def main():
global client, scenario
client = Client(ip='localhost',
port=8000,
datasetPath='D:/no_traffic/dataset' + str(i) + '.pz',
compressionLevel=9)
scenario = Scenario(weather=weather,
vehicle='blista',
time=[set_time, 0],
drivingMode=-1,
location=location) # 设置数据集存储位置，采集数据所用的车辆型号
client.sendMessage(Start(scenario=scenario, dataset=dataset))
print("load deepGTAV successfully! \nbegin")
while True:
fo = open(txt_position, "r") # 配置1
txt = fo.read()
fo.close()
if txt == '0':
tongji = open(tongji_position, "w+")
tongji.write("left:" + str(left) + " right:" + str(right) +
" total:" + str(total))
tongji.close()
print('=====================end=====================')
exit(0)
elif txt == '1':
drive()
def work(self):
"""
Pretend this worker method does work that takes a long time. During this time, the thread's
event loop is blocked, except if the application's processEvents() is called: this gives every
thread (incl. main) a chance to process events, which in this sample means processing signals
received from GUI (such as abort).
"""
thread_name = QThread.currentThread().objectName()
thread_id = int(
QThread.currentThreadId()) # cast to int() is necessary
self.sig_msg.emit('Running worker #{} from thread "{}" (#{})'.format(
self.__id, thread_name, thread_id))
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in memory all the data received in a gziped pickle file.
# We don't want to save a dataset in this case
self.client = Client(ip=self.args.host, port=self.args.port)
# self.client = Client(ip="127.0.0.1", port=8000)
# We set the scenario to be in manual driving, and everything else random (time, weather and location).
# See deepgtav/messages.py to see what options are supported
scenario = Scenario(drivingMode=-1) #manual driving
# Send the Start request to DeepGTAV. Dataset is set as default, we only receive frames at 10Hz (320, 160)
self.client.sendMessage(Start(scenario=scenario))
# Dummy agent
model = Model()
# Start listening for messages coming from DeepGTAV. We do it for 80 hours
stoptime = time.time() + 80 * 3600
while (time.time() < stoptime and (not self.__abort)):
# We receive a message as a Python dictionary
app.processEvents()
message = self.client.recvMessage()
# The frame is a numpy array that can we pass through a CNN for example
image = frame2numpy(message['frame'], (320, 160))
commands = model.run(image)
self.sig_step.emit(self.__id, 'step ' + str(time.time()))
self.sig_image.emit(image.tolist())
# We send the commands predicted by the agent back to DeepGTAV to control the vehicle
self.client.sendMessage(
Commands(commands[0], commands[1], commands[2]))
# We tell DeepGTAV to stop
self.client.sendMessage(Stop())
self.client.close()
self.sig_done.emit(self.__id)
def reset():
# Resets position of the car to the starting location
dataset = Dataset(rate=30,
frame=frame,
throttle=True,
brake=True,
steering=True,
location=True,
drivingMode=True)
scenario = Scenario(weather=weather,
vehicle=vehicle,
time=time,
drivingMode=drivingMode,
location=location)
Client.sendMessage(Config(scenario=scenario, dataset=dataset))
#,yawRate=True,time=True,vehicles=True, peds=True, trafficSigns=True, direction=True, reward=True
#[-1917.06640625, 4595.87255859375, 56.853]
#-737.1954345703125, 1975.72265625, 133.54100036621094
#[2723.626953125, 3224.170654296875, 54.402042388916016]
#827.8175659179688, -1201.2620849609375, 45.51389694213867 街头竞速 没车
scenario = Scenario(weather='EXTRASUNNY',
vehicle='blista',
time=[12, 0],
drivingMode=-1,
location=location)
client.sendMessage(Config(scenario=scenario, dataset=dataset))
if image_source == USE_GTAV:
client = Client(
ip='localhost', port=8000
) #, datasetPath="self_driving.pz", compressionLevel=9) # Default interface
'''
try:
#client.sendMessage(Stop()) # Stops DeepGTAV
client.close()
except Exception as e:
pass
client = Client(ip='localhost', port=8000, datasetPath="self_driving.pz", compressionLevel=9) # Default interface
'''
dataset = Dataset(rate=FPS,
frame=[show_imgwidth, show_imgheight],
throttle=True,
brake=True,
steering=True,
port = 8000
dataset_path = 'dataset.pz'
log_freq = 10 # in minute
max_stop_time = 10 # in second
max_wall_time = 10 # in hour
max_speed = 120 # in km
rate = 30 # in HZ
frame = [350, 205 + 20]
logger.info(
'Rate %s hz, frame %s, max_stop_time %s, max_wall_time %s, max_speed %s, dataset_path %s.'
