def __init__(self):
""" initializes the thread without starting to capture the data """
super().__init__()
self.active = True
self.driver = Driver.instance()
self.camera = Camera.instance()
# define directories and file paths
date_str = datetime.today().strftime("%Y-%m-%d-%H-%M-%S")
self.log_dir = f"{const.Storage.DATA}/{date_str}"
self.img_dir = f"{self.log_dir}/img/"
self.log_path = f"{self.log_dir}/log.csv"
self.img_extension = "npy"
# ensure that the necessary directories exist
os.mkdir(self.log_dir)
os.mkdir(self.img_dir)
assert os.path.isdir(self.log_dir), "data directory could not be created"
assert os.path.isdir(self.img_dir), "image directory could not be created"
def follow_road(self):
""" drives autonomously without explicit instructions by propagating the camera
input through a convolutional neural network that predicts a steering angle
NOTE this mode has no particular destination and therfore does not terminate
unless the driver is stopped explicitly
"""
steering_net = SteeringNet()
steering_net.load(const.Storage.DEFAULT_STEERING_MODEL)
self.start_driving()
with Camera.instance() as camera:
while self.recorder_thread is not None:
image = camera.image
predicted_angle = steering_net.predict(image, self.angle)
self.angle = predicted_angle
time.sleep(0.25)
self.stop_driving()
def run(self):
""" starts capturing the data (image, angle, previous angle)
Raises:
OSError: in case the log file cannot be created
OSError: in case the log file cannot be opened after being created
"""
with Camera.instance() as camera:
try:
# create log file and write headers
with open(self.log_path, "w+") as log:
writer = csv.writer(log)
writer.writerow(["image", "angle", "previous_angle"])
except OSError:
raise OSError("The log file could not be created.")
previous_angle = 0.0
while self.active:
if camera.image is None: continue # skip loop if no image provided
# save image
img_filename = datetime.today().strftime("%H-%M-%S-%f") + "." + self.img_extension
np.save(self.img_dir + img_filename, camera.image)
try:
# write data to csv file
with open(self.log_path, "a") as log:
writer = csv.writer(log)
angle = str(round(self.driver.angle, 3))
previous_angle = str(previous_angle)
writer.writerow([img_filename, angle, previous_angle])
except OSError:
raise OSError("The log file could not be opened.")
previous_angle = angle # update previous angle for next loop
time.sleep(self.CAPTURE_INTERVAL)
