Simplified_Self_Driving_Car_New.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 87
    },
    "colab_type": "code",
    "id": "Wmmj-kBuSN3d",
    "outputId": "a319e1bb-4b9d-4ae5-a126-bdfa54184402"
   },
   "outputs": [],
   "source": [
    "import warnings\n",
    "warnings.filterwarnings(\"ignore\", category=DeprecationWarning)\n",
    "import os\n",
    "import random\n",
    "import cv2\n",
    "import math\n",
    "import numpy as np\n",
    "import scipy\n",
    "from scipy import pi\n",
    "from datetime import datetime\n",
    "import matplotlib.pyplot as plt\n",
    "import tensorflow as tf"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 67
    },
    "colab_type": "code",
    "id": "kVQj5nWWSN3j",
    "outputId": "bdf6eb3b-5d21-495a-a447-dff6489b7e8e"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "45406\n",
      "36324\n",
      "9081\n"
     ]
    }
   ],
   "source": [
    "xs = []\n",
    "ys = []\n",
    "\n",
    "train_batch_pointer = 0\n",
    "val_batch_pointer = 0\n",
    "\n",
    "with open(\"SelfDrivingCar/Autopilot-TensorFlow-master/driving_dataset/data.txt\") as f:\n",
    "    for line in f:\n",
    "        xs.append(\"SelfDrivingCar/Autopilot-TensorFlow-master/driving_dataset/\" + line.split()[0])\n",
    "        #the paper by Nvidia uses the inverse of the turning radius,\n",
    "        #but steering wheel angle is proportional to the inverse of turning radius\n",
    "        #so the steering wheel angle in radians is used as the output\n",
    "        ys.append(float(line.split()[1]) * scipy.pi / 180)\n",
    "    \n",
    "#get number of images\n",
    "num_images = len(xs)\n",
    "print(num_images)\n",
    "\n",
    "train_xs = xs[:int(len(xs) * 0.8)]\n",
    "train_ys = ys[:int(len(xs) * 0.8)]\n",
    "val_xs = xs[-int(len(xs) * 0.2):]\n",
    "val_ys = ys[-int(len(xs) * 0.2):]\n",
    "\n",
    "print(len(train_xs))\n",
    "print(len(val_xs))\n",
    "\n",
    "num_train_images = len(train_xs)\n",
    "num_val_images = len(val_xs)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "z2V3gxZOuqar"
   },
   "outputs": [],
   "source": [
    "# def augment(imgName, angle):\n",
    "#     name = 'Autopilot-TensorFlow-master/driving_dataset/' + str(imgName) + '.jpg'\n",
    "#     current_image = cv2.imread(name, 1)\n",
    "#     current_image = cv2.flip(current_image, 1)\n",
    "#     angle = angle * -1.0\n",
    "#     return current_image, angle\n",
    "\n",
    "# for i in range(0, len(train_xs)):\n",
    "#     flip_image, flip_angle = augment(i, ys[i])\n",
    "#     new_image_index = i + num_images\n",
    "#     cv2.imwrite(\"Autopilot-TensorFlow-master/driving_dataset/\" + str(new_image_index) + \".jpg\", flip_image)\n",
    "#     train_xs.append(\"Autopilot-TensorFlow-master/driving_dataset/\" + str(new_image_index) + \".jpg\")\n",
    "#     train_ys.append(flip_angle * scipy.pi/180)\n",
    "#     num_images += 1\n",
    "\n",
    "# num_train_images = len(train_xs)\n",
    "# num_val_images = len(val_xs)\n",
    "\n",
    "# print(num_train_images)\n",
    "# print(num_val_images)\n",
    "# print(num_images)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "ZyYXPJ96SN3o"
   },
   "outputs": [],
   "source": [
    "def LoadTrainBatch(batch_size):\n",
    "    global train_batch_pointer\n",
    "    x_out = []\n",
    "    y_out = []\n",
    "    for i in range(0, batch_size):\n",
    "        index = (train_batch_pointer + i) % num_train_images\n",
    "        train_image = cv2.imread(train_xs[index], 1)[-150:]\n",
    "        #cv2_imshow(image)\n",
    "        x_out.append(np.array(cv2.resize(train_image, (200, 66)))/255.0)\n",
    "        #x_out.append(np.array(Image.open(train_xs[index][-150:]).resize((200,66)))/255.0)\n",
    "        y_out.append([train_ys[index]])\n",
    "    train_batch_pointer += batch_size\n",
    "    return x_out, y_out\n",
    "\n",
    "def LoadValBatch(batch_size):\n",
    "    global val_batch_pointer\n",
    "    x_out = []\n",
    "    y_out = []\n",
    "    for i in range(0, batch_size):\n",
    "        index = (val_batch_pointer + i) % num_val_images\n",
    "        val_image = cv2.imread(val_xs[index], 1)[-150:]\n",
    "        x_out.append(np.array(cv2.resize(val_image, (200, 66)))/255.0)\n",
    "        #x_out.append(np.array(Image.open(val_xs[index][-150:]).resize((200,66)))/255.0)\n",
    "        y_out.append([val_ys[index]])\n",
    "    val_batch_pointer += batch_size\n",
    "    return x_out, y_out"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "0FIHIOK4SN3s"
