Permalink
Join GitHub today
GitHub is home to over 28 million developers working together to host and review code, manage projects, and build software together.
Sign up
| import tensorflow as tf | |
| import scipy.misc | |
| import model | |
| import cv2 | |
| from subprocess import call | |
| sess = tf.InteractiveSession() | |
| saver = tf.train.Saver() | |
| saver.restore(sess, "save/model.ckpt") | |
| img = cv2.imread('steering_wheel_image.jpg',0) | |
| rows,cols = img.shape | |
| smoothed_angle = 0 | |
| cap = cv2.VideoCapture(0) | |
| while(cv2.waitKey(10) != ord('q')): | |
| ret, frame = cap.read() | |
| image = scipy.misc.imresize(frame, [66, 200]) / 255.0 | |
| degrees = model.y.eval(feed_dict={model.x: [image], model.keep_prob: 1.0})[0][0] * 180 / scipy.pi | |
| call("clear") | |
| print("Predicted steering angle: " + str(degrees) + " degrees") | |
| cv2.imshow('frame', frame) | |
| #make smooth angle transitions by turning the steering wheel based on the difference of the current angle | |
| #and the predicted angle | |
| smoothed_angle += 0.2 * pow(abs((degrees - smoothed_angle)), 2.0 / 3.0) * (degrees - smoothed_angle) / abs(degrees - smoothed_angle) | |
| M = cv2.getRotationMatrix2D((cols/2,rows/2),-smoothed_angle,1) | |
| dst = cv2.warpAffine(img,M,(cols,rows)) | |
| cv2.imshow("steering wheel", dst) | |
| cap.release() | |
| cv2.destroyAllWindows() |