hamuchiwa
163 linhas
6.5 KiB
Python
163 linhas
6.5 KiB
Python
__author__ = 'zhengwang'
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import numpy as np
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import cv2
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import serial
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import pygame
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from pygame.locals import *
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import socket
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class CollectTrainingData(object):
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def __init__(self):
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self.server_socket = socket.socket()
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self.server_socket.bind(('192.168.1.100', 8000))
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self.server_socket.listen(0)
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# accept a single connection
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self.connection = self.server_socket.accept()[0].makefile('rb')
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# connect to a seral port
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self.ser = serial.Serial('/dev/tty.usbmodem1421', 115200, timeout=1)
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self.send_inst = True
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# create labels
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self.k = np.zeros((4, 4), 'float')
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for i in range(4):
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self.k[i, i] = 1
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self.temp_label = np.zeros((1, 4), 'float')
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pygame.init()
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self.collect_image()
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def collect_image(self):
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saved_frame = 0
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total_frame = 0
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# collect images for training
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print 'Start collecting images...'
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e1 = cv2.getTickCount()
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image_array = np.zeros((1, 38400))
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label_array = np.zeros((1, 4), 'float')
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# stream video frames one by one
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try:
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stream_bytes = ' '
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frame = 1
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while self.send_inst:
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stream_bytes += self.connection.read(1024)
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first = stream_bytes.find('\xff\xd8')
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last = stream_bytes.find('\xff\xd9')
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if first != -1 and last != -1:
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jpg = stream_bytes[first:last + 2]
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stream_bytes = stream_bytes[last + 2:]
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image = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8), cv2.CV_LOAD_IMAGE_GRAYSCALE)
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# select lower half of the image
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roi = image[120:240, :]
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# save streamed images
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cv2.imwrite('training_images/frame{:>05}.jpg'.format(frame), image)
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#cv2.imshow('roi_image', roi)
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cv2.imshow('image', image)
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# reshape the roi image into one row array
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temp_array = roi.reshape(1, 38400).astype(np.float32)
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frame += 1
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total_frame += 1
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# get input from human driver
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for event in pygame.event.get():
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if event.type == KEYDOWN:
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key_input = pygame.key.get_pressed()
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# complex orders
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if key_input[pygame.K_UP] and key_input[pygame.K_RIGHT]:
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print("Forward Right")
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image_array = np.vstack((image_array, temp_array))
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label_array = np.vstack((label_array, self.k[1]))
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saved_frame += 1
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self.ser.write(chr(6))
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elif key_input[pygame.K_UP] and key_input[pygame.K_LEFT]:
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print("Forward Left")
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image_array = np.vstack((image_array, temp_array))
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label_array = np.vstack((label_array, self.k[0]))
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saved_frame += 1
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self.ser.write(chr(7))
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elif key_input[pygame.K_DOWN] and key_input[pygame.K_RIGHT]:
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print("Reverse Right")
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self.ser.write(chr(8))
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elif key_input[pygame.K_DOWN] and key_input[pygame.K_LEFT]:
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print("Reverse Left")
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self.ser.write(chr(9))
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# simple orders
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elif key_input[pygame.K_UP]:
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print("Forward")
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saved_frame += 1
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image_array = np.vstack((image_array, temp_array))
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label_array = np.vstack((label_array, self.k[2]))
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self.ser.write(chr(1))
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elif key_input[pygame.K_DOWN]:
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print("Reverse")
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saved_frame += 1
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image_array = np.vstack((image_array, temp_array))
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label_array = np.vstack((label_array, self.k[3]))
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self.ser.write(chr(2))
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elif key_input[pygame.K_RIGHT]:
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print("Right")
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image_array = np.vstack((image_array, temp_array))
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label_array = np.vstack((label_array, self.k[1]))
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saved_frame += 1
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self.ser.write(chr(3))
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elif key_input[pygame.K_LEFT]:
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print("Left")
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image_array = np.vstack((image_array, temp_array))
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label_array = np.vstack((label_array, self.k[0]))
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saved_frame += 1
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self.ser.write(chr(4))
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elif key_input[pygame.K_x] or key_input[pygame.K_q]:
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print 'exit'
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self.send_inst = False
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self.ser.write(chr(0))
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break
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elif event.type == pygame.KEYUP:
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self.ser.write(chr(0))
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# save training images and labels
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train = image_array[1:, :]
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train_labels = label_array[1:, :]
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# save training data as a numpy file
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np.savez('training_data_temp/test08.npz', train=train, train_labels=train_labels)
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e2 = cv2.getTickCount()
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# calculate streaming duration
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time0 = (e2 - e1) / cv2.getTickFrequency()
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print 'Streaming duration:', time0
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print(train.shape)
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print(train_labels.shape)
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print 'Total frame:', total_frame
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print 'Saved frame:', saved_frame
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print 'Dropped frame', total_frame - saved_frame
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finally:
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self.connection.close()
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self.server_socket.close()
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if __name__ == '__main__':
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CollectTrainingData() |