注释

collect_data (1).py

@@ -1,8 +1,10 @@
+# 收集数据，赛道照片和对应的前、后、左、右、停
+# 对应图片和相应的标签值
 import io
 import car_control
 import os
 os.environ['SDL_VIDEODRIVE'] = 'x11'
-import pygame
+import pygame     # 检测模块
 from time import ctime,sleep,time
 import threading
 import numpy as np
@@ -16,19 +18,20 @@ class SplitFrames(object):
     def __init__(self):
         self.frame_num = 0
         self.output = None
-
+# 处理图像的函数write
+# 对视频拍摄的每一帧进行处理，构造一个自定义输出类，每拍摄一帧都会进来write处理
     def write(self, buf):
         global key
-        if buf.startswith(b'\xff\xd8'):
+        if buf.startswith(b'\xff\xd8'):                            # 代表一个JPG图片的开始，新照片的开头
             # Start of new frame; close the old one (if any) and
             # open a new output
             if self.output:
                 self.output.close()
             self.frame_num += 1
-            self.output = io.open('%s_image%s.jpg' % (key,time()), 'wb')
+            self.output = io.open('%s_image%s.jpg' % (key,time()), 'wb')           # 改变格式为jpg
         self.output.write(buf)
 
-
+ 
 def pi_capture():
     global train_img, is_capture_running,train_labels,key
 
@@ -58,20 +61,21 @@ def my_car_control():
     global is_capture_running, key
     key = 4
     pygame.init()
-    pygame.display.set_mode((1,1))
+    pygame.display.set_mode((1,1))            # 窗口
     car_control.car_stop()
     sleep(0.1)
     print("Start control!")
 
     while is_capture_running:
         # get input from human driver
+        # 
         for event in pygame.event.get():
-            if event.type == pygame.KEYDOWN:
-                key_input = pygame.key.get_pressed()
+            if event.type == pygame.KEYDOWN:  # 判断事件是不是按键按下的事件
+                key_input = pygame.key.get_pressed()     # 可以同时检测多个按键
                 print(key_input[pygame.K_w], key_input[pygame.K_a], key_input[pygame.K_d])
                 if key_input[pygame.K_w] and not key_input[pygame.K_a] and not key_input[pygame.K_d]:
                     print("Forward")
-                    key = 2
+                    key = 2 
                     car_control.car_move_forward()
                 elif key_input[pygame.K_a]:
                     print("Left")
@@ -111,7 +115,7 @@ def my_car_control():
 
     print("capture thread")
     print ('-' * 50)
-    capture_thread = threading.Thread(target=pi_capture,args=())
+    capture_thread = threading.Thread(target=pi_capture,args=())   # 开启线程
     capture_thread.setDaemon(True)
     capture_thread.start()
 

collectdata_zth

@@ -0,0 +1,50 @@
+import io
+import os
+import threading
+import time 
+import picamera
+
+
+class SplitFrames(object):
+    def __init__(self):
+        self.frame_num = 0
+        self.output = 0
+# 处理图像的函数write，实时保存每一张照片
+# 对视频拍摄的每一帧进行处理，构造一个自定义输出类，每拍摄一帧都会进来write处理
+    def write(self, buf):
+        global key
+        if buf.startswith(b'\xff\xd8'):          # 代表一个JPG图片的开始，新照片的开头
+            if self.output:
+                self.output.close()
+            self.frame_num += 1
+            self.output = io.open('%s_image%s.jpg' % (key, time()), 'wb')  # 打开
+        self.output.write(buf)
+
+
+
+while True:
+
+
+# 多线程处理照片
+
+#with picamera.Picamera(resolution=('160, 120')) as camera:
+    #pass
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

drive.py

@@ -66,7 +66,7 @@ def run(self):
 					image_np = np.array(image)
 					camera_data_array = np.expand_dims(image_np,axis = 0)
 					current_time = time.time()
-					if current_time>latest_time:
+					if current_time > latest_time: 
 						if current_time-latest_time>1:
 							print("*" * 30)
 							print(current_time-latest_time)