from jetcam.csi_camera import CSICamera
import cv2
import time
from jetbot import Robot
import logging
# from threading import Thread
import threading
# from jetcam.usb_camera import USBCamera
robot = Robot()
camera = CSICamera(width=224, height=224)
# camera = USBCamera(width=224, height=224)
camera.running = True
# def thread_function(name):
# print("capturing")
# cv2.imwrite("dataset/{0}-{1}.jpg".format("A", time.time()), camera.value)
# print("done")
# logging.info("Thread %s: starting", name)
# time.sleep(.2)
# x = threading.Thread(target=thread_function, args=(100,))
# x.start()
#
i = 0
while True:
print("capturing")
cv2.imwrite("dataset/{0}-{1}.jpg".format("A", time.time()), camera.value)
def collect_data(train,throttle,steering,s_gain):
# Importing NvidiaRacecar modeule and CSICamera
# Note: CSICamera object can be created once at a time
camera = CSICamera(width=112, height=112)
camera.running = True
car = NvidiaRacecar()
# initialize parameters: 0
car.throttle = throttle
car.steering = steering
car.throttle_gain = -0.5
# file name
if not os.path.exists("data/"):
os.makedirs("data/")
file_name=input("File_name: ")
try:
while(True):
# Display steering and Throttle
print("Steering: {}, Throttle {}" .format(car.steering,car.throttle))
# Increase throttle on press
if keyboard.is_pressed('i'):
if car.throttle<=0.04:
car.throttle=0.04
if car.throttle>=0.062:
car.throttle=car.throttle
else:
car.throttle=car.throttle+0.001
# Decrease throttle on release
if not keyboard.is_pressed('i'):
if car.throttle<=0.04:
car.throttle=0.04
else:
car.throttle=car.throttle-0.01
# turn left
if keyboard.is_pressed('j'):
if car.steering>=0.6:
car.steering=car.steering
else:
car.steering =car.steering+0.01
### turn right
if keyboard.is_pressed('l'):
if car.steering<=-0.6:
car.steering=car.steering
else:
car.steering =car.steering-0.01
# Resease steering back to steering angle of 0 degrees
if not keyboard.is_pressed('j') and not keyboard.is_pressed('l'):
if not keyboard.is_pressed('j'):
if car.steering<=0:
car.steering=car.steering
else:
car.steering =car.steering-0.015
if not keyboard.is_pressed('l'):
if car.steering>=0:
car.steering=car.steering
else:
car.steering =car.steering+0.015
# Emergency break
if keyboard.is_pressed('space'):
car.throttle=-100
time.sleep(0.1)
car.throttle=0
# Save the recording labelled data: Press
if keyboard.is_pressed('s'):
car.throttle=0
car.steering=0
print("saving")
np.savez("data/"+str(file_name)+".npz", train=np.array(train))
print("saved")
camera.running=False
del camera
break
# Abort
if keyboard.is_pressed('a'):
car.throttle=0
car.steering=0
camera.running=False
del camera
break
# append recording
train.append([camera.value,car.throttle,car.steering])
except:
camera.running=False
del camera
if __name__ == '__main__':
# input: train,throttle,steering,s_gain
collect_data([],0,0,-0.5)
