Car Console interface to generate training data.

create_train_params.py

writeFrequency = 30001

while(True):

	# to return full key code so that arrow keys also can be detected.
	k = cv2.waitKeyEx(1)

	# Scan Codes for arrow keys
	# 2490368 up - for gas_pedal
	# 2621440 down - for break
	# 2424832 left - to turn left
	# 2555904 right - to turn right
	# a = to shift gear up
	# z = to shift gear down
	# n = to shift to neutral (from all gears)
	if (k==2490368):
		if (gas_pedal < 5): # max value of gas = 5
			gas_pedal += 0.5
			keepUpArrowPressed = True
	elif (k==2621440):
		if (brake_pedal < 5): # max value of break = 5
			brake_pedal += 0.5
			keepUpArrowPressed = False
	elif (k==2555904):
		degrees += 3
	elif (k==2424832):
		degrees -= 3
	elif (k == ord('a')):
		if (gear < 5):
			gear += 1
			gearShift = 1
	elif (k == ord('z')):
		if (gear > 0):
			gear -= 1
			gearShift = -1
	elif (k == ord('g')):
		if (gear != 0):
			gearShift = -2
	else:
		if (gas_pedal > 0.01 and  not keepUpArrowPressed): # min value of gas = 0
			gas_pedal -= 0.005
		if (brake_pedal > 0.01): # min value of break = 0
			brake_pedal -= 0.005

		gearShift = 0

	
	smoothed_angle += 0.2 * pow(abs((degrees - smoothed_angle)), 2.0 / 3.0) * (degrees - smoothed_angle) / abs(degrees - smoothed_angle)
	M = cv2.getRotationMatrix2D((cols/2,rows/2),-smoothed_angle,1)
	dst = cv2.warpAffine(img,M,(cols,rows))
	cv2.imshow("steering wheel", dst)

	if (animate):
		# To show the braking animation
		brake_img = cv2.imread(brake_path + " " + str(int(brake_pedal*2+1)).zfill(2)+".jpg")
		brake_img_small = cv2.resize(brake_img, (0,0), fx=0.5, fy=0.5) 
		cv2.imshow('Brake Pedal', brake_img_small)

		# To show the gal pedal animation
		accel_img = cv2.imread(gas_path + " " + str(int(gas_pedal*2+1)).zfill(2)+".jpg")
		accel_img_small = cv2.resize(accel_img, (0,0), fx=0.52, fy=0.52) 
		cv2.imshow('Acceleration Pedal', accel_img_small)

		# To show the gear animation:
		# Frames correspond to Neutral, 1st, 2nd, 3rd, 4th and 5th gears
		gear_frame_map = [1, 12, 22, 30, 37, 45] 
		# Frames correspond to neutral between gears
		neutral_frame_map = [16, 26, 33, 42, 50]

		if (gearShift != 0):

			# To animate shift from any gear to neutral
			if (gearShift == -2):
				init_frame = gear_frame_map [gear]
				end_frame = neutral_frame_map [gear-1]

				for i in range(init_frame, end_frame, 1):
					gear_img = cv2.imread(gear_path + " " + str(i).zfill(2)+".jpg")
					cv2.imshow('Gear-Transmission', gear_img)
					cv2.waitKey(1)

				gear = 0

			else: # when gearShift = -1 and +1 (gear up or down)
				init_frame = gear_frame_map [gear + gearShift*-1]
				end_frame = gear_frame_map [gear]

				for i in range(init_frame, end_frame, gearShift):
					gear_img = cv2.imread(gear_path + " " + str(i).zfill(2)+".jpg")
					cv2.imshow('Gear-Transmission', gear_img)
					cv2.waitKey(1)

	# 1 driving second = 30 frames (extracted). We need to sync with this frame rate to find corresponding params of each frame.
	# Hence we will write the parameter values for acceleration, brake, gear and steering every 33 milliseconds. To average out 
	# around 33 ms, we need to tune the write frequency cut off, considering the running time of each while loop.
	now = int(round(time.time() * 1000000))
	
	if (now - writeTime >= writeFrequency):

		f.write(str(frame) + " " + str(degrees) + " " + str(round(gas_pedal, 2)) + " " + str(round(brake_pedal, 2)) + " " + str(gear) + '\n')
		writeTime = int(round(time.time() * 1000000))
		frame += 1

	# To exit interface, press 'q'
	if (k == ord('q')):
		break