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view_rosbag_video2.py
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#!/usr/bin/python
"""
view_rosbag_video.py: version 0.1.0
Note:
Part of this code was copied and modified from github.com/comma.ai/research (code: BSD License)
Todo:
Update steering angle projection. Current version is a hack from comma.ai's version
Update enable left, center and right camera selection. Currently all three cameras are displayed.
Update to enable display of trained steering data (green) as compared to actual (blue projection).
History:
2016/10/06: Update to add --skip option to skip the first X seconds of data from rosbag.
2016/10/02: Initial version to display left, center, right cameras and steering angle.
"""
import argparse
import sys
import numpy as np
import pygame
import rosbag
import datetime
import cStringIO
import serialrosbags
#from keras.models import model_from_json
pygame.init()
size = (320*3, 240)
pygame.display.set_caption("Udacity SDC challenge 2: camera video viewer")
screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
imgleft = pygame.surface.Surface((320,240),0,24).convert()
imgcenter = pygame.surface.Surface((320,240),0,24).convert()
imgright = pygame.surface.Surface((320,240),0,24).convert()
# ***** get perspective transform for images *****
from skimage import transform as tf
rsrc = \
[[43.45456230828867, 118.00743250075844],
[104.5055617352614, 69.46865203761757],
[114.86050156739812, 60.83953551083698],
[129.74572757609468, 50.48459567870026],
[132.98164627363735, 46.38576532847949],
[301.0336906326895, 98.16046448916306],
[238.25686790036065, 62.56535881619311],
[227.2547443287154, 56.30924933427718],
[209.13359962247614, 46.817221154818526],
[203.9561297064078, 43.5813024572758]]
rdst = \
[[10.822125594094452, 1.42189132706374],
[21.177065426231174, 1.5297552836484982],
[25.275895776451954, 1.42189132706374],
[36.062291434927694, 1.6376192402332563],
[40.376849698318004, 1.42189132706374],
[11.900765159942026, -2.1376192402332563],
[22.25570499207874, -2.1376192402332563],
[26.785991168638553, -2.029755283648498],
[37.033067044190524, -2.029755283648498],
[41.67121717733509, -2.029755283648498]]
tform3_img = tf.ProjectiveTransform()
tform3_img.estimate(np.array(rdst), np.array(rsrc))
def perspective_tform(x, y):
p1, p2 = tform3_img((x,y))[0]
return p2, p1
# ***** functions to draw lines *****
def draw_pt(img, x, y, color, shift_from_mid, sz=1):
col, row = perspective_tform(x, y)
row = int(row) + shift_from_mid
col = int(col+img.get_height()*2)/3
if row >= 0 and row < img.get_width()-sz and\
col >= 0 and col < img.get_height()-sz:
img.set_at((row-sz,col-sz), color)
img.set_at((row-sz,col), color)
img.set_at((row-sz,col+sz), color)
img.set_at((row,col-sz), color)
img.set_at((row,col), color)
img.set_at((row,col+sz), color)
img.set_at((row+sz,col-sz), color)
img.set_at((row+sz,col), color)
img.set_at((row+sz,col+sz), color)
def draw_path(img, path_x, path_y, color, shift_from_mid):
for x, y in zip(path_x, path_y):
draw_pt(img, x, y, color, shift_from_mid)
# ***** functions to draw predicted path *****
def calc_curvature(v_ego, angle_steers, angle_offset=0):
deg_to_rad = np.pi/180.
slip_fator = 0.0014 # slip factor obtained from real data
steer_ratio = 15.3 # from http://www.edmunds.com/acura/ilx/2016/road-test-specs/
wheel_base = 2.67 # from http://www.edmunds.com/acura/ilx/2016/sedan/features-specs/
angle_steers_rad = (angle_steers - angle_offset) * deg_to_rad
curvature = angle_steers_rad/(steer_ratio * wheel_base * (1. + slip_fator * v_ego**2))
return curvature
def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, angle_offset=0):
#*** this function returns the lateral offset given the steering angle, speed and the lookahead distance
curvature = calc_curvature(v_ego, angle_steers, angle_offset)
# clip is to avoid arcsin NaNs due to too sharp turns
y_actual = d_lookahead * np.tan(np.arcsin(np.clip(d_lookahead * curvature, -0.999, 0.999))/2.)
return y_actual, curvature
def draw_path_on(img, speed_ms, angle_steers, color=(0,0,255), shift_from_mid=0):
path_x = np.arange(0., 50.1, 0.5)
path_y, _ = calc_lookahead_offset(speed_ms, angle_steers, path_x)
draw_path(img, path_x, path_y, color, shift_from_mid)
# ***** main loop *****
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Udacity SDC Challenge-2 Video viewer 2')
parser.add_argument('--datasets', type=str, default="dataset1.bag:dataset2.bag:dataset3.bag:dataset4.bag", help='Dataset/ROS Bag name')
parser.add_argument('--skip', type=int, default="0", help='skip seconds')
args = parser.parse_args()
datasets = args.datasets
skip = args.skip
startsec = 0
angle_steers = 0.0
blue = (0, 0, 255)
green = (0, 255, 0)
bags = serialrosbags.Bags(datasets, ['/center_camera/image_color/compressed','/right_camera/image_color/compressed','/left_camera/image_color/compressed','/vehicle/steering_report'])
while bags.has_data():
topic, msg, t = bags.read_messages()
if startsec == 0:
startsec = t.to_sec()
if skip < 24*60*60:
skipping = t.to_sec() + skip
print "skipping ", skip, " seconds from ", startsec, " to ", skipping, " ..."
else:
skipping = skip
print "skipping to ", skip, " from ", startsec, " ..."
else:
if t.to_sec() > skipping:
if topic in ['/center_camera/image_color/compressed','/right_camera/image_color/compressed','/left_camera/image_color/compressed']:
blue = (255, 0, 0)
print(topic, msg.header.seq, t-msg.header.stamp, msg.format, t)
else:
print(topic, msg.header.seq, t-msg.header.stamp, msg.steering_wheel_angle, t)
angle_steers = msg.steering_wheel_angle
try:
if topic in ['/center_camera/image_color/compressed','/right_camera/image_color/compressed','/left_camera/image_color/compressed']:
if topic == '/left_camera/image_color/compressed':
fstr = cStringIO.StringIO(msg.data)
imgleft = pygame.transform.scale(pygame.image.load(fstr), (320, 240))
else:
if topic == '/center_camera/image_color/compressed':
fstr = cStringIO.StringIO(msg.data)
imgcenter = pygame.transform.scale(pygame.image.load(fstr), (320, 240))
else:
fstr = cStringIO.StringIO(msg.data)
imgright = pygame.transform.scale(pygame.image.load(fstr), (320, 240))
except Exception, e:
print("Error converting string to PyGame surface in StringToSurface", e)
draw_path_on(imgleft, 0, angle_steers*20, blue, -10)
draw_path_on(imgcenter, 0, angle_steers*20, blue, -20)
draw_path_on(imgright, 0, angle_steers*20, blue, 0)
screen.blit(imgleft, (0,0))
screen.blit(imgcenter, (320,0))
screen.blit(imgright, (640,0))
pygame.display.flip()
else:
print "skipping ", skip, " seconds from ", t.to_sec(), " to ", skipping, " ..."