From 20d02045b55b21c589cdac5d8e47eaf7b625a5de Mon Sep 17 00:00:00 2001
From: Ouhouuhu <40174296+Ouhouuhu@users.noreply.github.com>
Date: Tue, 28 Feb 2023 15:10:23 +0100
Subject: [PATCH] possibilite de conduire la voiture pour avoir commande fiable
---
.../yolov3/car_interface.py | 2 +-
.../yolov3/pilote.py | 14 +++++++++++
.../yolov3/utils.py | 23 +++++++++++--------
3 files changed, 28 insertions(+), 11 deletions(-)
create mode 100644 PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pilote.py
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/car_interface.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/car_interface.py
index 7b099a6..d11cbdc 100644
--- a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/car_interface.py
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/car_interface.py
@@ -14,7 +14,7 @@ def close_ser(ser):
ser.close()
def send_infos(ser, a,b,c):
- n = str(a)+' '+str(b)+' '+str(c)
+ n = f"['{a} {b} {c}']"
#print("input: "+str(n))
ser.write((str(n)+'\n').encode("utf-8"))
cc=str(ser.readline())
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pilote.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pilote.py
new file mode 100644
index 0000000..47723ca
--- /dev/null
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pilote.py
@@ -0,0 +1,14 @@
+import keyboard
+
+def get_command():
+ forward = 0
+ direction = 30
+ if keyboard.is_pressed('q'):
+ direction=-50
+ elif keyboard.is_pressed('d'):
+ direction=110
+ if keyboard.is_pressed('z'):
+ forward = 10
+ if keyboard.is_pressed('s'):
+ forward = -10
+ return forward, direction, 0
\ No newline at end of file
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
index 997a53f..a5949a3 100644
--- a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
@@ -27,7 +27,7 @@ from shapely.geometry import Polygon, Point, LineString
from yolov3.car_interface import get_ser, start_ser, close_ser, send_infos
from MCL import get_position
-
+import yolov3.pilote as pilot
class liste_pos:
@@ -221,24 +221,26 @@ def draw_bbox(image, bboxes,liste_pos_car, CLASSES=YOLO_COCO_CLASSES, show_label
plt.plot([i for i,j in track_points], [j for i,j in track_points])
plt.show()
+ speed, commande, a = pilot.get_command()
+
"""calculate distance"""
- front_center = Point(np.array([x_car,y_car]))
- error = track.distance(front_center)
+ #front_center = Point(np.array([x_car,y_car]))
+ #error = track.distance(front_center)
"""calculate PID response"""
- pid = PidController(50,0.005,5) #P, I, D
- commande = pid.get_control(error)
- commande -= 30
+ #pid = PidController(50,0.005,5) #P, I, D
+ #commande = pid.get_control(error)
+ #commande -= 30
print(f"command: {commande}")
"""sending info to car"""
try:
- print(f"poten: {send_infos(ser,10,commande,0)}")
+ print(f"poten: {send_infos(ser,speed,commande,0)}")
except:
pass
- return image, commande, liste_pos_car
+ return image, speed, commande, liste_pos_car
def bboxes_iou(boxes1, boxes2):
@@ -584,11 +586,12 @@ def detect_realtime(Yolo, output_path, input_size=416, show=False, CLASSES=YOLO_
codec = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(output_path, codec, fps, (width, height)) # output_path must be .mp4
- liste_pos_car = liste_pos((278/225, 200/225,3.1415/2), 50)
+ liste_pos_car = liste_pos((1, 0.5,3.1415/2), 50)
ser = get_ser()
start_ser(ser)
command=0
+ speed=0
while True:
ret, frame = vid.read()
@@ -633,7 +636,7 @@ def detect_realtime(Yolo, output_path, input_size=416, show=False, CLASSES=YOLO_
print("Time: {:.2f}ms, {:.1f} FPS".format(ms, fps))
- frame, command, liste_pos_car = draw_bbox(original_frame, bboxes,liste_pos_car, CLASSES=CLASSES, rectangle_colors=rectangle_colors, ser=ser, previous_command=(10, command, fps))
+ frame, speed, command, liste_pos_car = draw_bbox(original_frame, bboxes,liste_pos_car, CLASSES=CLASSES, rectangle_colors=rectangle_colors, ser=ser, previous_command=(speed, command, fps))
# CreateXMLfile("XML_Detections", str(int(time.time())), original_frame, bboxes, read_class_names(CLASSES))
image = cv2.putText(frame, "Time: {:.1f}FPS".format(fps), (0, 30),
cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 0, 255), 2)
--
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