size=1)
if speed < 60:
throttle = 0.4
controls = [[controls[0][0], throttle]]
else:
throttle = 0.0
controls = [[controls[0][0], throttle]]
# set the gamepad values
set_gamepad(controls)
# print("Steering: {0:.2f}".format(controls[0][0]))
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
keys = key_check()
if 'T' in keys:
pause = True
# release gamepad keys
gamepad.SetTrigger('L', 0)
gamepad.SetTrigger('R', 0)
gamepad.SetAxis('X', 0)
print('Paused. To exit the program press Z.')
time.sleep(0.5)
keys = key_check()
if 'T' in keys:
pause = False
print('Unpaused')
time.sleep(1)
elif 'Z' in keys:
close = True
print('Closing the program.')
gamepad.UnPlug()
def main():
while True:
screen, resized, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(resized[206:226, 25:45, :], cv2.COLOR_RGB2BGR)[:, :, 2:3]
resized = preprocess(resized)
left_line_color = [0, 255, 0]
right_line_color = [0, 255, 0]
yolo_screen, color_detected, obj_distance = yolo_detection(screen, direct)
cv2.imshow("Driving-mode", yolo_screen)
cv2.waitKey(1)
def main():
numbers = []
record = False
i = 0
empty = 0
while True:
time.sleep(0.2)
keys = key_check()
if 'T' in keys:
record = not record
elif 'Z' in keys:
np.save('digits.npy', numbers)
image = grab_screen("Grand Theft Auto V")
# speed
screen, resized, speed, direct = img_process("Grand Theft Auto V")
vis = image[567:576, 18:28, :]
print(direct, speed)
vis = cv2.cvtColor(vis, cv2.COLOR_RGB2GRAY)
# ret, vis = cv2.threshold(vis, 140, 255, cv2.THRESH_BINARY_INV)
# ret, vis = cv2.threshold(vis, 0, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
vis = cv2.adaptiveThreshold(vis, 255, cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY, 7, -5)
if record:
i += 1
print(i)
numbers.append(vis[:, :5]) # num1
numbers.append(vis[:, 7:12]) # num2
if empty % 5 == 0:
numbers.append(vis[:, -5:]) # num3
empty += 1
vis = cv2.resize(vis, None, fx=10, fy=10)
cv2.imshow("Frame", vis)
key = cv2.waitKey(1) & 0xFF
# cv2.waitKey()
# if the `q` key was pressed, break from the loop
if key == ord("q"):
break
def drive(model):
global gamepad
gamepad = XInputDevice(1)
gamepad.PlugIn()
# last_time = time.time() # to measure the number of frames
close = False # to exit execution
pause = True # to pause execution
throttle = 0
left_line_max = 80
right_line_max = 680
print("Press T to start driving")
while not close:
while not pause:
# apply the preprocessing
screen, resized, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(resized[206:226, 25:45, :],
cv2.COLOR_RGB2BGR)[:, :, 2:3]
resized = preprocess(resized)
left_line_color = [0, 255, 0]
right_line_color = [0, 255, 0]
# predict steering angle for the image
# original + radar (small) + speed
controls = model.predict(
[np.array([resized]),
np.array([radar]),
np.array([speed])],
batch_size=1)
# check that the car is following lane
lane, stop_line = detect_lane(screen)
# adjusting speed
if speed < 35:
throttle = 0.4
elif speed > 40:
throttle = 0.0
# adjusting steering angle
if lane[0] and lane[0][0] > left_line_max:
controls[0][0] = 0.27
left_line_color = [0, 0, 255]
elif lane[1] and lane[1][0] < right_line_max:
controls[0][0] = -0.27
right_line_color = [0, 0, 255]
# set the gamepad values
set_gamepad([[controls[0][0], throttle]])
# print("Steering: {0:.2f}".format(controls[0][0]))
# for yolo detection
# screen = np.array(screen, dtype=np.uint8)
# yolo_detection(tfnet, screen, speed, controls, gamepad, direct)
# cv2.imshow('frame', screen)
# if cv2.waitKey(1) & 0xFF == ord('q'):
# break
screen[280:-130, :, :] = draw_lane(screen[280:-130, :, :], lane,
stop_line, left_line_color,
right_line_color)
cv2.imshow("Frame", screen)
cv2.waitKey(1)
if direct == Direct.NONE:
cv2.destroyAllWindows()
print("Arrived at destination.")