   },
   "outputs": [],
   "source": [
    "def weight_variable(shape):\n",
    "    initial = tf.truncated_normal(shape = shape, stddev = 0.1)\n",
    "    return tf.Variable(initial)\n",
    "\n",
    "def bias_variable(shape):\n",
    "    initial = tf.constant(0.1, shape=shape)\n",
    "    return tf.Variable(initial)\n",
    "\n",
    "def conv2d(previous_input, filter_input, strides):\n",
    "    return tf.nn.conv2d(previous_input, filter_input, strides = [1, strides, strides, 1], padding =\"VALID\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 87
    },
    "colab_type": "code",
    "id": "lpCpyDCcSN3x",
    "outputId": "6b4b7588-bcf3-4479-f4ca-24f3822d1add"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "WARNING:tensorflow:From C:\\Users\\mehul\\Anaconda3\\lib\\site-packages\\tensorflow\\python\\framework\\op_def_library.py:263: colocate_with (from tensorflow.python.framework.ops) is deprecated and will be removed in a future version.\n",
      "Instructions for updating:\n",
      "Colocations handled automatically by placer.\n",
      "WARNING:tensorflow:From <ipython-input-6-477dd2d792a0>:39: calling dropout (from tensorflow.python.ops.nn_ops) with keep_prob is deprecated and will be removed in a future version.\n",
      "Instructions for updating:\n",
      "Please use `rate` instead of `keep_prob`. Rate should be set to `rate = 1 - keep_prob`.\n"
     ]
    }
   ],
   "source": [
    "x_input = tf.placeholder(tf.float32, shape = [None, 66, 200, 3], name = \"Plc_1\")\n",
    "y_true = tf.placeholder(tf.float32, name = \"Plc_2\")\n",
    "\n",
    "x_image = x_input\n",
    "\n",
    "# Model Architecture\n",
    "\n",
    "#first convolutional layer\n",
    "W_conv1 = weight_variable([5, 5, 3, 24])\n",
    "b_conv1 = bias_variable([24])\n",
    "h_conv1 = tf.nn.relu(conv2d(x_image, W_conv1, 2) + b_conv1)\n",
    "\n",
    "#second convolutional layer\n",
    "W_conv2 = weight_variable([5, 5, 24, 36])\n",
    "b_conv2 = bias_variable([36])\n",
    "h_conv2 = tf.nn.relu(conv2d(h_conv1, W_conv2, 2) + b_conv2)\n",
    "\n",
    "#third convolutional layer\n",
    "W_conv3 = weight_variable([5, 5, 36, 48])\n",
    "b_conv3 = bias_variable([48])\n",
    "h_conv3 = tf.nn.relu(conv2d(h_conv2, W_conv3, 2) + b_conv3)\n",
    "\n",
    "#fourth convolutional layer\n",
    "W_conv4 = weight_variable([3, 3, 48, 64])\n",
    "b_conv4 = bias_variable([64])\n",
    "h_conv4 = tf.nn.relu(conv2d(h_conv3, W_conv4, 1) + b_conv4)\n",
    "\n",
    "#fifth convolutional layer\n",
    "W_conv5 = weight_variable([3, 3, 64, 64])\n",
    "b_conv5 = bias_variable([64])\n",
    "h_conv5 = tf.nn.relu(conv2d(h_conv4, W_conv5, 1) + b_conv5)\n",
    "\n",
    "#FCL 1\n",
    "W_fc1 = weight_variable([1152, 1164])\n",
    "b_fc1 = bias_variable([1164])\n",
    "h_conv5_flat = tf.reshape(h_conv5, [-1, 1152])\n",
    "h_fc1 = tf.nn.relu(tf.matmul(h_conv5_flat, W_fc1) + b_fc1)\n",
    "keep_prob = tf.placeholder(tf.float32)\n",
    "h_fc1_drop = tf.nn.dropout(h_fc1, keep_prob)\n",
    "\n",
    "#FCL 2\n",
    "W_fc2 = weight_variable([1164, 400])\n",
    "b_fc2 = bias_variable([400])\n",
    "h_fc2 = tf.nn.relu(tf.matmul(h_fc1_drop, W_fc2) + b_fc2)\n",
    "h_fc2_drop = tf.nn.dropout(h_fc2, keep_prob)\n",
    "\n",
    "#FCL 2\n",
    "W_fc3 = weight_variable([400, 100])\n",
    "b_fc3 = bias_variable([100])\n",
    "h_fc3 = tf.nn.relu(tf.matmul(h_fc2_drop, W_fc3) + b_fc3)\n",
    "h_fc3_drop = tf.nn.dropout(h_fc3, keep_prob)\n",
    "\n",
    "#FCL 3\n",
    "W_fc4 = weight_variable([100, 50])\n",
    "b_fc4 = bias_variable([50])\n",
    "h_fc4 = tf.nn.relu(tf.matmul(h_fc3_drop, W_fc4) + b_fc4)\n",
    "h_fc4_drop = tf.nn.dropout(h_fc4, keep_prob)\n",
    "\n",
    "#FCL 4\n",
    "W_fc5 = weight_variable([50, 10])\n",
    "b_fc5 = bias_variable([10])\n",
    "h_fc5 = tf.nn.relu(tf.matmul(h_fc4_drop, W_fc5) + b_fc5)\n",
    "h_fc5_drop = tf.nn.dropout(h_fc5, keep_prob)\n",
    "\n",
    "#Output\n",
    "W_fc6 = weight_variable([10, 1])\n",
    "b_fc6 = bias_variable([1])\n",
    "y = tf.multiply(tf.identity(tf.matmul(h_fc5_drop, W_fc6) + b_fc6), 2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 1000
    },
    "colab_type": "code",
    "id": "dt9ChW-QSN32",
    "outputId": "26806dd4-cad3-4618-d027-bc9dee102d4a"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Epoch: 0, Step: 0, Loss: 7.86776\n",
      "Epoch: 0, Step: 10, Loss: 7.72879\n",
      "Epoch: 0, Step: 20, Loss: 7.56782\n",
