def process_batch(self, batch_sample):
steering_angle = np.float32(batch_sample[3])
images, steering_angles = [], []
for image_path_index in range(3):
image_name = batch_sample[image_path_index].split('/')[-1]
image = cv2.imread(self.image_path + image_name)
rgb_image = utils.bgr2rgb(image)
resized = utils.crop_and_resize(rgb_image)
images.append(resized)
if image_path_index == 1:
steering_angles.append(steering_angle + self.correction_factor)
elif image_path_index == 2:
steering_angles.append(steering_angle - self.correction_factor)
else:
steering_angles.append(steering_angle)
if image_path_index == 0:
flipped_center_image = utils.flipimg(resized)
images.append(flipped_center_image)
steering_angles.append(-steering_angle)
return images, steering_angles
import cv2
import utils
img_left_original = cv2.imread(
"./MyData06/IMG/left_2019_08_11_15_35_48_328.jpg")
img_center_original = cv2.imread(
"./MyData06/IMG/center_2019_08_11_15_35_48_328.jpg")
img_right_original = cv2.imread(
"./MyData06/IMG/right_2019_08_11_15_35_48_328.jpg")
img_l_o_rgb = utils.bgr2rgb(img_left_original)
img_c_o_rgb = utils.bgr2rgb(img_center_original)
img_r_o_rgb = utils.bgr2rgb(img_right_original)
img_left_cropped = utils.crop_and_resize(img_l_o_rgb)
img_center_cropped = utils.crop_and_resize(img_c_o_rgb)
img_right_cropped = utils.crop_and_resize(img_r_o_rgb)
img_left_cropped = cv2.cvtColor(img_left_cropped, cv2.COLOR_RGB2BGR)
img_center_cropped = cv2.cvtColor(img_center_cropped, cv2.COLOR_RGB2BGR)
img_right_cropped = cv2.cvtColor(img_right_cropped, cv2.COLOR_RGB2BGR)
cv2.imwrite("./images/img_left_cropped.jpg", img_left_cropped)
cv2.imwrite("./images/img_center_cropped.jpg", img_center_cropped)
cv2.imwrite("./images/img_right_cropped.jpg", img_right_cropped)
img_left_flipped = utils.flipimg(img_left_cropped)
img_center_flipped = utils.flipimg(img_center_cropped)
img_right_flipped = utils.flipimg(img_right_cropped)
cv2.imwrite("./images/img_left_flipped.jpg", img_left_flipped)
cv2.imwrite("./images/img_center_flipped.jpg", img_center_flipped)
cv2.imwrite("./images/img_right_flipped.jpg", img_right_flipped)