cnn.py 文件源码

def decide(self, img_arr):
        if config.camera.crop_top or config.camera.crop_bottom:
            h, w, _ = img_arr.shape
            t = config.camera.crop_top
            l = h - config.camera.crop_bottom
            img_arr = img_arr[t:l, :]

        img_arr = np.interp(img_arr, config.camera.output_range,
                            config.model.input_range)
        img_arr = np.expand_dims(img_arr, axis=0)
        prediction = self.model.predict(img_arr)
        if len(prediction) == 2:
            yaw = methods.angle_to_yaw(prediction[0][0])
            throttle = prediction[1][0]
        else:
            yaw = methods.angle_to_yaw(prediction[0][0])
            throttle = 0

        avf = config.model.yaw_average_factor
        yaw = avf * self.yaw + (1.0 - avf) * yaw
        self.yaw = yaw
        return methods.yaw_to_angle(yaw), throttle