      "Epoch: 0, Step: 30, Loss: 7.50846\n",
      "Epoch: 0, Step: 40, Loss: 7.42819\n",
      "Epoch: 0, Step: 50, Loss: 7.42371\n",
      "Epoch: 0, Step: 60, Loss: 7.52274\n",
      "Epoch: 0, Step: 70, Loss: 8.29817\n",
      "Epoch: 0, Step: 80, Loss: 8.92281\n",
      "Epoch: 0, Step: 90, Loss: 7.3895\n",
      "Epoch: 0, Step: 100, Loss: 7.12843\n",
      "Epoch: 0, Step: 110, Loss: 7.01951\n",
      "Epoch: 0, Step: 120, Loss: 6.97072\n",
      "Epoch: 0, Step: 130, Loss: 6.91977\n",
      "Epoch: 0, Step: 140, Loss: 6.88246\n",
      "Epoch: 0, Step: 150, Loss: 6.87336\n",
      "Epoch: 0, Step: 160, Loss: 6.79903\n",
      "Epoch: 0, Step: 170, Loss: 6.69946\n",
      "Epoch: 0, Step: 180, Loss: 6.7411\n",
      "Epoch: 0, Step: 190, Loss: 6.94701\n",
      "Epoch: 0, Step: 200, Loss: 6.58134\n",
      "Epoch: 0, Step: 210, Loss: 6.60748\n",
      "Epoch: 0, Step: 220, Loss: 6.42814\n",
      "Epoch: 0, Step: 230, Loss: 6.37716\n",
      "Epoch: 0, Step: 240, Loss: 6.32755\n",
      "Epoch: 0, Step: 250, Loss: 6.27882\n",
      "Epoch: 0, Step: 260, Loss: 6.24831\n",
      "Epoch: 0, Step: 270, Loss: 11.032\n",
      "Epoch: 0, Step: 280, Loss: 7.024\n",
      "Epoch: 0, Step: 290, Loss: 6.09835\n",
      "Epoch: 0, Step: 300, Loss: 6.04856\n",
      "Epoch: 0, Step: 310, Loss: 6.0012\n",
      "Epoch: 0, Step: 320, Loss: 5.95994\n",
      "Epoch: 0, Step: 330, Loss: 5.91886\n",
      "Epoch: 0, Step: 340, Loss: 5.8891\n",
      "Epoch: 0, Step: 350, Loss: 5.84276\n",
      "Epoch: 0, Step: 360, Loss: 5.80399\n",
      "Epoch: 0, Step: 370, Loss: 5.76491\n",
      "Epoch: 0, Step: 380, Loss: 5.74383\n",
      "Epoch: 0, Step: 390, Loss: 5.67485\n",
      "Epoch: 0, Step: 400, Loss: 5.63404\n",
      "Epoch: 0, Step: 410, Loss: 5.5972\n",
      "Epoch: 0, Step: 420, Loss: 5.58606\n",
      "Epoch: 0, Step: 430, Loss: 5.53171\n",
      "Epoch: 0, Step: 440, Loss: 5.51096\n",
      "Epoch: 0, Step: 450, Loss: 5.46328\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Epoch: 1, Step: 0, Loss: 5.4481\n",
      "Epoch: 1, Step: 10, Loss: 5.42156\n",
      "Epoch: 1, Step: 20, Loss: 5.36585\n",
      "Epoch: 1, Step: 30, Loss: 5.32579\n",
      "Epoch: 1, Step: 40, Loss: 5.30252\n",
      "Epoch: 1, Step: 50, Loss: 5.26629\n",
      "Epoch: 1, Step: 60, Loss: 5.22833\n",
      "Epoch: 1, Step: 70, Loss: 5.18568\n",
      "Epoch: 1, Step: 80, Loss: 5.15039\n",
      "Epoch: 1, Step: 90, Loss: 5.11848\n",
      "Epoch: 1, Step: 100, Loss: 5.09101\n",
      "Epoch: 1, Step: 110, Loss: 5.11561\n",
      "Epoch: 1, Step: 120, Loss: 5.37861\n",
      "Epoch: 1, Step: 130, Loss: 10.5123\n",
      "Epoch: 1, Step: 140, Loss: 4.98674\n",
      "Epoch: 1, Step: 150, Loss: 4.9267\n",
      "Epoch: 1, Step: 160, Loss: 4.91484\n",
      "Epoch: 1, Step: 170, Loss: 4.95133\n",
      "Epoch: 1, Step: 180, Loss: 4.90677\n",
      "Epoch: 1, Step: 190, Loss: 4.80731\n",
      "Epoch: 1, Step: 200, Loss: 4.95032\n",
      "Epoch: 1, Step: 210, Loss: 4.79416\n",
      "Epoch: 1, Step: 220, Loss: 4.71328\n",
      "Epoch: 1, Step: 230, Loss: 4.74556\n",
      "Epoch: 1, Step: 240, Loss: 4.66025\n",
      "Epoch: 1, Step: 250, Loss: 4.64307\n",
      "Epoch: 1, Step: 260, Loss: 4.62526\n",
      "Epoch: 1, Step: 270, Loss: 4.6337\n",
      "Epoch: 1, Step: 280, Loss: 4.62028\n",
      "Epoch: 1, Step: 290, Loss: 4.74481\n",
      "Epoch: 1, Step: 300, Loss: 4.58849\n",
      "Epoch: 1, Step: 310, Loss: 4.47\n",
      "Epoch: 1, Step: 320, Loss: 4.4396\n",
      "Epoch: 1, Step: 330, Loss: 4.41375\n",
      "Epoch: 1, Step: 340, Loss: 4.38851\n",
      "Epoch: 1, Step: 350, Loss: 4.36345\n",
      "Epoch: 1, Step: 360, Loss: 4.33866\n",
      "Epoch: 1, Step: 370, Loss: 4.31439\n",
      "Epoch: 1, Step: 380, Loss: 4.29476\n",
      "Epoch: 1, Step: 390, Loss: 4.31183\n",
      "Epoch: 1, Step: 400, Loss: 4.2508\n",
      "Epoch: 1, Step: 410, Loss: 4.23076\n",
      "Epoch: 1, Step: 420, Loss: 4.20288\n",
      "Epoch: 1, Step: 430, Loss: 4.22938\n",
      "Epoch: 1, Step: 440, Loss: 4.16322\n",
      "Epoch: 1, Step: 450, Loss: 4.51155\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Epoch: 2, Step: 0, Loss: 4.68666\n",
      "Epoch: 2, Step: 10, Loss: 4.27116\n",
      "Epoch: 2, Step: 20, Loss: 4.10259\n",
      "Epoch: 2, Step: 30, Loss: 4.06834\n",
      "Epoch: 2, Step: 40, Loss: 4.06587\n",
      "Epoch: 2, Step: 50, Loss: 4.18367\n",
      "Epoch: 2, Step: 60, Loss: 5.14563\n",
      "Epoch: 2, Step: 70, Loss: 5.39512\n",
      "Epoch: 2, Step: 80, Loss: 4.01383\n",
