add saving video

.gitignore

@@ -1,2 +1,4 @@
 *.pyc
 *.h5
+.idea/
+*.pz

config.py

@@ -0,0 +1,28 @@
+import os
+
+DEFAULT_IP = 'localhost'
+DEFAULT_PORT = 8000
+FPS = 10
+# FRAME = [480, 320]
+FRAME = [320, 160]
+base_path = os.getcwd()
+output_file_dir = 'video/'
+output_file_name = 'capturedVideo.avi'
+DIR_PATH = os.path.join(base_path, output_file_dir)
+GFILE_PATH = os.path.join(base_path, 'dataset_2_pnc.pz')
+
+if os.path.exists(DIR_PATH):
+    temp_file_path = os.path.join(DIR_PATH, output_file_name)
+    if os.path.exists(temp_file_path):
+        os.remove(temp_file_path)
+    PATH = temp_file_path
+else:
+    os.mkdir(DIR_PATH)
+    temp_file_path = os.path.join(DIR_PATH, output_file_name)
+    if os.path.exists(temp_file_path):
+        os.remove(temp_file_path)
+    PATH = temp_file_path
+
+
+
+

dataset

@@ -3,44 +3,53 @@
 
 from deepgtav.messages import Start, Stop, Dataset, frame2numpy, Scenario
 from deepgtav.client import Client
+from config import *
 
 import argparse
 import time
 import cv2
 
+
+# fourcc = cv2.cv.CV_FOURCC('M', 'J', 'P', 'G')
+# videoWriter = cv2.VideoWriter(PATH, -1, FPS, (FRAME[0], FRAME[1]))
+
 # Stores a dataset file with data coming from DeepGTAV
 if __name__ == '__main__':
     parser = argparse.ArgumentParser(description=None)
-    parser.add_argument('-l', '--host', default='localhost', help='The IP where DeepGTAV is running')
-    parser.add_argument('-p', '--port', default=8000, help='The port where DeepGTAV is running')
-    parser.add_argument('-d', '--dataset_path', default='dataset.pz', help='Place to store the dataset')
+    parser.add_argument('-l', '--host', default=DEFAULT_IP, help='The IP where DeepGTAV is running')
+    parser.add_argument('-p', '--port', default=DEFAULT_PORT, help='The port where DeepGTAV is running')
+    parser.add_argument('-d', '--dataset_path', default=GFILE_PATH, help='Place to store the dataset')
     args = parser.parse_args()
 
     # Creates a new connection to DeepGTAV using the specified ip and port. 
     # If desired, a dataset path and compression level can be set to store in memory all the data received in a gziped pickle file.
     client = Client(ip=args.host, port=args.port, datasetPath=args.dataset_path, compressionLevel=9)
-    
+
     # Configures the information that we want DeepGTAV to generate and send to us. 
     # See deepgtav/messages.py to see what options are supported
-    dataset = Dataset(rate=30, frame=[320,160], throttle=True, brake=True, steering=True, vehicles=True, peds=True, reward=[15.0, 0.0], direction=None, speed=True, yawRate=True, location=True, time=True)
+    dataset = Dataset(rate=FPS, frame=FRAME, throttle=True, brake=True, steering=True, vehicles=True, peds=True,
+                      reward=[15.0, 0.0], direction=None, speed=True, yawRate=True, location=True, time=True)
     # Send the Start request to DeepGTAV.
-    scenario = Scenario(drivingMode=[786603,15.0]) # Driving style is set to normal, with a speed of 15.0 mph. All other scenario options are random.
-    client.sendMessage(Start(dataset=dataset,scenario=scenario))
+    scenario = Scenario(drivingMode=[786603,
+                                     15.0])  # Driving style is set to normal, with a speed of 15.0 mph. All other scenario options are random.
+    client.sendMessage(Start(dataset=dataset, scenario=scenario))
 
     # Start listening for messages coming from DeepGTAV. We do it for 80 hours
-    stoptime = time.time() + 80*3600
+    stoptime = time.time() + 10 * 60
     while time.time() < stoptime:
         try:
             # We receive a message as a Python dictionary
-            message = client.recvMessage()  
-
-            # The frame is a numpy array and can be displayed using OpenCV or similar       
-            # image = frame2numpy(message['frame'], (320,160))
+            message = client.recvMessage()
+
+            # The frame is a numpy array and can be displayed using OpenCV or similar
+            image = frame2numpy(message['frame'], (FRAME[0], FRAME[1]))
+
             # cv2.imshow('img',image)
             # cv2.waitKey(-1)
         except KeyboardInterrupt:
             break
-
+
+    # videoWriter.release()
     # We tell DeepGTAV to stop
     client.sendMessage(Stop())
     client.close()

read.py

@@ -0,0 +1,54 @@
+import cv2
+import gzip
+from config import *
+import pickle
+from deepgtav.messages import frame2numpy
+
+def parserCommands(dct):
+    """
+    parse the Commands from every frame and return
+    :param dct: dct read from the file
+    :return: throttle, brake and steering
+    """
+    return dct['throttle'], dct['brake'], dct['steering']
+
+def parserState(dct):
+    """
+    return the dict including the state of the vehicle
+    :param dct: dct read from the file
+    :return: location list, speed and yawRate
+    """
+    stateDict = {}
+    stateDict['location'] = dct['location']
+    stateDict['speed'] = dct['speed']
+    stateDict['yawRate'] = dct['yawRate']
+    return stateDict
+
+if __name__ == '__main__':
+    command_list = []
+    state_list = []
+    frame_list = []
+    # open the dataset.pz file
+    with gzip.open(
+            filename=GFILE_PATH, mode='rb', compresslevel=0
+    ) as f:
+
+        while True:
+            try:
+                dct = pickle.load(f)
+                # show frame
+                frame = frame2numpy(dct['frame'], (FRAME[0], FRAME[1]))
+                # frame_list.append(frame)
+                cv2.imshow('Video', frame)
+                if cv2.waitKey(1) & 0xFF == ord('q'):
+                    break
+
+                # get command and state of the vehicle
+                throttle, brake, steering = parserCommands(dct)
+                stateDict = parserState(dct)
+                # command_list.append((throttle, brake, steering))
+                # state_list.append(stateDict)
+            except EOFError:
+                break
+
+        cv2.destroyAllWindows()