model.py 文件源码

def road_mapper(self, frame):

        road_spots = self.road_spotter(frame)

        #road_map = np.zeros(np.shape(road_spots), np.float)

        #First we deal with all the points
        road_map[:, 1, :] = self.camera_height * np.tan(self.camera_to_ground_arc + 
                    road_spots[:, 0, :] * self.camera_arc_x/self.crop_ratio[1])
        road_map[:, 0, :] = np.multiply( np.power( ( np.power(self.camera_height, 2) +
                     np.power(road_map[:, 1, :], 2) ), 0.5 ) , np.tan(self.camera_offset_y +
                      (road_spots[:, 1, :]-0.5)*self.camera_arc_y ) )

        return road_map

    # pilot_mk1 is currently only built for low speed operation