lille

EParisot · Mar 16, 2019 · e8ffcbe · e8ffcbe
1 parent 80480ef
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diff --git a/Data_processing/Augmentation/tags.py → Data_processing/Augmentation/tags_orig.py b/Data_processing/Augmentation/tags.py → Data_processing/Augmentation/tags_orig.py
diff --git a/Data_processing/Training/5_directions_models_Obstacle.ipynb b/Data_processing/Training/5_directions_models_Obstacle.ipynb
diff --git a/Data_processing/Training/5_directions_models_Opti.ipynb b/Data_processing/Training/5_directions_models_Opti.ipynb
diff --git a/Data_processing/Training/Validation.ipynb b/Data_processing/Training/Validation.ipynb
@@ -489,7 +489,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.3"
+   "version": "3.6.5"
   }
  },
  "nbformat": 4,

diff --git a/Data_processing/Training/Visualisation.ipynb b/Data_processing/Training/Visualisation.ipynb
@@ -305,7 +305,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.3"
+   "version": "3.6.5"
   }
  },
  "nbformat": 4,

diff --git a/Data_processing/Training/model_bigrace_opti_5.h5 b/Data_processing/Training/model_bigrace_opti_5.h5
diff --git a/Data_processing/Training/model_lille.h5 b/Data_processing/Training/model_lille.h5
diff --git a/Data_processing/Training/model_lille_3.h5 b/Data_processing/Training/model_lille_3.h5
diff --git a/README.md b/README.md
@@ -52,10 +52,17 @@ pip install -r requirement.txt
 
 ## Collect Data (manual drive + take images/labels) (RPi) :
 
+With Xbox Gamepad
 ```
 cd Data_processing
 sudo python Auto_datamining_pad.py 0.1
 ```
+
+Or with a Keyboard
+```
+python Auto_datamining_key.py 0.1
+```
+
 to take one picture every 0.1 sec (to just control without taking pictures, don't specify any value)
 
 If you don't have Xbox Gamepad, you can use the computer keyboard
@@ -102,3 +109,9 @@ jupyter notebook
 cd Patate
 python patateScript5_threaded.py [myModel.h5]
 ```
+
+## Rpi CLI / Desktop
+```
+sudo raspi-config
+```
+-> boot option -> Desktop / CLI = Destop autologin
diff --git a/model_lille_3.h5 b/model_lille_3.h5
diff --git a/patateScript3_threaded.py b/patateScript3_threaded.py
@@ -0,0 +1,77 @@
+from pivideostream import PiVideoStream
+from keras.models import load_model
+import Adafruit_PCA9685
+from const import *
+import numpy as np
+import sys
+import time
+
+#Load model
+model = load_model(sys.argv[1])
+print("Model loaded")
+
+# Init engines
+speed = SPEED_FAST
+direction = DIR_C
+pwm = Adafruit_PCA9685.PCA9685()
+pwm.set_pwm_freq(50)
+
+# created a *threaded *video stream, allow the camera sensor to warmup
+vs = PiVideoStream().start()
+time.sleep(2.0)
+
+from PIL import Image
+frame = vs.read()
+img = Image.fromarray(frame)
+img.save("test.png")
+
+
+# Starting loop
+print("Ready ! press CTRL+C to START/STOP :")
+try:
+    while True:
+        pass
+except KeyboardInterrupt:
+    pass
+
+# Handle START/STOP event
+try:
+    head = H_UP
+    # loop over some frames...this time using the threaded stream
+    while True:
+            # grab the frame from the threaded video stream 
+            frame = vs.read()
+            image = np.array([frame]) / 255.0
+            ##  # Model prediction
+            preds_raw = model.predict(image)
+            preds = [np.argmax(pred, axis=1) for pred in preds_raw]
+            ##  # Action
+            if preds[1] == 0:
+                speed = SPEED_NORMAL
+                direction = DIR_L
+            elif preds[1] == 1:
+                if preds[0] == 1:
+                    if speed == SPEED_FAST:
+                        head = H_UP
+                    speed = SPEED_FAST
+                else:
+                    speed = SPEED_NORMAL
+                direction = DIR_C
+            elif preds[1] == 2:
+                speed = SPEED_NORMAL
+                direction = DIR_R
+            ##  # Apply values to engines   
+            pwm.set_pwm(0, 0, direction)
+            pwm.set_pwm(1, 0, speed)
+            ## # Move Head
+            pwm.set_pwm(2, 0, head)
+
+except:
+    pass
+
+# Stop the machine
+pwm.set_pwm(0, 0, 0)
+pwm.set_pwm(1, 0, 0)
+pwm.set_pwm(2, 0, 0)
+vs.stop()
+print("Stop")