def train():
cfg = get_config()
inpts = tf.placeholder(tf.float32,
[cfg['batch'], cfg['prev_leng'], cfg['dims']])
outs = tf.placeholder(
tf.float32,
[cfg['batch'], cfg['pred_ext'] + cfg['fut_leng'], cfg['dims']])
#mod=model.rec_model(cfg)
mod = model.rec_model(cfg)
# opti= tf.train.RMSPropOptimizer(cfg['lr'], decay=0.9, momentum=0.5)
opti = tf.train.AdamOptimizer(cfg['lr'])
os.environ["CUDA_VISIBLE_DEVICES"] = str(cfg['GPU'])
if (cfg['clipping']):
gvs = opti.compute_gradients(mod.loss)
capped_gvs = [(ClipIfNotNone(grad), var) for grad, var in gvs]
mini = opti.apply_gradients(capped_gvs)
else:
mini = opti.minimize(mod.loss)
loader = utils.Loader(cfg)
init = tf.initializers.global_variables()
saver = tf.train.Saver()
if (cfg['type'] != 3):
newp = str(time.time()).split(
".")[0][-5:] + "_" + cfg['prefix'] + "_" + "-".join(
nms[i] for i in range(cfg['type'] + 1)) + str(
cfg['prev_leng']) + "_" + str(cfg['fut_leng']) + "_" + str(
cfg['units']) + "_" + str(
cfg['lat_size']) + "_" + "_".join(
name_generator.get_combo())
else:
newp = str(time.time()).split(
".")[0][-5:] + "_" + cfg['prefix'] + "_" + nms[cfg['type']] + str(
cfg['prev_leng']) + "_" + str(cfg['fut_leng']) + "_" + str(
cfg['units']) + "_" + str(
cfg['lat_size']) + "_" + "_".join(
name_generator.get_combo())
os.mkdir(newp)
os.mkdir(newp + "/model")
os.mkdir(newp + "/data")
shutil.copy("config.yaml", newp + "/data/" + "config.yaml")
tf.summary.scalar("loss", mod.loss)
tf.summary.scalar("leng_loss", mod.leng_loss)
tf.summary.scalar("dirs_loss", mod.dirs_loss)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
merge = tf.summary.merge_all()
with tf.Session(config=config) as sess:
if (cfg['load'] == "True"):
saver.restore(sess, cfg['load_path'])
print("LOADED MODEL at " + cfg['load_path'])
else:
sess.run(init)
train_writer = tf.summary.FileWriter("logs/" + newp, sess.graph)
#test_writer = tf.summary.FileWriter(newp + "/data", sess.graph)
print(newp)
for e in range(cfg['epochs']):
x, gt, f, box, info, img = loader.serve_test()
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
summary, ls, o = sess.run(
[merge, mod.loss, mod.out],
feed_dict={
inpts: x,
outs: tot,
mod.target: tot,
mod.inputs: x,
mod.drop: 1.0,
mod.feats: f,
mod.box: box,
mod.image: img
})
print(info[0])
# for k in range(min(16,len(info))):
# im=drawer.draw_points(o[k],x[k],gt[k],cfg,info[k])
# im.save(newp+"/"+str(e)+"_"+str(k)+".png")
for i in range(0, loader.total_data // cfg['batch']):
# print(str(e)+" _ "+str(i))
x, gt, f, box, info, img = loader.serve()
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
ls, _, o = sess.run(
[mod.loss, mini, mod.out],
feed_dict={
inpts: x,
outs: tot,
mod.target: tot,
mod.image: img,
mod.inputs: x,
mod.box: box,
mod.feats: f,
mod.drop: 0.7
})
if (i % 400 == 0):
print("TRAIN ", ls)
if (i % 400 == 0):
summ = 0
for tst in range(0, 20):
x, gt, f, box, info, img = loader.serve_test()
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
summary, ls, o = sess.run(
[merge, mod.loss, mod.out],
feed_dict={
inpts: x,
mod.image: img,
mod.drop: 1.0,
outs: tot,
mod.target: tot,
mod.box: box,
mod.inputs: x,
mod.feats: f
})
summ += ls
for k in range(4):
im = drawer.draw_points(o[k], x[k], gt[k], cfg,
info[k], box[k])
im.save(newp + "/" + str(e) + "_" + str(tst) +
"_" + str(k) + ".png")
# print(x[0])
train_writer.add_summary(summary,
(loader.total_data * e) + i)
print(
str(summ / 20.0) + " iteration " + str(i) + "of " +
str(loader.total_data // cfg['batch']) +
" ,at epoch " + str(e) + " of " + str(cfg['epochs']))
