3rd data collection

balance_data.py

@@ -6,6 +6,8 @@ from random import shuffle
 data_size = 512
 minus = []
 plus = []
+zero = []
+
 for i in range(0,16):
 	minus.append([])
 	plus.append([])
@@ -29,7 +31,7 @@ for file_name in file_list:
 
 			# if the steering wheel angle in in right to the center
 			if(int_data > 550):
-				int_data = int_data - 4095
+				int_data = int_data - 4096
 				int_decimal = 1 - int_decimal 
 				steering_angle = int_data - int_decimal
 			else:
@@ -42,33 +44,32 @@ for file_name in file_list:
 				continue
 
 			if int_data == 0:
-				if int_data > steering_angle:
-					minus[int_data].append([data[0], data[1]])
-				else:
-					plus[int_data].append([data[0], data[1]])
+				zero.append([data[0], data[1]])
 			elif int_data > 0:
 				plus[int_data].append([data[0], data[1]])
 			else:
 				int_data = int_data * -1
 				minus[int_data].append([data[0], data[1]])
 
-for i in range(0,16):
+print("zero :",len(zero))
+for i in range(1,16):
 	print("minus[{}] :".format(i),len(minus[i]),"plus[{}] :".format(i), len(plus[i]))
 
 
-for i in range(0,16):
+shuffle(zero)
+zero = zero[:data_size]
+for i in range(1,16):
 	shuffle(minus[i])
 	shuffle(plus[i]) 
 
 	minus[i] = minus[i][:data_size]
 	plus[i] = plus[i][:data_size]
 
-
-for i in range(0,16):
+print("zero :",len(zero))
+for i in range(1,16):
 	print("minus[{}] :".format(i),len(minus[i]),"plus[{}] :".format(i), len(plus[i]))
 
-
-for i in range(0,16):
+for i in range(1,16):
 	if len(minus[i]) != data_size:
 		while True:
 			minus[i] = minus[i] + minus[i] 
@@ -80,27 +81,30 @@ for i in range(0,16):
 			plus[i] = plus[i] + plus[i] 
 			if len(plus[i]) >= data_size:
 				break
-for i in range(0,16):
+
+print("zero :",len(zero))
+for i in range(1,16):
 	print("minus[{}] :".format(i),len(minus[i]),"plus[{}] :".format(i), len(plus[i]))
 
-for i in range(0,16):
+for i in range(1,16):
 	shuffle(minus[i])
 	shuffle(plus[i]) 
 
 	minus[i] = minus[i][:data_size]
 	plus[i] = plus[i][:data_size]
 
-for i in range(0,16):
+print("zero :",len(zero))
+for i in range(1,16):
 	print("minus[{}] :".format(i),len(minus[i]),"plus[{}] :".format(i), len(plus[i]))
-	
+
 
 batch_size = 64
 batch = int(data_size / batch_size)
 #print(data_size/batch_size , batch)
 
 for j in range(batch):
-	temp_list = []
-	for i in range(0,16):
+	temp_list = zero[j*batch_size:(j+1)*batch_size]
+	for i in range(1,16):
 		temp_list = temp_list + minus[i][j*batch_size:(j+1)*batch_size]
 		#print("temp_minus : " , len(temp_minus))
 		temp_list = temp_list + plus[i][j*batch_size:(j+1)*batch_size]

eval.py

@@ -9,7 +9,7 @@ import numpy as np
 
 sess = tf.InteractiveSession()
 saver = tf.train.Saver()
-saver.restore(sess, "./model_1")
+saver.restore(sess, "./weight/MSE_without-0_4.model")
 
 file_list = os.listdir('/raw_data/eval_data')
 for file in file_list:

get_train_data.py

@@ -26,7 +26,7 @@ def train_data(file_name):
 
 		# if the steering wheel angle in in right to the center
 		if(int_data > 550):
-			int_data = int_data - 4095
+			int_data = int_data - 4096
 			int_decimal = 1 - int_decimal 
 			final_data = int_data - int_decimal
 		else:

get_val_data.py

@@ -32,7 +32,7 @@ def val_data():
 
 				# if the steering wheel angle in in right to the center
 				if(int_data > 550):
-					int_data = int_data - 4095
+					int_data = int_data - 4096
 					int_decimal = 1 - int_decimal 
 					final_data = int_data - int_decimal
 				else:

train.py

@@ -51,7 +51,7 @@ for i in range(params.epoch):
 
 				print ("epoch {} of {}, batch {} of {}, train loss {}, val loss {}".format(i, params.epoch,iteration,batch_iteration,t_loss, v_loss))
 
-	model_name = "MSE_{}.model".format(i)
+	model_name = "./weight/MSE_without-0_{}.model".format(i)
 	save_path = saver.save(sess, model_name)