stop()
pause = True
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
keys = key_check()
if 'T' in keys:
cv2.destroyAllWindows()
pause = True
# release gamepad keys
stop()
print('Paused. To exit the program press Z.')
time.sleep(0.5)
keys = key_check()
if 'T' in keys:
pause = False
print('Unpaused')
time.sleep(1)
elif 'Z' in keys:
close = True
print('Closing the program.')
gamepad.UnPlug()
def drive(model):
global gamepad
gamepad = XInputDevice(1)
gamepad.PlugIn()
last_time = time.time() # to measure the number of frames
close = False # to exit execution
pause = False # to pause execution
stop = False # to stop the car
throttle = 0
left_line_max = 75
right_line_max = 670
print("Press T to start driving")
while not close:
yolo_screen, resized, speed, direct = img_process("Grand Theft Auto V")
## cv2.imshow("Driving-mode", yolo_screen)
## cv2.waitKey(1)
while not pause:
# apply the preprocessing
screen, resized, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(resized[206:226, 25:45, :],
cv2.COLOR_RGB2BGR)[:, :, 2:3]
resized = preprocess(resized)
left_line_color = [0, 255, 0]
right_line_color = [0, 255, 0]
# predict steering angle for the image
# original + radar (small) + speed
controls = model.predict(
[np.array([resized]),
np.array([radar]),
np.array([speed])],
batch_size=1)
# check that the car is following lane
lane, stop_line = detect_lane(screen)
# detect objects
yolo_screen, color_detected, obj_distance = yolo_detection(
screen, direct)
if not stop:
# adjusting speed
if speed < 65:
throttle = 0.8
elif speed > 70:
throttle = 0.0
if 0 <= obj_distance <= 0.6:
if speed < 5:
throttle = 0
else:
throttle = -0.7 if obj_distance <= 0.4 else -0.3
elif color_detected == "Red":
if stop_line:
if speed < 5:
throttle = 0
elif 0 <= stop_line[0][1] <= 50:
throttle = -0.5
elif 50 < stop_line[0][1] <= 120:
throttle = -1
# else:
# throttle = -0.5
elif speed > 5:
throttle = -1
else:
throttle = 0
cv2.destroyAllWindows()
pause = True
# adjusting steering angle
if lane[0] and lane[0][0] > left_line_max:
if abs(controls[0][0]) < 0.27:
controls[0][0] = 0.27
left_line_color = [0, 0, 255]
elif lane[1] and lane[1][0] < right_line_max:
if abs(controls[0][0]) < 0.27:
controls[0][0] = -0.27
right_line_color = [0, 0, 255]
# set the gamepad values
set_gamepad([[controls[0][0], throttle]])
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
screen[280:-130, :, :] = draw_lane(screen[280:-130, :, :], lane,
stop_line, left_line_color,
right_line_color)
## cv2.imshow("Driving-mode",yolo_screen)
## cv2.waitKey(1)
if direct == 6:
print("Arrived at destination.")
stop = True
print('Main loop took {} seconds'.format(time.time() - last_time))
last_time = time.time()
keys = key_check()
if 'T' in keys:
cv2.destroyAllWindows()
pause = True
# release gamepad keys
set_gamepad([[0, 0]])
print('Paused. To exit the program press Z.')
time.sleep(0.5)
keys = key_check()
if 'T' in keys:
pause = False
stop = False
print('Unpaused')
time.sleep(1)
elif 'Z' in keys:
cv2.destroyAllWindows()
close = True
print('Closing the program.')
