diff --git a/run_dataset.py b/run_dataset.py index ea03423..f310bbd 100644 --- a/run_dataset.py +++ b/run_dataset.py @@ -15,11 +15,12 @@ i = 10000 while(cv2.waitKey(10) != ord('q')): - image = scipy.misc.imresize(scipy.misc.imread("driving_dataset/" + str(i) + ".jpg")[-150:], [66, 200]) / 255.0 + full_image = scipy.misc.imread("driving_dataset/" + str(i) + ".jpg", mode="RGB") + image = scipy.misc.imresize(full_image[-150:], [66, 200]) / 255.0 degrees = model.y.eval(feed_dict={model.x: [image], model.keep_prob: 1.0})[0][0] * 180.0 / scipy.pi call("clear") print("Predicted steering angle: " + str(degrees) + " degrees") - cv2.imshow("frame", image) + cv2.imshow("frame", cv2.cvtColor(full_image, cv2.COLOR_RGB2BGR)) #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)