% (str(rate), str(frame), str(max_stop_time), str(max_wall_time),
str(max_speed), str(dataset_path)))
client = Client(ip=host,
port=port,
datasetPath=dataset_path,
compressionLevel=0)
dataset = Dataset(rate=rate,
frame=frame,
throttle=True,
brake=True,
steering=True,
speed=True,
drivingMode=True,
location=True)
scenario = Scenario(weather='EXTRASUNNY',
vehicle='voltic',
time=[12, 0],
drivingMode=[1074528293, max_speed / 1.6],
return bgr
print("Loading Model...")
model = load_model(model_path)
print("Model Loaded. Compiling...")
sgd = SGD(lr=1e-3, decay=1e-4, momentum=0.9, nesterov=True) # SGD Optimizer 사용
model.compile(optimizer=sgd, loss="mse") # loss function 은 논문을 따라 "mean squared error"
model.summary()
if input("Continue?") == "y": # Wait until you load GTA V to continue, else can't connect to DeepGTAV
print("Conintuing...")
# Loads into a consistent starting setting
print("Loading Scenario...")
client = Client(ip='localhost', port=8000) # Default interface
scenario = Scenario(weather=weather, vehicle=vehicle, time=time, drivingMode=-1, location=location)
client.sendMessage(Start(scenario=scenario))
hwnd_list = _get_windows_bytitle("Grand Theft Auto V", exact=True) # window 를 받아온다.
count = 0
print("Starting Loop...")
while True:
try:
# Collect and preprocess image
# message = client.recvMessage()
# window title 을 이용해 받아온 window 에서 frame 을 따온다.
# 기존의 기능에서 이를 제대로 지원하지 않는듯 하기 때문에 추가로 작성함.
frame_image = screenshot(hwnd=hwnd_list[0])
# frame_image = normalize(frame_image)
def __call__(self, v):
return UNIT(self.tpe, v)
def __rmul__(self, o):
from numbers import Number
assert isinstance(o, Number), "Can only specify numeric unit types"
return UNIT(self.tpe, o * self.value)
MS = UNIT(0) # Milliseconds
FRAMES = UNIT(1) # Frames
if __name__ == "__main__":
from time import time, sleep
c = Client(('localhost', 8766))
print(c)
if not c.control():
print("Failed to gain control over game, just watching then ...")
c.reset()
t0 = time()
#for i in range(100):
target_list = c.listTargets()
print(target_list)
c.startScenarios()
#c.interceptKeys(print)
c.fetchGameState(print, 1 * FRAMES)
import matplotlib
'--host',
default='localhost',
help='The IP where DeepGTAV is running')
parser.add_argument('-p',
'--port',
default=8000,
help='The port where DeepGTAV is running')
parser.add_argument('-d',
'--dataset_path',
default='dataset_test.pz',
help='Place to store the dataset')
args = parser.parse_args()
# Creates a new connection to DeepGTAV using the specified ip and port
client = Client(ip=args.host,
port=args.port,
datasetPath=args.dataset_path,
compressionLevel=9)
# Dataset options
dataset = Dataset(rate=30,
frame=[320, 160],
throttle=True,
brake=True,
steering=True,
location=True,
drivingMode=True)
# Automatic driving scenario
scenario = Scenario(
weather='EXTRASUNNY',
vehicle='blista',
time=[12, 0],
drivingMode=[786603, 20.0],
# Stores a dataset file with data coming from DeepGTAV
if __name__ == '__main__':
parser = argparse.ArgumentParser(description=None)
parser.add_argument('-l', '--host', default='localhost', help='The IP where DeepGTAV is running')
parser.add_argument('-p', '--port', default=8000, help='The port where DeepGTAV is running')
parser.add_argument('-d', '--dataset_path', default='dataset.pz', help='Place to store the dataset')
args = parser.parse_args()
weathers = ["CLEAR", "EXTRASUNNY", "CLOUDS", "OVERCAST", "RAIN", "CLEARING", "THUNDER", "SMOG", "FOGGY", "XMAS", "SNOWLIGHT", "BLIZZARD", "NEUTRAL", "SNOW" ]
hours = [0,4,8,12,16,20]
## CREATE A REAL DATASET WITH WEATHER CONDITIONS IN DIRECTORY.
for weather in weathers:
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in memory all the data received in a gziped pickle file.