      "Epoch: 2, Step: 90, Loss: 4.01541\n",
      "Epoch: 2, Step: 100, Loss: 3.90363\n",
      "Epoch: 2, Step: 110, Loss: 3.89774\n",
      "Epoch: 2, Step: 120, Loss: 3.87055\n",
      "Epoch: 2, Step: 130, Loss: 3.85905\n",
      "Epoch: 2, Step: 140, Loss: 3.87692\n",
      "Epoch: 2, Step: 150, Loss: 3.82572\n",
      "Epoch: 2, Step: 160, Loss: 3.79067\n",
      "Epoch: 2, Step: 170, Loss: 3.85533\n",
      "Epoch: 2, Step: 180, Loss: 4.13257\n",
      "Epoch: 2, Step: 190, Loss: 3.89566\n",
      "Epoch: 2, Step: 200, Loss: 3.77832\n",
      "Epoch: 2, Step: 210, Loss: 3.69148\n",
      "Epoch: 2, Step: 220, Loss: 3.67179\n",
      "Epoch: 2, Step: 230, Loss: 3.65403\n",
      "Epoch: 2, Step: 240, Loss: 3.63573\n",
      "Epoch: 2, Step: 250, Loss: 3.69371\n",
      "Epoch: 2, Step: 260, Loss: 9.40452\n",
      "Epoch: 2, Step: 270, Loss: 3.82212\n",
      "Epoch: 2, Step: 280, Loss: 3.57303\n",
      "Epoch: 2, Step: 290, Loss: 3.54918\n",
      "Epoch: 2, Step: 300, Loss: 3.53092\n",
      "Epoch: 2, Step: 310, Loss: 3.51928\n",
      "Epoch: 2, Step: 320, Loss: 3.49876\n",
      "Epoch: 2, Step: 330, Loss: 3.49878\n",
      "Epoch: 2, Step: 340, Loss: 3.47226\n",
      "Epoch: 2, Step: 350, Loss: 3.45013\n",
      "Epoch: 2, Step: 360, Loss: 3.43919\n",
      "Epoch: 2, Step: 370, Loss: 3.42898\n",
      "Epoch: 2, Step: 380, Loss: 3.40305\n",
      "Epoch: 2, Step: 390, Loss: 3.394\n",
      "Epoch: 2, Step: 400, Loss: 3.37549\n",
      "Epoch: 2, Step: 410, Loss: 3.36051\n",
      "Epoch: 2, Step: 420, Loss: 3.33789\n",
      "Epoch: 2, Step: 430, Loss: 3.32679\n",
      "Epoch: 2, Step: 440, Loss: 3.30688\n",
      "Epoch: 2, Step: 450, Loss: 3.28958\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Epoch: 3, Step: 0, Loss: 3.28853\n",
      "Epoch: 3, Step: 10, Loss: 3.27414\n",
      "Epoch: 3, Step: 20, Loss: 3.26907\n",
      "Epoch: 3, Step: 30, Loss: 3.24924\n",
      "Epoch: 3, Step: 40, Loss: 3.22969\n",
      "Epoch: 3, Step: 50, Loss: 3.21507\n",
      "Epoch: 3, Step: 60, Loss: 3.20043\n",
      "Epoch: 3, Step: 70, Loss: 3.19005\n",
      "Epoch: 3, Step: 80, Loss: 3.18663\n",
      "Epoch: 3, Step: 90, Loss: 3.19557\n",
      "Epoch: 3, Step: 100, Loss: 3.23904\n",
      "Epoch: 3, Step: 110, Loss: 4.96478\n",
      "Epoch: 3, Step: 120, Loss: 7.64939\n",
      "Epoch: 3, Step: 130, Loss: 3.12821\n",
      "Epoch: 3, Step: 140, Loss: 3.10659\n",
      "Epoch: 3, Step: 150, Loss: 3.08421\n",
      "Epoch: 3, Step: 160, Loss: 3.07331\n",
      "Epoch: 3, Step: 170, Loss: 3.06414\n",
      "Epoch: 3, Step: 180, Loss: 3.09082\n",
      "Epoch: 3, Step: 190, Loss: 3.16954\n",
      "Epoch: 3, Step: 200, Loss: 3.06233\n",
      "Epoch: 3, Step: 210, Loss: 3.00226\n",
      "Epoch: 3, Step: 220, Loss: 3.03491\n",
      "Epoch: 3, Step: 230, Loss: 2.97649\n",
      "Epoch: 3, Step: 240, Loss: 2.98537\n",
      "Epoch: 3, Step: 250, Loss: 2.99431\n",
      "Epoch: 3, Step: 260, Loss: 3.02506\n",
      "Epoch: 3, Step: 270, Loss: 2.99235\n",
      "Epoch: 3, Step: 280, Loss: 3.03979\n",
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      "Epoch: 26, Step: 440, Loss: 2.41003\n",
      "Epoch: 26, Step: 450, Loss: 0.257262\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Epoch: 27, Step: 0, Loss: 0.293894\n",
      "Epoch: 27, Step: 10, Loss: 0.448397\n",
      "Epoch: 27, Step: 20, Loss: 0.231941\n",
      "Epoch: 27, Step: 30, Loss: 0.269384\n",
      "Epoch: 27, Step: 40, Loss: 0.371655\n",
      "Epoch: 27, Step: 50, Loss: 0.327892\n",
      "Epoch: 27, Step: 60, Loss: 0.237482\n",
      "Epoch: 27, Step: 70, Loss: 0.230586\n",
      "Epoch: 27, Step: 80, Loss: 0.292375\n",
      "Epoch: 27, Step: 90, Loss: 0.281041\n",
      "Epoch: 27, Step: 100, Loss: 0.231764\n",
      "Epoch: 27, Step: 110, Loss: 0.58302\n",
      "Epoch: 27, Step: 120, Loss: 1.12281\n",
      "Epoch: 27, Step: 130, Loss: 0.558357\n",
      "Epoch: 27, Step: 140, Loss: 0.715802\n",
      "Epoch: 27, Step: 150, Loss: 0.411928\n",
      "Epoch: 27, Step: 160, Loss: 0.704799\n",
      "Epoch: 27, Step: 170, Loss: 0.334809\n",
      "Epoch: 27, Step: 180, Loss: 0.554156\n",
      "Epoch: 27, Step: 190, Loss: 0.241494\n",
      "Epoch: 27, Step: 200, Loss: 0.234107\n",
      "Epoch: 27, Step: 210, Loss: 0.255753\n",
      "Epoch: 27, Step: 220, Loss: 0.242941\n",
      "Epoch: 27, Step: 230, Loss: 0.238964\n",
      "Epoch: 27, Step: 240, Loss: 0.2272\n",
      "Epoch: 27, Step: 250, Loss: 0.231159\n",
      "Epoch: 27, Step: 260, Loss: 0.233775\n",
