def rpi2research(initial_angle=160,
final_angle=90,
final_bits=8,
final_rows=224,
final_cols=224):
"""
Inputs:
initial_angle : Float. Viewing angle of input_image.
final_angle : Float. Desired viewing angle of the output image.
final_bits : Integer. The number of bits used to define an
individual pixel in the output image.
final_rows : Integer. The number of rows in the output image.
final_cols : Integer. The number of columns in the output image.
Returns:
None.
"""
# Set up the connection to the Raspberry Pi
# defines a vehicle to take and record pictures 10 times per second
V = Vehicle()
#add a camera part
#cam = PiCamera()
cam = vid2research(0)
V.add(cam, outputs=['image'], threaded=True)
#add tub part to record images
tub = Tub(path='~/mycar/get_started',
inputs=['image'],
types=['image_array'])
V.add(tub, inputs=['image'])
#start the drive loop at 10 Hz
V.start(rate_hz=10)
def fixture_vehicle(video_camera: VideoCamera, road_config: RoadConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ConvertToGrayPart())
vehicle.register(BoundingBoxPart(input_img_key=ConvertToGrayPart.IMG_GRAY_RAW,
output_img_key=ConvertToGrayPart.IMG_GRAY_RAW))
vehicle.register(HistogramPart())
vehicle.register(ThresholdPart())
vehicle.register(BlurPart(input_key=ThresholdPart.IMG_THRESHOLD, output_key='img/blur'))
vehicle.register(CannyPart(input_img_key='img/blur', output_img_key='img/canny'))
# vehicle.register(HoughPart(input_img_key='img/canny', output_img_key='img/hough'))
vehicle.register(RoadPart(road_config, input_img_type='img/canny'))
vehicle.register(RoadDebugPart())
# vehicle.register(BoundingBoxPart(input_img_key=IMG_GRAY_RAW, output_img_key=IMG_GRAY_RAW))
# vehicle.register(HistogramPart())
# vehicle.register(GraySelectorPart())
# vehicle.register(ThresholdController(config=ThresholdConfigController(limit_min=180, limit_max=200,
# threshold_default = 190,
# threshold_delta = 10,
# threshold_dynamic = False, mqtt_enable = False)))
# vehicle.register(DilatePart())
# vehicle.register(RoadPart(road_config))
# vehicle.register(RoadDebugPart())
return vehicle
def fixture_vehicle(video_camera: VideoCamera, road_config: RoadConfigController,
throttle_config: ThrottleConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ComponentRoadPart2())
vehicle.register(AngleRoadPart())
vehicle.register(ThrottleEllipsePart(throttle_config_controller=throttle_config))
vehicle.register(RoadEllipseDebugPart())
vehicle.register(ThrottleDebugPart(input_img_key=RoadEllipseDebugPart.IMG_ROAD_ELLIPSE))
return vehicle
def fixture_vehicle(video_camera: VideoCamera,
road_config: RoadConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ConvertToGrayPart())
vehicle.register(
BoundingBoxPart(input_img_key=ConvertToGrayPart.IMG_GRAY_RAW,
output_img_key=ConvertToGrayPart.IMG_GRAY_RAW))
vehicle.register(HistogramPart())
vehicle.register(ThresholdPart())
vehicle.register(
BlurPart(input_key=ThresholdPart.IMG_THRESHOLD,
output_key='img/blur',
kernel_size=5))
vehicle.register(
CannyPart(input_img_key='img/blur',
output_img_key='img/canny',
low_threshold=50,
high_threshold=150))
# vehicle.register(HoughPart(input_img_key='img/canny', output_img_key='img/hough'))
vehicle.register(RoadPart(road_config, input_img_type='img/canny'))
vehicle.register(RoadDebugPart())
return vehicle
import sys
sys.path.append('/home/royd1990/donkeycar')
from donkeycar import Vehicle
from donkeycar.parts.camera import MockCamera
from donkeycar.parts.datastore import Tub
V = Vehicle()
#add a camera part
cam = MockCamera()
V.add(cam, outputs=['image'], threaded=True)
#add tub part to record images
tub = Tub(path='~/d2/gettings_started',
inputs=['image'],
types=['image_array'])
V.add(tub, inputs=['image'])
#start the drive loop at 10 Hz
#V.start(rate_hz=10)