for hour in hours:
client = Client(ip=args.host, port=args.port, datasetPath=args.dataset_path, compressionLevel=9)
infos = {}
infos['weather'] = weather
infos['hour'] = hour
infos['time'] = int(time.time())
# Configures the information that we want DeepGTAV to generate and send to us.
# See deepgtav/messages.py to see what options are supported
dataset = Dataset(rate=4, frame=[1280,640], throttle=True, brake=True, steering=True, vehicles=True, peds=True, trafficSigns=True, reward=[15.0, 0.0], direction=None, speed=True, yawRate=True, location=True, time=True)
# Send the Start request to DeepGTAV.
scenario = Scenario(time=[hour,0],weather=weather,drivingMode=[786603,15.0]) # Driving style is set to normal, with a speed of 15.0 mph. All other scenario options are random.
client.sendMessage(Start(dataset=dataset,scenario=scenario))
stoptime = time.time() + 2*60
while time.time() < stoptime:
try:
message = client.recvMessage(infos)
# Stores a pickled dataset file with data coming from DeepGTAV
if __name__ == '__main__':
parser = argparse.ArgumentParser(description=None)
parser.add_argument('-l', '--host', default='10.60.124.42',
help='The IP where DeepGTAV is running')
parser.add_argument('-p', '--port', default=8000,
help='The port where DeepGTAV is running')
parser.add_argument('-d', '--dataset_path', default='dataset.pz',
help='Place to store the dataset')
parser.add_argument('-s', '--save_data', default=False,
help='Record data?')
args = parser.parse_args()
# Creates a new connection to DeepGTAV using the specified ip and port
client = Client(ip=args.host, port=args.port)
# Dataset options
dataset = Dataset(
rate=10,
frame=[640, 320],
throttle=True,
brake=True,
steering=True,
location=True,
speed=True,
yawRate=True,
vehicles=True,
direction=[-2573.13916015625, 2000, 13.241103172302246]
)
# Automatic driving scenario
json_file = open(NAME + '.json', 'r')
loaded_model_json = json_file.read()
json_file.close()
model = model_from_json(loaded_model_json)
# load weights into new model
model.load_weights(NAME + ".h5")
print("Loaded model from disk")
print("Model Loaded. Compiling...")
model.compile(optimizer='Adadelta', loss='mean_squared_error')
'''
if input("Continue?") == "y": # Wait until you load GTA V to continue, else can't connect to DeepGTAV
print("Conintuing...")
'''
# Loads into a consistent starting setting
print("Loading Scenario...")
client = Client(ip='localhost', port=8000) # Default interface
dataset = Dataset(rate=60,
frame=[800, 600],
throttle=True,
brake=True,
steering=True,
location=True,
drivingMode=True)
scenario = Scenario(
weathers='EXTRASUNNY', vehicle='blista', times=[12, 0], drivingMode=-1
) #, location=[-2573.13916015625, 3292.256103515625, 13.241103172302246])
client.sendMessage(Start(scenario=scenario))
count = 0
print("Starting Loop...")
while True:
parser.add_argument(
'-vl',
'--video_len',
default=300,
type=int,
help='Length of video to record in seconds, default 0.42*3600')
args = parser.parse_args()
