prepare_data.py 文件源码

def _append_adjusted_images(self, row):
        """
        Specifies what the needed transformations for a specific row are and appends them to X/y_train

        Parameters
        ----------
        row : dict
            A row from the CSV file
        """
        angle = float(row[3])
        ANGLE_ADJUST = 0.25 # How much to adjust angle for left/right camera

        # Add the image from the central camera
        if abs(float(row[3])) > 0.01: #Do not flip images with angle close to 0. This helps balance the data
            self._append_brightness_adjusts(row[0], angle, False)
            self._append_brightness_adjusts(row[0], angle, True)
        else:
            self._append_to_list(row[0], angle)

        # Add images from left/right camera
        self._append_brightness_adjusts(row[1], angle + ANGLE_ADJUST, False)
        self._append_brightness_adjusts(row[2], angle - ANGLE_ADJUST, False)
        # Add images from left/right camera, flipped
        self._append_brightness_adjusts(row[1], angle + ANGLE_ADJUST, True)
        self._append_brightness_adjusts(row[2], angle - ANGLE_ADJUST, True)