      "Epoch: 27, Step: 270, Loss: 0.258494\n",
      "Epoch: 27, Step: 280, Loss: 0.286253\n",
      "Epoch: 27, Step: 290, Loss: 0.283435\n",
      "Epoch: 27, Step: 300, Loss: 0.597169\n",
      "Epoch: 27, Step: 310, Loss: 0.446128\n",
      "Epoch: 27, Step: 320, Loss: 0.259606\n",
      "Epoch: 27, Step: 330, Loss: 0.256227\n",
      "Epoch: 27, Step: 340, Loss: 0.227785\n",
      "Epoch: 27, Step: 350, Loss: 0.247771\n",
      "Epoch: 27, Step: 360, Loss: 0.242415\n",
      "Epoch: 27, Step: 370, Loss: 0.383042\n",
      "Epoch: 27, Step: 380, Loss: 0.419181\n",
      "Epoch: 27, Step: 390, Loss: 0.258274\n",
      "Epoch: 27, Step: 400, Loss: 0.251027\n",
      "Epoch: 27, Step: 410, Loss: 0.228247\n",
      "Epoch: 27, Step: 420, Loss: 0.219737\n",
      "Epoch: 27, Step: 430, Loss: 0.232456\n",
      "Epoch: 27, Step: 440, Loss: 0.230867\n",
      "Epoch: 27, Step: 450, Loss: 0.248547\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Epoch: 28, Step: 0, Loss: 0.221403\n",
      "Epoch: 28, Step: 10, Loss: 0.298856\n",
      "Epoch: 28, Step: 20, Loss: 1.42083\n",
      "Epoch: 28, Step: 30, Loss: 0.874182\n",
      "Epoch: 28, Step: 40, Loss: 0.538539\n",
      "Epoch: 28, Step: 50, Loss: 0.257608\n",
      "Epoch: 28, Step: 60, Loss: 0.243667\n",
      "Epoch: 28, Step: 70, Loss: 0.244503\n",
      "Epoch: 28, Step: 80, Loss: 0.241305\n",
      "Epoch: 28, Step: 90, Loss: 0.247367\n",
      "Epoch: 28, Step: 100, Loss: 8.45162\n",
      "Epoch: 28, Step: 110, Loss: 3.91723\n",
      "Epoch: 28, Step: 120, Loss: 0.252888\n",
      "Epoch: 28, Step: 130, Loss: 0.233664\n",
      "Epoch: 28, Step: 140, Loss: 0.267489\n",
      "Epoch: 28, Step: 150, Loss: 0.228981\n",
      "Epoch: 28, Step: 160, Loss: 0.23648\n",
      "Epoch: 28, Step: 170, Loss: 0.821913\n",
      "Epoch: 28, Step: 180, Loss: 0.55356\n",
      "Epoch: 28, Step: 190, Loss: 0.24927\n",
      "Epoch: 28, Step: 200, Loss: 0.529484\n",
      "Epoch: 28, Step: 210, Loss: 0.56245\n",
      "Epoch: 28, Step: 220, Loss: 1.43466\n",
      "Epoch: 28, Step: 230, Loss: 0.286106\n",
      "Epoch: 28, Step: 240, Loss: 0.337022\n",
      "Epoch: 28, Step: 250, Loss: 0.238759\n",
      "Epoch: 28, Step: 260, Loss: 0.228888\n",
      "Epoch: 28, Step: 270, Loss: 0.275308\n",
      "Epoch: 28, Step: 280, Loss: 0.255443\n",
      "Epoch: 28, Step: 290, Loss: 0.234968\n",
      "Epoch: 28, Step: 300, Loss: 0.235435\n",
      "Epoch: 28, Step: 310, Loss: 0.243503\n",
      "Epoch: 28, Step: 320, Loss: 0.223592\n",
      "Epoch: 28, Step: 330, Loss: 0.261914\n",
      "Epoch: 28, Step: 340, Loss: 0.256969\n",
      "Epoch: 28, Step: 350, Loss: 0.242281\n",
      "Epoch: 28, Step: 360, Loss: 0.226572\n",
      "Epoch: 28, Step: 370, Loss: 0.265099\n",
      "Epoch: 28, Step: 380, Loss: 0.242487\n",
      "Epoch: 28, Step: 390, Loss: 0.238639\n",
      "Epoch: 28, Step: 400, Loss: 0.544776\n",
      "Epoch: 28, Step: 410, Loss: 0.439952\n",
      "Epoch: 28, Step: 420, Loss: 3.74943\n",
      "Epoch: 28, Step: 430, Loss: 0.850239\n",
      "Epoch: 28, Step: 440, Loss: 0.387573\n",
      "Epoch: 28, Step: 450, Loss: 0.490953\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Epoch: 29, Step: 0, Loss: 1.95016\n",
      "Epoch: 29, Step: 10, Loss: 0.424589\n",
      "Epoch: 29, Step: 20, Loss: 0.231198\n",
      "Epoch: 29, Step: 30, Loss: 0.290317\n",
      "Epoch: 29, Step: 40, Loss: 0.293728\n",
      "Epoch: 29, Step: 50, Loss: 0.234709\n",
      "Epoch: 29, Step: 60, Loss: 0.236183\n",
      "Epoch: 29, Step: 70, Loss: 0.384431\n",
      "Epoch: 29, Step: 80, Loss: 0.293775\n",
      "Epoch: 29, Step: 90, Loss: 0.239928\n",
      "Epoch: 29, Step: 100, Loss: 0.227666\n",
      "Epoch: 29, Step: 110, Loss: 0.253413\n",
      "Epoch: 29, Step: 120, Loss: 0.386678\n",
      "Epoch: 29, Step: 130, Loss: 0.220192\n",
      "Epoch: 29, Step: 140, Loss: 0.250559\n",
      "Epoch: 29, Step: 150, Loss: 0.274692\n",
      "Epoch: 29, Step: 160, Loss: 0.598024\n",
      "Epoch: 29, Step: 170, Loss: 1.42448\n",
      "Epoch: 29, Step: 180, Loss: 0.423312\n",
      "Epoch: 29, Step: 190, Loss: 0.362896\n",
      "Epoch: 29, Step: 200, Loss: 0.357247\n",
      "Epoch: 29, Step: 210, Loss: 0.451404\n",
      "Epoch: 29, Step: 220, Loss: 0.271024\n",
      "Epoch: 29, Step: 230, Loss: 0.232079\n",
      "Epoch: 29, Step: 240, Loss: 0.250019\n",
      "Epoch: 29, Step: 250, Loss: 0.275429\n",
      "Epoch: 29, Step: 260, Loss: 0.226471\n",
      "Epoch: 29, Step: 270, Loss: 0.23166\n",
