Muosvr

# Converts angle from a float number to binary code for the neural net classifier (also known as one hot encoding)
# In this case it is divided into 15 brackets, represented by an array of 14 zeros and 1 one. 
# The location or index of the one amount the zeros indicate where the float falls in that range.
def to_bin(a):
    arr = np.zeros(15)
    a = a + 1
    b = round(a/(2/14))
    arr[int(b)] = 1
    return arr

Muosvr

#3DCNN base model
img_in3D = Input(shape=(3, 120, 160, 3), name='img_in') 
x = img_in3D x = Cropping3D(cropping = ((0, 0),(60, 0),(0, 0)))(x) 
x = Convolution3D(8, (3, 3, 3), strides=(1, 2, 2), activation='relu')(x)
x = MaxPooling3D(pool_size=(1, 2, 2))(x) 
x = BatchNormalization()(x) x = Dropout(0.1)(x)  
x = Flatten(name='flattened')(x) 
x = Dense(50, activation='relu')(x) 
x = Dropout(0.2)(x)