| """Run a checkpoint on one image: python example.py frame.jpg [drive-v5.pt]""" | |
| import sys | |
| import numpy as np | |
| from PIL import Image | |
| from driver import Driver | |
| image = sys.argv[1] if len(sys.argv) > 1 else None | |
| weights = sys.argv[2] if len(sys.argv) > 2 else "drive-v5.pt" | |
| driver = Driver(weights) | |
| frame = ( | |
| np.asarray(Image.open(image).convert("RGB").resize((480, 270))) | |
| if image | |
| else np.full((270, 480, 3), 110, dtype=np.uint8) | |
| ) | |
| mask, line, speed = driver.predict_drive(frame) | |
| print(f"{weights}: pavement share {float((mask > 0.5).mean()):.2f}") | |
| for k, ((x, y), v) in enumerate(zip(line, speed, strict=True)): | |
| print(f" waypoint {k:2d}: {x:5.1f} m ahead, {y:+5.2f} m left, wants {v:4.1f} m/s") | |