      "Epoch: 29, Step: 280, Loss: 0.347508\n",
      "Epoch: 29, Step: 290, Loss: 2.0654\n",
      "Epoch: 29, Step: 300, Loss: 3.41961\n",
      "Epoch: 29, Step: 310, Loss: 3.29811\n",
      "Epoch: 29, Step: 320, Loss: 3.22751\n",
      "Epoch: 29, Step: 330, Loss: 0.274105\n",
      "Epoch: 29, Step: 340, Loss: 0.25278\n",
      "Epoch: 29, Step: 350, Loss: 0.321391\n",
      "Epoch: 29, Step: 360, Loss: 0.289025\n",
      "Epoch: 29, Step: 370, Loss: 0.307547\n",
      "Epoch: 29, Step: 380, Loss: 0.255172\n",
      "Epoch: 29, Step: 390, Loss: 0.400714\n",
      "Epoch: 29, Step: 400, Loss: 0.223475\n",
      "Epoch: 29, Step: 410, Loss: 0.210684\n",
      "Epoch: 29, Step: 420, Loss: 0.220808\n",
      "Epoch: 29, Step: 430, Loss: 0.244907\n",
      "Epoch: 29, Step: 440, Loss: 0.224051\n",
      "Epoch: 29, Step: 450, Loss: 0.212203\n",
      "Model saved in file: ./save/model.ckpt\n",
      "Run the command line:\n",
      "--> tensorboard --logdir=./logs \n",
      "Then open http://0.0.0.0:6006/ into your web browser\n"
     ]
    }
   ],
   "source": [
    "#Training the model\n",
    "LOGDIR = './save'\n",
    "\n",
    "sess = tf.InteractiveSession()\n",
    "\n",
    "L2NormConst = 0.001\n",
    "\n",
    "train_vars = tf.trainable_variables()\n",
    "\n",
    "loss = tf.reduce_mean(tf.square(tf.subtract(y_true, y))) + tf.add_n([tf.nn.l2_loss(v) for v in train_vars]) * L2NormConst\n",
    "train_step = tf.train.AdamOptimizer(1e-4).minimize(loss)\n",
    "sess.run(tf.global_variables_initializer())\n",
    "\n",
    "# create a summary to monitor cost tensor\n",
    "tf.summary.scalar(\"loss\", loss)\n",
    "\n",
    "# merge all summaries into a single op\n",
    "merged_summary_op = tf.summary.merge_all()\n",
    "\n",
    "saver = tf.train.Saver()\n",
    "\n",
    "# op to write logs to Tensorboard\n",
    "logs_path = 'SelfDrivingCar/Autopilot-TensorFlow-master/logs'\n",
    "summary_writer = tf.summary.FileWriter(logs_path, graph=tf.get_default_graph())\n",
    "\n",
    "epochs = 30\n",
    "batch_size = 100\n",
    "\n",
    "# train over the dataset about 30 times\n",
    "for epoch in range(epochs):\n",
    "    for i in range(int(num_images/batch_size)):\n",
    "        xs, ys = LoadTrainBatch(batch_size)\n",
    "        train_step.run(feed_dict={x_input: xs, y_true: ys, keep_prob: 0.8})\n",
    "        if i % 10 == 0:\n",
    "            xs, ys = LoadValBatch(batch_size)\n",
    "            loss_value = loss.eval(feed_dict={x_input:xs, y_true: ys,keep_prob: 1.0})\n",
    "            print(\"Epoch: %d, Step: %d, Loss: %g\" % (epoch, i, loss_value))\n",
    "\n",
    "        # write logs at every iteration\n",
    "        summary = merged_summary_op.eval(feed_dict={x_input:xs, y_true: ys, keep_prob: 1.0})\n",
    "        summary_writer.add_summary(summary, epoch * num_images/batch_size + i)\n",
    "        if i % batch_size == 0:\n",
    "            if not os.path.exists(LOGDIR):\n",
    "                os.makedirs(LOGDIR)\n",
    "        checkpoint_path = os.path.join(LOGDIR, \"model.ckpt\")\n",
    "        filename = saver.save(sess, checkpoint_path)\n",
    "    print(\"Model saved in file: %s\" % filename)\n",
    "\n",
    "print(\"Run the command line:\\n\" \\\n",
    "\"--> tensorboard --logdir=./logs \" \\\n",
    "\"\\nThen open http://0.0.0.0:6006/ into your web browser\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 87
    },
    "colab_type": "code",
    "id": "GcBJS6ZNSN36",
    "outputId": "704d27c1-ea9d-4f75-b0a1-358d7aef9667"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "WARNING:tensorflow:From C:\\Users\\mehul\\Anaconda3\\lib\\site-packages\\tensorflow\\python\\training\\saver.py:1266: checkpoint_exists (from tensorflow.python.training.checkpoint_management) is deprecated and will be removed in a future version.\n",
      "Instructions for updating:\n",
      "Use standard file APIs to check for files with this prefix.\n",
      "INFO:tensorflow:Restoring parameters from save/model.ckpt\n"
     ]
    }
   ],
   "source": [
    "sess = tf.InteractiveSession()\n",
    "saver = tf.train.Saver()\n",
    "saver.restore(sess, \"save/model.ckpt\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/",
     "height": 1000
    },
    "colab_type": "code",
    "id": "RnQjwhEUSN4B",
    "outputId": "368daa08-a9e1-4d45-fc10-ecdfd692342a"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "Steering angle: -11.709858166856511 (pred)\t-9.78(actual)\n",
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      "Steering angle: -10.710345359189771 (pred)\t-9.78(actual)\n",
