Added smoother steering

Alpslee · Oct 2, 2016 · d3bb3ee · d3bb3ee
1 parent 65e4a3b
commit d3bb3ee
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Showing 2 changed files with 13 additions and 3 deletions.
diff --git a/run.py b/run.py
@@ -11,6 +11,8 @@
 img = cv2.imread('steering_wheel_image.jpg',0)
 rows,cols = img.shape
 
+smoothed_angle = 0
+
 cap = cv2.VideoCapture(0)
 while(cv2.waitKey(10) != ord('q')):
     ret, frame = cap.read()
@@ -19,7 +21,10 @@
     call("clear")
     print("Predicted steering angle: " + str(degrees) + " degrees")
     cv2.imshow('frame', frame)
-    M = cv2.getRotationMatrix2D((cols/2,rows/2),-degrees,1)
+    #make smooth angle transitions by turning the steering wheel based on the difference of the current angle
+    #and the predicted angle
+    smoothed_angle += 0.2 * pow(abs((degrees - smoothed_angle)), 2.0 / 3.0) * (degrees - smoothed_angle) / abs(degrees - smoothed_angle)
+    M = cv2.getRotationMatrix2D((cols/2,rows/2),-smoothed_angle,1)
     dst = cv2.warpAffine(img,M,(cols,rows))
     cv2.imshow("steering wheel", dst)
 

diff --git a/run_dataset.py b/run_dataset.py
@@ -11,14 +11,19 @@
 img = cv2.imread('steering_wheel_image.jpg',0)
 rows,cols = img.shape
 
-i = 0
+smoothed_angle = 0
+
+i = 10000
 while(cv2.waitKey(10) != ord('q')):
     image = scipy.misc.imresize(scipy.misc.imread("driving_dataset/" + str(i) + ".jpg")[-150:], [66, 200]) / 255.0
     degrees = model.y.eval(feed_dict={model.x: [image], model.keep_prob: 1.0})[0][0] * 180.0 / scipy.pi
     call("clear")
     print("Predicted steering angle: " + str(degrees) + " degrees")
     cv2.imshow("frame", image)
-    M = cv2.getRotationMatrix2D((cols/2,rows/2),-degrees,1)
+    #make smooth angle transitions by turning the steering wheel based on the difference of the current angle
+    #and the predicted angle
+    smoothed_angle += 0.2 * pow(abs((degrees - smoothed_angle)), 2.0 / 3.0) * (degrees - smoothed_angle) / abs(degrees - smoothed_angle)
+    M = cv2.getRotationMatrix2D((cols/2,rows/2),-smoothed_angle,1)
     dst = cv2.warpAffine(img,M,(cols,rows))
     cv2.imshow("steering wheel", dst)
     i += 1