drive_by_cnn.py 文件源码

def drive(self):
        ''' Get the image infront and 
        '''
        latest_image = self.cozmo.world.latest_image
        screen  = np.array(latest_image.raw_image)
        screen  = cv2.resize(screen, (200, 120), interpolation=cv2.INTER_CUBIC)                                                         
        cv2.imshow('window1', screen)
        cv2.imwrite("./a.jpg", screen)

        image =  screen.astype(dtype=np.float32)/255.0

        key_code = self.model.y_out.eval(session=self.sess, feed_dict={self.model.x: [image], 
                                              self.model.keep_prob_fc1:1.0, self.model.keep_prob_fc2:1.0, 
                                              self.model.keep_prob_fc3:1.0, self.model.keep_prob_fc4:1.0})

        print ("after judgeing, key_code is", key_code )

        self.go_driving(key_code)