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readdataset.py
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readdataset.py
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import csv
import cv2
def ReadDataset():
images = []
steerings = []
with open("../data_end2end/driving_log.csv") as fileHandle:
csvReader = csv.reader(fileHandle)
for line in csvReader:
# Read center image
source_path_center = line[0]
image_center = cv2.imread(source_path_center)
image_rgb_center = cv2.cvtColor(image_center, cv2.COLOR_BGR2RGB)
images.append(image_rgb_center)
steering = float(line[3])
steerings.append(steering)
# Read left image
source_path_left = line[1]
image_left = cv2.imread(source_path_left)
image_rgb_left = cv2.cvtColor(image_left, cv2.COLOR_BGR2RGB)
images.append(image_rgb_left)
steering_left = steering + 0.2
steerings.append(steering_left)
# Read right image
source_path_right = line[2]
image_right = cv2.imread(source_path_right)
image_rgb_right = cv2.cvtColor(image_right, cv2.COLOR_BGR2RGB)
images.append(image_rgb_right)
steering_right = steering - 0.2
steerings.append(steering_right)
# Return the lists for read images and steering measurements as a tuple.
return images, steerings
if __name__ == "__main__":
ReadDataset()