      "Steering angle: -11.326985082742278 (pred)\t-9.78(actual)\n"
     ]
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    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "Steering angle: -12.63173392177501 (pred)\t-1.6100000000000003(actual)\n"
     ]
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    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "Steering angle: 7.826063194399167 (pred)\t15.13(actual)\n",
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    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "Steering angle: 6.848434312833148 (pred)\t3.4300000000000006(actual)\n",
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      "Steering angle: -5.175160055811437 (pred)\t2.12(actual)\n",
      "Steering angle: -6.356335404833008 (pred)\t2.92(actual)\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "Steering angle: 11.177183666318266 (pred)\t10.08(actual)\n",
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      "Steering angle: 12.597052782490625 (pred)\t9.08(actual)\n",
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      "Steering angle: -8.427199242309392 (pred)\t4.24(actual)\n",
      "Steering angle: -7.519902526174285 (pred)\t4.24(actual)\n",
      "Steering angle: -8.066771867355111 (pred)\t3.829999999999999(actual)\n",
      "Steering angle: -7.600713909339291 (pred)\t3.63(actual)\n",
      "Steering angle: -4.992091349261232 (pred)\t3.13(actual)\n",
      "Steering angle: -5.422278861303438 (pred)\t2.62(actual)\n",
      "Steering angle: -8.074652198110012 (pred)\t2.22(actual)\n",
      "Steering angle: -11.39572752164387 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -11.059463648425803 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -13.464842830692731 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -15.427491712280371 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -13.653921249938902 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -9.947317606250966 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -10.497660098624744 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -9.868761893059357 (pred)\t1.51(actual)\n",
      "Steering angle: -12.017638443688334 (pred)\t1.51(actual)\n",
      "Steering angle: -15.489147829918076 (pred)\t1.51(actual)\n",
      "Steering angle: -13.596964302450164 (pred)\t1.51(actual)\n",
      "Steering angle: -16.031512661341278 (pred)\t1.51(actual)\n",
      "Steering angle: -14.622410484621797 (pred)\t1.51(actual)\n",
      "Steering angle: -15.88987161342814 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -13.908728287115396 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -14.99828945502594 (pred)\t1.6100000000000003(actual)\n",
      "Steering angle: -14.046247315864434 (pred)\t1.51(actual)\n",
      "Steering angle: -11.86288343256877 (pred)\t1.51(actual)\n",
      "Steering angle: -12.23529608196913 (pred)\t1.31(actual)\n",
      "Steering angle: -14.845764500670384 (pred)\t1.21(actual)\n",
      "Steering angle: -11.761871764933451 (pred)\t1.21(actual)\n",
      "Steering angle: -9.410133473313218 (pred)\t1.21(actual)\n",
      "Steering angle: -11.765884501070834 (pred)\t1.21(actual)\n",
      "Steering angle: -12.802297405728568 (pred)\t1.21(actual)\n",
      "Steering angle: -13.358580455132964 (pred)\t1.21(actual)\n",
      "Steering angle: -9.441381588766028 (pred)\t1.21(actual)\n",
      "Steering angle: -11.460863620663696 (pred)\t1.21(actual)\n",
      "Steering angle: -8.84931176320535 (pred)\t1.21(actual)\n",
      "Steering angle: -8.462513027865649 (pred)\t1.21(actual)\n",
      "Steering angle: -3.563063803185532 (pred)\t1.82(actual)\n",
      "Steering angle: -4.113320064421038 (pred)\t2.22(actual)\n",
      "Steering angle: -4.767224446311487 (pred)\t2.22(actual)\n",
      "Steering angle: -7.090384372670741 (pred)\t2.22(actual)\n",
      "Steering angle: -7.686576217395521 (pred)\t2.22(actual)\n",
      "Steering angle: -9.773497829610605 (pred)\t2.22(actual)\n",
      "Steering angle: -8.864203283143269 (pred)\t2.22(actual)\n",
      "Steering angle: -8.742077793236149 (pred)\t2.22(actual)\n",
      "Steering angle: -8.7145060271041 (pred)\t0.0(actual)\n"
     ]
    },
    {
     "ename": "IndexError",
     "evalue": "list index out of range",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mIndexError\u001b[0m                                Traceback (most recent call last)",