gamepad.UnPlug()
def main():
# initialize gamepad
gamepad = Gamepad()
gamepad.open()
# last_time = time.time() # to measure the number of frames
alert_time = time.time() # to signal about exceeding speed limit
close = False # to exit execution
pause = True # to pause execution
session = 0 # number of frames recorded in one session
training_img = [] # lists for storing training data
controls = []
metrics = []
print("Press RB on your gamepad to start recording")
while not close:
while not pause:
# read throttle and steering values from the gamepad
throttle, steering = gamepad.get_state()
# get screen, speed and direction
ignore, screen, speed, direction = img_process("Grand Theft Auto V")
training_img.append(screen)
controls.append([throttle, steering])
metrics.append([speed, direction])
session += 1
if speed > 60 and time.time() - alert_time > 1:
winsound.PlaySound('.\\resources\\alert.wav', winsound.SND_ASYNC)
alert_time = time.time()
# save the data every 30 iterations
if len(training_img) % 30 == 0:
# print("-" * 30 + "Saving" + "-" * 30)
threading.Thread(target=save, args=(training_img, controls, metrics)).start()
training_img = []
controls = []
metrics = []
time.sleep(0.015) # in order to slow down fps
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
if gamepad.get_RB():
pause = True
print('Paused. Save the last 15 seconds?')
keys = key_check()
while ('Y' not in keys) and ('N' not in keys):
keys = key_check()
if 'N' in keys:
delete(session)
training_img = []
controls = []
metrics = []
print('Deleted.')
else:
print('Saved.')
print('To exit the program press LB.')
session = 0
time.sleep(0.5)
if gamepad.get_RB():
pause = False
print('Unpaused')
time.sleep(1)
elif gamepad.get_LB():
gamepad.close()
close = True
print('Saving data and closing the program.')
save(training_img, controls, metrics)
data_file.close()
def drive():
global gamepad
gamepad = XInputDevice(1)
gamepad.PlugIn()
# last_time = time.time() # to measure the number of frames
close = False # to exit execution
pause = True # to pause execution
stop = False # to stop the car
throttle = 0
left_line_max = 75
right_line_max = 670
print("Press T to start driving")
while not close:
yolo_screen, resized, speed, direct = img_process("Grand Theft Auto V")
cv2.imshow("Driving-mode", yolo_screen)
cv2.waitKey(1)
while not pause:
# apply the preprocessing
screen, resized, speed, direct = img_process("Grand Theft Auto V")
radar = cv2.cvtColor(resized[206:226, 25:45, :],
cv2.COLOR_RGB2BGR)[:, :, 2:3]
resized = preprocess(resized)
left_line_color = [0, 255, 0]
right_line_color = [0, 255, 0]
# predict steering angle for the image
# original + radar (small) + speed
# check that the car is following lane
lane, stop_line = detect_lane(screen)
# detect objects
print(speed, "#", direct)
if not stop:
# adjusting speed
if speed < 20:
throttle = 0.3
elif speed > 25:
throttle = 0.0
elif speed > 5:
throttle = -1
else:
throttle = 0
cv2.destroyAllWindows()
pause = True
# adjusting steering angle
if lane[0] and lane[0][0] > left_line_max:
left_line_color = [0, 0, 255]
elif lane[1] and lane[1][0] < right_line_max:
right_line_color = [0, 0, 255]
# set the gamepad values
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
screen[280:-130, :, :] = draw_lane(screen[280:-130, :, :], lane,
stop_line, left_line_color,
right_line_color)
cv2.imshow("Driving-mode", yolo_screen)
cv2.waitKey(1)
# print('Main loop took {} seconds'.format(time.time() - last_time))
# last_time = time.time()
keys = key_check()
if 'T' in keys:
cv2.destroyAllWindows()
pause = True
# release gamepad keys
set_gamepad([[0, 0]])
print('Paused. To exit the program press Z.')
time.sleep(0.5)
keys = key_check()
if 'T' in keys:
pause = False
stop = False
print('Unpaused')
time.sleep(1)
elif 'Z' in keys:
cv2.destroyAllWindows()
close = True
print('Closing the program.')
gamepad.UnPlug()