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in
# memory all the data received in a gziped pickle file.
client = Client(
ip=args.host,
port=args.port,
datasetPath="tmp.gz",
compressionLevel=0)
for i_trial in range(args.n_trials):
# Scenario parameters: time, weather, location
# with open("highway.np", "rb") as f:
# x_list, y_list, _ = np.load(f)
# args.time[0] = np.random.randint(5, 18)
# args.time[1] = np.random.randint(0, 60)
# weather = weather_list[np.random.randint(0, len(weather_list))]
# rand_loc_idx = np.random.randint(len(x_list))
# while not (args.loc_x_range[0] < x_list[rand_loc_idx] <
# args.loc_x_range[1] and
# args.loc_y_range[0] < y_list[rand_loc_idx] <
# args.loc_y_range[1]):
# rand_loc_idx = np.random.randint(len(x_list))
def __init_client(self):
self.__client = Client(
ip=self.__args['host'], port=self.__args['port'])
class Data_Generator:
def __init__(self, args_):
self.__args = args_
self.__driving_mode = [786603, 55.0]
self.__driving_vehicle = 'Blista'
self.__starting_time = 5
self.__starting_weather = 4
self.__starting_location = [-2730, 2300]
self.__frame_size = [650, 418]
self.__client, self.__scenario, self.__dataset, self.__detection_pickleFile = None, None, None, None
self.__total_written_images = 0
self.__images_to_capture = self.__args['images_to_capture']
self.__save_dir = self.__args['save_dir']
self.__target_shape = (200,88)
self.__labels_csv = None
self.__init_client()
self.__init_scenairo()
self.__prepare_datasets()
self.__client.sendMessage(Start(scenario=self.__scenario, dataset=self.__dataset))
self.__old_location = []
def __build_env(self):
self.__init_scenairo()
self.__prepare_datasets(open_=False)
self.__client.sendMessage(Config(scenario=self.__scenario, dataset=self.__dataset))
def __init_scenairo(self):
self.__scenario = Scenario(drivingMode=self.__driving_mode, vehicle=self.__driving_vehicle,
time=self.__starting_time, weather=self.__starting_weather, location=self.__starting_location)
def __init_client(self):
self.__client = Client(
ip=self.__args['host'], port=self.__args['port'])
def __prepare_datasets(self, open_=True, fps=20, throttle_=True, brake_=True, steering_=True, vehicles_=True, peds_=True, speed_=True, location_=True, detection_file_name_='detection1.pickle'):
self.__dataset = Dataset(rate=fps, frame=self.__frame_size, throttle=throttle_, brake=brake_,
steering=steering_, vehicles=vehicles_, time=True, peds=peds_, speed=speed_, location=location_)
if open_:
self.__detection_pickleFile = open(detection_file_name_, mode='wb')
self.__labels_csv = open('labels.csv', 'wb')
def __save_image(self, image):
cv2.imwrite(self.__save_dir +str(self.__total_written_images)+'.png', image)
def __process_image(self, image, up_crop=110, down_crop=40 ):
return cv2.resize(image[up_crop:-down_crop, :], dsize=self.__target_shape)
def __recv_message(self):
message = self.__client.recvMessage()
image = frame2numpy(message['frame'], (self.__frame_size[0], self.__frame_size[1]))
detect = dict()
detect['peds'] = message['peds']
detect['vehicles'] = message['vehicles']
recv_labels = [message['steering'],
message['throttle'], message['brake'], message['speed'], message['time']]
return message, self.__process_image(image= image), recv_labels, detect
def __close_all(self):
self.__detection_pickleFile.close()
self.__labels_csv.close()
self.__client.sendMessage(Stop())
self.__client.close()
def __dump_all(self, labels, detect_list):
np.savetxt(self.__labels_csv, labels, delimiter=',')
for object_ in detect_list:
pickle.dump(object_, self.__detection_pickleFile)
def generate_dataset(self):
reset_images = 0
counter = 0
reset_threshold = 6000
labels = np.zeros((1000,5), dtype=np.float32)
detect_list = []
for i in tqdm(np.arange(self.__images_to_capture - self.__total_written_images)):
try:
message, image, labels[counter], detect = self.__recv_message()
self.__save_image(image)
detect_list.append(detect)
self.__total_written_images += 1
reset_images += 1
counter += 1
if ((counter) % 1000 == 0 and counter > 0) or ((counter) % 1000 == 0 and counter > 0 and reset_images >= reset_threshold):
if (counter) % 1000 == 0 or reset_images >= reset_threshold:
# print ('Saved : ',total_images)
self.__dump_all(labels, detect_list)
else:
self.__total_written_images -= 1000
self.__build_env()
if reset_images >= reset_threshold:
reset_images = 0
self.__build_env()
counter = 0
detect_list = []
# We send the commands predicted by the agent back to DeepGTAV to control the vehicle
except KeyboardInterrupt:
self.__close_all()
break
self.__close_all()
print(self.__total_written_images)
parser.add_argument('-sp', '--speed', default=True, help='speed')
parser.add_argument('-y', '--yawRate', default=True, help='yawRate')
parser.add_argument('-il', '--if_location', default=True, help='location')
parser.add_argument(
'-nw',
'--n_workers',
default=4,
help='Number of workers to receive messages in parallel')
args = parser.parse_args()