      "\u001b[1;32m<ipython-input-8-90412afa3eaf>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m     28\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     29\u001b[0m \u001b[1;32mwhile\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mcv2\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mwaitKey\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;36m10\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;33m!=\u001b[0m \u001b[0mord\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'q'\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 30\u001b[1;33m     \u001b[0mfull_image\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mcv2\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mimread\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mxs\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mi\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m1\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     31\u001b[0m     \u001b[0mshow_image\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mcv2\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mresize\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mfull_image\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m(\u001b[0m\u001b[1;36m700\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m400\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     32\u001b[0m     \u001b[0mimage\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0marray\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mcv2\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mresize\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mfull_image\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m-\u001b[0m\u001b[1;36m150\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m(\u001b[0m\u001b[1;36m200\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m66\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m/\u001b[0m\u001b[1;36m255.0\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;31mIndexError\u001b[0m: list index out of range"
     ]
    }
   ],
   "source": [
    "img = cv2.imread('SelfDrivingCar/Autopilot-TensorFlow-master/steering_wheel_image.jpg',0)\n",
    "#img = Image.open('SelfDrivingCar/Autopilot-TensorFlow-master/steering_wheel_image.jpg')\n",
    "\n",
    "rows,cols = img.shape\n",
    "smoothed_angle = 0\n",
    "\n",
    "xs = []\n",
    "ys = []\n",
    "#points to the end of the last batch\n",
    "train_batch_pointer = 0\n",
    "val_batch_pointer = 0\n",
    "#read data.txt\n",
    "\n",
    "with open(\"SelfDrivingCar/Autopilot-TensorFlow-master/driving_dataset/data.txt\") as f:\n",
    "    for line in f:\n",
    "        xs.append(\"SelfDrivingCar/Autopilot-TensorFlow-master/driving_dataset/\" + line.split()[0])\n",
    "        #the paper by Nvidia uses the inverse of the turning radius,\n",
    "        #but steering wheel angle is proportional to the inverse of turning radius\n",
    "        #so the steering wheel angle in radians is used as the output\n",
    "        ys.append(float(line.split()[1]) * scipy.pi / 180)\n",
    "    \n",
    "#get number of images\n",
    "num_images = len(xs)\n",
    "print(num_images)\n",
    "\n",
    "i = math.ceil(num_images*0.8)\n",
    "print(\"Starting frameofvideo:\" +str(i))\n",
    "\n",
    "while(cv2.waitKey(10) != ord('q')):\n",
    "    full_image = cv2.imread(xs[i], 1)\n",
    "    show_image = cv2.resize(full_image, (700, 400))\n",
    "    image = np.array(cv2.resize(full_image[-150:], (200, 66)))/255.0\n",
    "    #full_image = Image.open(xs[i][-150:])\n",
    "    #image = np.array(full_image.resize((200,66)))/255.0\n",
    "    degrees = y.eval(feed_dict={x_input: [image], keep_prob: 1.0})[0][0] * 180.0 / scipy.pi\n",
    "    \n",
    "    print(\"Steering angle: \" + str(degrees) + \" (pred)\\t\" + str(ys[i]*180.0 /scipy.pi) + \"(actual)\")\n",
    "    cv2.imshow(\"frame\",show_image)\n",
    "    #cv2_imshow(full_image)\n",
    "    \n",
    "    smoothed_angle += 0.2 * pow(abs((degrees - smoothed_angle)), 2.0 / 3.0) * (degrees - smoothed_angle) / abs(degrees - smoothed_angle)\n",
    "    M = cv2.getRotationMatrix2D((cols/2,rows/2),-smoothed_angle,1)\n",
    "    dst = cv2.warpAffine(img,M,(cols,rows))\n",
    "    cv2.imshow(\"steering wheel\",dst)\n",
    "    #cv2_imshow(dst)\n",
    "    i += 1\n",
    "cv2.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 0,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "otGnOKKDuqbJ"
   },
   "outputs": [],
   "source": []
  }
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