Move PiCamera settings to configuration.py

Author: Vignesh1115

autonomous.py

@@ -4,6 +4,7 @@
 import sys
 import io
 import picamera
+import configuration
 from predict import Predictor
 import helpers.motor_driver as motor_driver_helper
 import helpers.image as image_helper
@@ -12,9 +13,9 @@ def autonomous_control(model):
     """Run the car autonomously"""
     predictor = Predictor(model)
     with picamera.PiCamera() as camera:
-        camera.resolution = (640, 480)
-        camera.framerate = 60
-        time.sleep(2)
+        camera.resolution = configuration.PICAMERA_RESOLUTION
+        camera.framerate = configuration.PICAMERA_FRAMERATE
+        time.sleep(configuration.PICAMERA_WARM_UP_TIME)
         pwm = motor_driver_helper.get_pwm_imstance()
         motor_driver_helper.start_pwm(pwm)
         forward_cycle_count = left_cycle_count = right_cycle_count = 0

configuration.py

@@ -1,5 +1,11 @@
 """Configurations for the RC car"""
 
+PICAMERA_RESOLUTION_WIDTH = 640
+PICAMERA_RESOLUTION_HEIGHT = 480
+PICAMERA_RESOLUTION = (PICAMERA_RESOLUTION_WIDTH, PICAMERA_RESOLUTION_HEIGHT)
+PICAMERA_FRAMERATE = 60
+PICAMERA_WARM_UP_TIME = 2
+
 BACK_MOTOR_DATA_ONE = 17
 BACK_MOTOR_DATA_TWO = 27
 BACK_MOTOR_ENABLE_PIN = 22

interactive_control_train.py

@@ -44,9 +44,9 @@ def interactive_control():
     setup_interactive_control()
     clock = pygame.time.Clock()
     with picamera.PiCamera() as camera:
-        camera.resolution = (640, 480)
-        camera.framerate = 60
-        time.sleep(2)
+        camera.resolution = configuration.PICAMERA_RESOLUTION
+        camera.framerate = configuration.PICAMERA_FRAMERATE
+        time.sleep(configuration.PICAMERA_WARM_UP_TIME)
         # GPIO.output(BACK_MOTOR_ENABLE_PIN, True)
         pwm = motor_driver_helper.get_pwm_imstance()
         motor_driver_helper.start_pwm(pwm)

predict.py

@@ -9,6 +9,7 @@
 from scipy.misc import imresize
 from sigmoid import sigmoid
 from configuration import CLASSIFICATION_LABELS, IMAGE_DIMENSIONS
+from configuration import PICAMERA_RESOLUTION_WIDTH, PICAMERA_RESOLUTION_HEIGHT
 
 class Predictor:
     """Predictor class for determining direction"""
@@ -52,7 +53,7 @@ def change_model(self, model):
 def _convert_stream_to_array(stream):
     stream.seek(0)
     image = Image.open(stream).convert('L')
-    image = image.crop((0, 240, 640, 480))
+    image = image.crop((0, PICAMERA_RESOLUTION_HEIGHT / 2, PICAMERA_RESOLUTION_WIDTH, PICAMERA_RESOLUTION_HEIGHT))
     image_array = asarray(image)
     resized_image_array = imresize(image_array, IMAGE_DIMENSIONS)
     input_layer_size = resized_image_array.flatten().shape[0]