drive_model.py 文件源码

def run(self):

         # check that model Keras version is same as local Keras version
         f = h5py.File('/home/wil/ros/catkin_ws/src/diy_driverless_car_ROS/rover_ml/behavior_cloning/src/behavior_cloning/model.h5', mode='r')
         model_version = f.attrs.get('keras_version')
         keras_version = None
         keras_version = str(keras_version).encode('utf8')

         if model_version != keras_version:
             print('You are using Keras version ', keras_version, ', but the model was built using ', model_version)

         model = load_model('/home/wil/ros/catkin_ws/src/diy_driverless_car_ROS/rover_ml/behavior_cloning/src/behavior_cloning/model.h5')

         print("Model loaded.")

         while True:
             # Only run loop if we have an image
             if self.imgRcvd:

                 # step 1: 
                 self.resized_image = cv2.resize(self.latestImage, (320,180)) 

                 # step 2: 
                 image_array = np.asarray(self.resized_image)

                 # step 3: 

                 self.cmdvel.linear.x = 0.2
                 self.cmdvel.angular.z = float(model.predict(image_array[None, :, :, :], batch_size=1))

                 #print(self.cmdvel.angular.z)

                 self.cmdVel_publish(self.cmdvel)

                 # Publish Processed Image
                 self.outputImage = self.latestImage
                 self.publish(self.outputImage, self.bridge,  self.image_pub)