np.ones(10) * 32000,
np.zeros(1000)
]),
dtype=np.int16)
pip_3 = np.array(np.concatenate([
np.zeros(1000),
np.ones(5) * -32000,
np.ones(5) * 32000,
np.ones(5) * -32000,
np.zeros(1000)
]),
dtype=np.int16)
fs = 44100
while True:
frame = plr.read()
# get size and position of biggest colour splotch
p2, p1, p0 = det.predict(frame)
if max(p0, p1, p2) < 0.87: # too small
p0 = p1 = p2 = 0
drv.stop()
# add them to counters
left += (10e-2 * p0)
center += (10e-2 * p1)
right += (10e-2 * p2)
left_spikes = nrn_left.update(left, pip=pip_1, fs=fs)
center_spikes = nrn_center.update(center, pip=pip_2, fs=fs)
right_spikes = nrn_right.update(right, pip=pip_3, fs=fs)
from utils.player import Player
from utils.driver import Driver
from utils.detector import Detector
# initialize videoplayer, car driver, and cup detector
plr = Player()
drv = Driver()
det = Detector("cup")
while True:
ret, frame = plr.read()
p0, p1, p2 = det.predict(frame)
print("------------")
print(p0, "|", p1, "|", p2)
print("------------")
# if a cup is likely >50% on screen, engage movement
if max(p0, p1, p2) > 0.5:
if p2 > p1 and p2 > p0:
drv.right()
elif p0 > p1 and p0 > p2:
drv.left()
else:
drv.forward()
# remember to close the streams
drv.close()
plr.close()