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in
# memory all the data received in a gziped pickle file.
client = Client(ip=args.host, port=args.port)
with open("road.np", "rb") as f:
x_list, y_list, z_list = np.load(f)
args.time[0] = np.random.randint(8, 20)
args.time[1] = np.random.randint(0, 60)
weather = 'EXTRASUNNY'
rand_loc_idx = np.random.randint(len(x_list))
while not (x_list[rand_loc_idx] > args.loc_x_range[0]
and x_list[rand_loc_idx] < args.loc_x_range[1]
and y_list[rand_loc_idx] > args.loc_y_range[0]
and y_list[rand_loc_idx] < args.loc_y_range[1]):
rand_loc_idx = np.random.randint(len(x_list))
args.location[0] = x_list[rand_loc_idx]
args.location[1] = y_list[rand_loc_idx]
args.des = [0, 0, 0]
with open("path.np", "rb") as f:
'--video_len',
default=1200,
type=int,
help='Length of video to record in seconds, default 0.42*3600')
args = parser.parse_args()
args.driving_mode = [args.policy, args.maxspeed]
print(args.driving_mode)
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in
# memory all the data received in a gziped pickle file.
client = Client(
ip=args.host,
port=args.port,
datasetPath="tmp.gz",
compressionLevel=0)
for i_trial in range(args.n_trials):
# Scenario parameters: time, weather, location
with open("highway.np", "rb") as f:
x_list, y_list, _ = np.load(f)
# with open("road.np", "rb") as f:
# x_list_, y_list_, z_list_ = np.load(f)
# x_list, y_list, z_list = np.hstack((x_list,x_list_)), np.hstack((y_list, y_list_)), np.hstack((z_list, z_list_))
# with open("sampled_path_points.np", "rb") as f:
# x_list, y_list = np.load(f)
args.time[0] = 12#np.random.randint(8, 20)
args.time[1] = 51#np.random.randint(0, 60)
weather = 'EXTRASUNNY'#weather_list[np.random.randint(0, len(weather_list))]
rand_loc_idx = np.random.randint(len(x_list))
if __name__ == '__main__':
parser = argparse.ArgumentParser(description=None)
parser.add_argument('-l',
'--host',
default='localhost',
help='The IP where DeepGTAV is running')
parser.add_argument('-p',
'--port',
default=8000,
help='The port where DeepGTAV is running')
args = parser.parse_args()
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in memory all the data received in a gziped pickle file.
# We don't want to save a dataset in this case
client = Client(ip=args.host, port=args.port)
# We set the scenario to be in manual driving, and everything else random (time, weather and location).
# See deepgtav/messages.py to see what options are supported
#scenario = Scenario(drivingMode=-1) #manual driving
Route0 = [
-1989.000000, -468.250000, 10.562500, 1171.351563, -1925.791748,
36.220097
]
Route1 = [
-1889.000000, -368.250000, 10.562500, 1171.351563, -1925.791748,
36.220097
]
Route2 = [
hdr.setFormatter(formatter)
logger.addHandler(hdr)
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
new_settings = old_settings
new_settings[3] = new_settings[3] & ~termios.ICANON
new_settings[3] = new_settings[3] & ~termios.ECHONL
#print("old setting %s" %(repr(old_settings)))
termios.tcsetattr(fd, termios.TCSAFLUSH, new_settings)
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in memory all the data received in a gziped pickle file.
#client = Client(ip=args.host, port=args.port, datasetPath=args.dataset_path, compressionLevel=9)
#client = Client(ip=args.host, port=args.port, compressionLevel=9)
client = Client(ip="10.29.1.135", port=args.port, compressionLevel=9)
# Configures the information that we want DeepGTAV to generate and send to us.
# See deepgtav/messages.py to see what options are supported
#rate = 30 kong
dataset = Dataset(rate=30,
frame=[320, 160],
throttle=True,
brake=True,
steering=True,
vehicles=True,
peds=True,
reward=[15.0, 0.0],
direction=None,
speed=True,
yawRate=True,
import cv2
import numpy as np
print("Loading Model...")
model = load_model('sample_model.h5') # Load trained model
print("Model Loaded. Compiling...")
model.compile(optimizer='Adadelta', loss='mean_squared_error')
if input(
"Continue?"
) == "y": # Wait until you load GTA V to continue, else can't connect to DeepGTAV
print("Conintuing...")
