From ce58df8a6dc7447af23810f9f08a30294f54b899 Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Fri, 31 Dec 2021 18:47:21 +0100
Subject: [PATCH] refactor: inference result

---
 pkg/steering/steering.go | 18 ++++++++++--------
 pkg/tools/tools.go       |  4 ++--
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/pkg/steering/steering.go b/pkg/steering/steering.go
index c3e4a34..b107e13 100644
--- a/pkg/steering/steering.go
+++ b/pkg/steering/steering.go
@@ -211,17 +211,19 @@ func (p *Part) Value(img image.Image) (float32, float32, error) {
 		return 0., 0., fmt.Errorf("invoke failed: %v", status)
 	}
 
-	output := p.interpreter.GetOutputTensor(0)
+	output := p.interpreter.GetOutputTensor(0).Int8s()
+	zap.L().Debug("raw steering", zap.Int8s("result", output))
 
-	outputSize := output.Dim(output.NumDims() - 1)
+	//outputSize := output.Dim(output.NumDims() - 1)
 
-	b := make([]byte, outputSize)
-	status = output.CopyToBuffer(&b[0])
-	if status != tflite.OK {
-		return 0., 0., fmt.Errorf("output failed: %v", status)
-	}
+	//b := make([]byte, outputSize)
+	//status = output.CopyToBuffer(&b[0])
+	//if status != tflite.OK {
+	//		return 0., 0., fmt.Errorf("output failed: %v", status)
+	//}
 
-	steering, score := tools.LinearBin(b, 15, -1, 2.0)
+	steering, score := tools.LinearBin(output, 15, -1, 2.0)
+	//steering, score := tools.LinearBin(b, 15, -1, 2.0)
 	zap.L().Debug("found steering",
 		zap.Float64("steering", steering),
 		zap.Float64("score", score),
diff --git a/pkg/tools/tools.go b/pkg/tools/tools.go
index ca6697a..9f139c6 100644
--- a/pkg/tools/tools.go
+++ b/pkg/tools/tools.go
@@ -7,7 +7,7 @@ import (
 )
 
 // LinearBin  perform inverse linear_bin, taking
-func LinearBin(arr []byte, n int, offset int, r float64) (float64, float64) {
+func LinearBin(arr []int8, n int, offset int, r float64) (float64, float64) {
 	outputSize := len(arr)
 	type result struct {
 		score float64
@@ -17,7 +17,7 @@ func LinearBin(arr []byte, n int, offset int, r float64) (float64, float64) {
 	var results []result
 	minScore := 0.2
 	for i := 0; i < outputSize; i++ {
-		score := float64(arr[i]) / 255.0
+		score := float64(int(arr[i])+128) / 255.0
 		if score < minScore {
 			continue
 		}