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