# Loads into a consistent starting setting
print("Loading Scenario...")
client = Client(ip='localhost', port=8000) # Default interface
scenario = Scenario(
weather='EXTRASUNNY',
vehicle='blista',
time=[12, 0],
drivingMode=-1,
location=[-2573.13916015625, 3292.256103515625, 13.241103172302246])
client.sendMessage(Start(scenario=scenario))
count = 0
print("Starting Loop...")
while True:
try:
# Collect and preprocess image
message = client.recvMessage()
image = frame2numpy(message['frame'], (320, 160))
weatherCount = 0
to_remove = []
speed = []
direction = []
pred_speed = None
pred_dir = None
# how much data to collect
data_to_collect_per_weather = 20000
rep_per_weather = 4
reset_every = int(data_to_collect_per_weather / rep_per_weather)
# Creates a new connection to DeepGTAV using the specified ip and port
client = Client(ip=args.host,
port=args.port,
datasetPath=args.dataset_path,
compressionLevel=9,
frame_capture_size=frame_capture_size,
frame_save_size=frame_save_size)
reset(weatherCount)
print('Data to collect per weather:', data_to_collect_per_weather)
print('Reset every:', reset_every, 'frames in each weather\n')
print('{:>15} | {:^16} | {:^21} | {:^8} | {}'.format(
"Weather", "Progress", "[str, thtl, brk]", "Speed", "Direction"))
while True: # Main loop
try:
# Message recieved as a Python dictionary
message = client.recvMessage(pre_count + 1 >= 0)
if message is None:
print('Message Error')
if __name__ == '__main__':
parser = argparse.ArgumentParser(description=None)
parser.add_argument('-l',
'--host',
default='localhost',
help='The IP where DeepGTAV is running')
parser.add_argument('-p',
'--port',
default=8000,
help='The port where DeepGTAV is running')
args = parser.parse_args()
# Creates a new connection to DeepGTAV using the specified ip and port.
# If desired, a dataset path and compression level can be set to store in memory all the data received in a gziped pickle file.
# We don't want to save a dataset in this case
client = Client(ip=args.host, port=args.port)
# We set the scenario to be in manual driving, and everything else random (time, weather and location).
# See deepgtav/messages.py to see what options are supported
scenario = Scenario(drivingMode=-1) #manual driving
# Send the Start request to DeepGTAV. Dataset is set as default, we only receive frames at 10Hz (320, 160)
client.sendMessage(Start(scenario=scenario))
# Dummy agent
model = Model()
# Start listening for messages coming from DeepGTAV. We do it for 80 hours
stoptime = time.time() + 80 * 3600
while time.time() < stoptime:
try:
def main():
global client, scenario
client = Client(ip='localhost', port=8000) # Default interface
scenario = Scenario(
weather='EXTRASUNNY',
vehicle='blista',
time=[12, 0],
drivingMode=-1,
location=[-2583.6708984375, 3501.88232421875, 12.7711820602417])
client.sendMessage(Start(scenario=scenario, dataset=dataset))
print("load deepGTAV successfully! \nbegin")
# load yolo v3
classes = yolo_util.read_coco_names('./files/coco/coco.names')
num_classes = len(classes)
input_tensor, output_tensors = yolo_util.read_pb_return_tensors(
tf.get_default_graph(), "./files/trained_models/yolov3.pb",
["Placeholder:0", "concat_9:0", "mul_6:0"])
print("load yolo v3 successfully!")
with tf.Session() as sess:
model = load_model("files/trained_models/main_model.h5")
print("load main_model successfully!")
while True:
fo = open(config_position, "r") # 配置1
txt = fo.read()
fo.close()
if txt == '0':
set_gamepad(-1, -1, 0)
time.sleep(0.7)
print('=====================end=====================')
exit(0)
elif txt == '1':
message = client.recvMessage()
frame = frame2numpy(message['frame'], (CAP_IMG_W, CAP_IMG_H))
image_obj = Image.fromarray(frame)
speed = message['speed']
boxes, scores = sess.run(output_tensors,
feed_dict={
input_tensor:
np.expand_dims(
yolo_img_process(frame),
axis=0)
})
boxes, scores, labels = yolo_util.cpu_nms(boxes,
scores,
num_classes,
score_thresh=0.4,
iou_thresh=0.1)
image, warning = yolo_util.draw_boxes(image_obj,
boxes,
scores,
labels,
classes,
(IMAGE_H, IMAGE_W),
show=False)
control, throttle, breakk = drive(model=model,
image=frame,
speed=speed,
warning=warning)
print(warning)
set_gamepad(control, throttle, breakk)