def test_custom_templates():
template_names = ["complete", "basic_web", "square"]
for template in template_names:
path = custom_template(d2_path(gettempdir()), template=template)
cfg = m1.load_config(os.path.join(path, 'config.py'))
assert (cfg != None)
mcfg = m1.load_config(os.path.join(path, 'myconfig.py'))
assert (mcfg != None)
def test_drive():
path = default_template(d2_path(gettempdir()))
myconfig = open(os.path.join(path, 'myconfig.py'), "wt")
myconfig.write("CAMERA_TYPE = 'MOCK'\n")
myconfig.write("DRIVE_TRAIN_TYPE = 'None'")
myconfig.close()
cfg = m1.load_config(os.path.join(path, 'config.py'))
cfg.MAX_LOOPS = 10
complete.drive(cfg=cfg)
def run(self, args, parser):
'''
Load the images from a tub and create a movie from them.
Movie
'''
if args.tub is None:
print("ERR>> --tub argument missing.")
parser.print_help()
return
if args.type is None and args.model is not None:
print(
"ERR>> --type argument missing. Required when providing a model."
)
parser.print_help()
return
if args.salient:
if args.model is None:
print(
"ERR>> salient visualization requires a model. Pass with the --model arg."
)
parser.print_help()
conf = os.path.expanduser(args.config)
if not os.path.exists(conf):
print("No config file at location: %s. Add --config to specify\
location or run from dir containing config.py." % conf)
return
self.cfg = m1.load_config(conf)
self.tub = Tub(args.tub)
self.index = self.tub.get_index(shuffled=False)
start = args.start
self.end = args.end if args.end != -1 else len(self.index)
if self.end >= len(self.index):
self.end = len(self.index) - 1
num_frames = self.end - start
self.iRec = start
self.scale = args.scale
self.keras_part = None
self.do_salient = False
if args.model is not None:
self.keras_part = get_model_by_type(args.type, cfg=self.cfg)
self.keras_part.load(args.model)
self.keras_part.compile()
if args.salient:
self.do_salient = self.init_salient(self.keras_part.model)
print('making movie', args.out, 'from', num_frames, 'images')
clip = mpy.VideoClip(self.make_frame,
duration=((num_frames - 1) /
self.cfg.DRIVE_LOOP_HZ))
clip.write_videofile(args.out, fps=self.cfg.DRIVE_LOOP_HZ)
def main(tub_path, count):
cfg = m1.load_config('config.py')
records_paths = gather_records(cfg, tub_path)
record_name = "user/angle"
num_bins = 20
half_bins = num_bins // 2
bins = {}
records = []
for i in range(num_bins):
bins[i] = []
if len(records_paths) <= count:
print("we have fewer records than target count.")
return
#put the record in a bin based on angle. expecting -1 to 1
for record_path in records_paths:
with open(record_path, 'r') as fp:
record = json.load(fp)
user_angle = float(record["user/angle"])
record["filename"] = record_path
iBin = round((user_angle * half_bins) + (half_bins - 1)) % num_bins
bins[iBin].append(record)
records.append(record)
for i in range(num_bins):
print("iBin:", len(bins[i]))
keep = []
iBin = 0
while len(keep) < count:
iBin += 1
if iBin >= num_bins:
iBin = 0
num_elem = len(bins[iBin])
if num_elem > 0:
iRec = random.randint(0, num_elem - 1)
rec = bins[iBin].pop(iRec)
keep.append(rec)
print("have", count, "records selected. removing the rest...")
for record in records:
if record in keep:
continue
img_filename = os.path.join(tub_path, record['cam/image_array'])
os.unlink(img_filename)
os.unlink(record["filename"])
print('done')
def load_config(config_path):
'''
load a config from the given path
'''
conf = os.path.expanduser(config_path)
if not os.path.exists(conf):
print("No config file at location: %s. Add --config to specify\
location or run from dir containing config.py." % conf)
return None
try:
cfg = m1.load_config(conf)
except:
print("Exception while loading config from", conf)
return None
return cfg
def profile(model_path, model_type):
cfg = m1.load_config('config.py')
model_path = os.path.expanduser(model_path)
model = m1.utils.get_model_by_type(model_type, cfg)
model.load(model_path)
count, h, w, ch = 1, cfg.TARGET_H, cfg.TARGET_W, cfg.TARGET_D
seq_len = 0
if "rnn" in model_type or "3d" in model_type:
seq_len = cfg.SEQUENCE_LENGTH
#generate random array in the right shape
img = np.random.rand(int(h), int(w), int(ch)).astype(np.uint8)
if seq_len:
img_arr = []
for i in range(seq_len):
img_arr.append(img)
img_arr = np.array(img_arr)
#make a timer obj
timer = FPSTimer()
try:
while True:
'''
run forward pass on model
'''
if seq_len:
model.run(img_arr)
else:
model.run(img)
'''
keep track of iterations and give feed back on iter/sec
'''
timer.on_frame()
except KeyboardInterrupt:
pass
zero_pulse=cfg.THROTTLE_STOPPED_PWM,
min_pulse=cfg.THROTTLE_REVERSE_PWM)
V.add(steering, inputs=['steering'])
V.add(throttle, inputs=['throttle'])
#add tub to save data
inputs=['cam/image_array',
'steering', 'throttle']
types=['image_array',
'float', 'float']
th = TubHandler(path=cfg.DATA_PATH)
tub = th.new_tub_writer(inputs=inputs, types=types)
V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')
#run the vehicle
V.start(rate_hz=cfg.DRIVE_LOOP_HZ,
max_loop_count=cfg.MAX_LOOPS)
if __name__ == '__main__':
args = docopt(__doc__)
cfg = m1.load_config()
if args['drive']:
drive(cfg)
"""
import os
import time
import math
from docopt import docopt
import irmark1 as m1
from irmark1.parts.cv import CvImageView, ImgBGR2RGB, ImgRGB2BGR, ImageScale, ImgWriter
from irmark1.parts.salient import SalientVis
from irmark1.parts.network import ZMQValueSub, UDPValueSub, TCPClientValue
from irmark1.parts.transform import Lambda
from irmark1.parts.image import JpgToImgArr
V = m1.vehicle.Vehicle()
args = docopt(__doc__)
cfg = m1.load_config(args['--config'])
model_path = args['--model']
model_type = args['--type']
ip = args['--ip']
if model_type is None:
model_type = "categorical"
model = m1.utils.get_model_by_type(model_type, cfg)
model.load(model_path)
V.add(TCPClientValue(name="camera", host=ip), outputs=["packet"])
V.add(JpgToImgArr(), inputs=["packet"], outputs=["img"])
V.add(ImgBGR2RGB(), inputs=["img"], outputs=["img"])
V.add(SalientVis(model), inputs=["img"], outputs=["img"])
def test_config():
path = default_template(d2_path(gettempdir()))
cfg = m1.load_config(os.path.join(path, 'config.py'))
assert (cfg != None)
