Merge pull request #1 from itheima1/master

update

Author: MISAKIGA

README.md

@@ -1 +1,35 @@
 # 黑马无人小车
+
+## 控制概述
+
+链接：https://pan.baidu.com/s/1kMnXZxpTx9mRfPxv4du62Q 提取码：czxy 
+
+## 坐标系变换
+
+链接：https://pan.baidu.com/s/1KCho6WGNhHTUwhCPjbpXXg 提取码：czxy 
+
+## Numpy&Matplotlib
+
+链接：https://pan.baidu.com/s/1CjONSUECSHgMplu8qvUkYg 提取码：czxy 
+
+## ORB_SLAM2
+
+### 课堂源码
+
+ORB-SLAM2（官方修订版）：https://gitee.com/tangyang/ORB_SLAM2
+
+Astra相机ROS驱动（官方修订版）：https://gitee.com/tangyang/ros_astra_camera
+
+点云文件转OctoMap（ROS版）：https://gitee.com/tangyang/pointcloud_publisher
+
+点云和OctoMap生成器（ROS版）：https://gitee.com/tangyang/pointcloud_mapping
+
+ 16bit-8bit图片转换（ROS版）：https://gitee.com/tangyang/image_transformer
+
+### 相关资料
+
+链接：https://pan.baidu.com/s/188tvRHuorwjqkTIsDXUBDQ 提取码:45jk 
+
+## 相机标定&内外参
+
+链接：https://pan.baidu.com/s/16Y50ax14MpFgpSgWZzuu6Q 提取码：czxy 

ai/day06_auto_drive/.ipynb_checkpoints/01_自动驾驶-checkpoint.ipynb

@@ -0,0 +1,185 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#安装python开发web程序的依赖\n",
+    "!conda install flask"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from flask import Flask\n",
+    "# 创建一个网页\n",
+    "app = Flask(__name__)\n",
+    "\n",
+    "@app.route(\"/aaaa\")\n",
+    "def gaga():\n",
+    "    return '<h1>静夜思</h1> <h2 style=\"color:blue\" >床前明月光</h2> <h2>疑是地上霜</h2>'\n",
+    "\n",
+    "@app.route(\"/bbbb\")\n",
+    "def haha():\n",
+    "    return \"haha\"\n",
+    "\n",
+    "if __name__ == '__main__':\n",
+    "    app.run(port=80)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## websoket "
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "##  socketio eventlet socket通讯需要的依赖\n",
+    "## conda install -c conda-forge python-socketio\n",
+    "## conda install -c conda-forge eventlet"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import eventlet\n",
+    "import socketio\n",
+    "from flask import Flask\n",
+    "\n",
+    "sio = socketio.Server()  ## 创建socketio的服务器\n",
+    "app = Flask(__name__)\n",
+    "\n",
+    "@sio.on('connect')\n",
+    "def connect(sid,env):\n",
+    "    print(\"websocket链接建立了\")\n",
+    "    sio.emit(\"steer\",data={\n",
+    "        'steering_angle':'0',\n",
+    "        'throttle':'1'\n",
+    "    })\n",
+    "\n",
+    "if __name__=='__main__':\n",
+    "    # 把web服务器和socketio绑定在一起。\n",
+    "    app = socketio.Middleware(sio,app)\n",
+    "    ## 监听socket的事件了\n",
+    "    eventlet.wsgi.server(eventlet.listen(('',4567)),app)\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "## 包装方法\n",
+    "## 图片预处理的逻辑，接受参数图片的路径\n",
+    "def img_preprocess(src_image):\n",
+    "   \n",
+    "    img = src_image[60:135,:,:]\n",
+    "    img = cv2.GaussianBlur(img,(3,3),1)\n",
+    "    img = cv2.resize(img,(200,66))\n",
+    "    img = cv2.cvtColor(img,cv2.COLOR_RGB2YUV)\n",
+    "    return img\n",
+    "\n",
+    "import tensorflow as tf\n",
+    "save_model = tf.keras.models.load_model('hahaha.h5')\n",
+    "## 从模拟器汽车的摄像头里面读到数据， 基于图像输入，使用cnn训练好的模型，预测方向盘的角度。\n",
+    "\n",
+    "import eventlet\n",
+    "import socketio\n",
+    "from flask import Flask\n",
+    "from io import BytesIO\n",
+    "from PIL import Image\n",
+    "import cv2\n",
+    "import base64\n",
+    "import numpy as np\n",
+    "\n",
+    "sio = socketio.Server()  ## 创建socketio的服务器\n",
+    "app = Flask(__name__)\n",
+    "\n",
+    "speed_limit = 8\n",
+    "\n",
+    "@sio.on('connect')\n",
+    "def connect(sid,env):\n",
+    "    print(\"websocket链接建立了\")\n",
+    "#     sio.emit(\"steer\",data={\n",
+    "#         'steering_angle':'0',\n",
+    "#         'throttle':'0.0'\n",
+    "#     })\n",
+    "\n",
+    "\n",
+    "def send_control(angle,throttle):\n",
+    "    sio.emit(\"steer\",data={\n",
+    "        'steering_angle':angle.__str__(),\n",
+    "        'throttle':throttle.__str__()\n",
+    "    })\n",
+    "\n",
+    "    \n",
+    "@sio.on('telemetry')\n",
+    "def telemetry(sid,data):\n",
+    "    image = Image.open(BytesIO(base64.b64decode(data['image'])))\n",
+    "    image = np.asarray(image)\n",
+    "    cv2.imshow(\"info\",image)\n",
+    "    cv2.waitKey(10)\n",
+    "    \n",
+    "    #预测\n",
+    "    image = img_preprocess(image)\n",
+    "    image = image / 255.0\n",
+    "    angel = save_model.predict(image.reshape(1,66,200,3))[0][0]\n",
+    "    \n",
+    "    ##当前的车速\n",
+    "    speed = float(data['speed'])\n",
+    "    throttle = 1.0 - speed / speed_limit\n",
+    "    \n",
+    "    send_control(angel,throttle)\n",
+    "    \n",
+    "if __name__=='__main__':\n",
+    "    # 把web服务器和socketio绑定在一起。\n",
+    "    app = socketio.Middleware(sio,app)\n",
+    "    ## 监听socket的事件了\n",
+    "    eventlet.wsgi.server(eventlet.listen(('',4567)),app)\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.7.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}