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drive.py
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drive.py
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import socketio
import eventlet
import numpy as np
from flask import Flask
from keras.models import load_model
import base64
from io import BytesIO
from PIL import Image
import cv2
sio = socketio.Server()
app = Flask(__name__) #'__main__'
speed_limit = 8
def img_preprocess(img):
img = img[60:135,:,:]
img = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
img = cv2.GaussianBlur(img, (3, 3), 0)
img = cv2.resize(img, (200, 66))
img = img/255
return img
@sio.on('telemetry')
def telemetry(sid, data):
speed = float(data['speed'])
image = Image.open(BytesIO(base64.b64decode(data['image'])))
image = np.asarray(image)
image = img_preprocess(image)
image = np.array([image])
steering_angle = float(model.predict(image))
throttle = 1.0 - speed/speed_limit
print('{} {} {}'.format(steering_angle, throttle, speed))
send_control(steering_angle, throttle)
@sio.on('connect')
def connect(sid, environ):
print('Connected')
send_control(0, 0)
def send_control(steering_angle, throttle):
sio.emit('steer', data = {
'steering_angle': steering_angle.__str__(),
'throttle': throttle.__str__()
})
if __name__ == '__main__':
model = load_model('model(1).h5')
app = socketio.Middleware(sio, app)
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)