# x, gt, f, box, info, img = loader.serve_test()
#
# tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
# summary, ls, o = sess.run([merge, mod.loss, mod.out],
# feed_dict={inpts: x, mod.image: img, outs: tot, mod.target: tot,
# mod.inputs: x, mod.feats: f, mod.box: box})
# print(info[0])
#drawer.points_alone(o[k],x[k],gt[k],k,newp)
if (i % 4000 == 0):
print("SAVING " + newp)
saver.save(sess, newp + "/model/model.ckpt")
# if(e%3==0):
# x, gt, f, box,info,img = loader.serve_test()
#
# tot = np.concatenate([x[:,-cfg['pred_ext']:], gt], -2)
# summary, ls, o = sess.run([merge, mod.loss, mod.out],
# feed_dict={inpts: x,mod.image:img, outs: tot, mod.target: tot, mod.inputs: x, mod.feats: f,mod.box:box})
# print(info[0])
# for k in range(min(16,len(info))):
# im=drawer.draw_points(o[k],x[k],gt[k],cfg,info[k])
#
# im.save(newp+"/"+str(e)+"_"+str(k)+".png")#"#str("_".join(info[i]))+".png")
print("SAVING " + newp)
saver.save(sess, newp + "/model/model.ckpt")
def train_GAN():
cfg = get_config()
os.environ["CUDA_VISIBLE_DEVICES"] = str(cfg['GPU'])
inpts = tf.placeholder(tf.float32,
[cfg['batch'], cfg['prev_leng'], cfg['dims']])
outs = tf.placeholder(
tf.float32,
[cfg['batch'], cfg['pred_ext'] + cfg['fut_leng'], cfg['dims']])
real_imgs = tf.placeholder(tf.float32, shape=[cfg['batch'], 128, 256, 5])
# mod=model.rec_model(cfg)
mod = model.rec_model(cfg)
optimizer = tf.train.AdamOptimizer(cfg['lr'])
r_logits = mod.discrim(inpts, outs, real_imgs)
f_logits = mod.discrim(inpts, mod.out, real_imgs, reuse=True)
r_loss = tf.reduce_mean(
tf.nn.sigmoid_cross_entropy_with_logits(logits=r_logits,
labels=tf.ones_like(r_logits)))
f_loss = tf.reduce_mean(
tf.nn.sigmoid_cross_entropy_with_logits(
logits=f_logits, labels=tf.zeros_like(f_logits)))
disc_loss = tf.reduce_mean(
tf.nn.sigmoid_cross_entropy_with_logits(
logits=r_logits, labels=tf.ones_like(r_logits) * 0.9) +
tf.nn.sigmoid_cross_entropy_with_logits(
logits=f_logits, labels=tf.zeros_like(f_logits)))
d_opti = tf.train.AdamOptimizer(cfg['d_lr'])
dim_opti = tf.train.AdamOptimizer(cfg['im_d_lr'])
gen_loss = tf.reduce_mean(
tf.nn.sigmoid_cross_entropy_with_logits(logits=f_logits,
labels=tf.ones_like(f_logits) *
0.9))
wei = cfg['wei']
alpha = tf.placeholder(dtype=tf.float32)
d_step = d_opti.minimize(disc_loss,
var_list=tf.get_collection(
tf.GraphKeys.GLOBAL_VARIABLES, scope='DISCR'))
dim_step = dim_opti.minimize(disc_loss,
var_list=tf.get_collection(
tf.GraphKeys.GLOBAL_VARIABLES,
scope='DIM'))
gvs = optimizer.compute_gradients(mod.loss + gen_loss * alpha,
var_list=tf.get_collection(
tf.GraphKeys.GLOBAL_VARIABLES,
scope='GEN'))
print(tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='GEN'))
print("============================================================")
print(tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='DISCR'))
capped_gvs = [(ClipIfNotNone(grad), var) for grad, var in gvs]
mini = optimizer.apply_gradients(capped_gvs)
loader = utils.Loader(cfg)
init = tf.initializers.global_variables()
saver = tf.train.Saver()
init = tf.initializers.global_variables()
saver = tf.train.Saver()
newp = str(time.time(
)).split(".")[0][-4:] + "_" + cfg['prefix'] + "_" + "-".join(
nms[i]
for i in range(cfg['type'] + 1)) + str(cfg['prev_leng']) + "_" + str(
cfg['fut_leng']) + "_" + "_".join(name_generator.get_combo())
os.mkdir(newp)
os.mkdir(newp + "/model")
os.mkdir(newp + "/data")
shutil.copy("config.yaml", newp + "/data/" + "config.yaml")
tf.summary.scalar("loss", mod.loss)
tf.summary.scalar("leng_loss", mod.leng_loss)
tf.summary.scalar("dirs_loss", mod.dirs_loss)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
merge = tf.summary.merge_all()
with tf.Session(config=config) as sess:
if (cfg['load'] == "True"):
saver.restore(sess, cfg['load_path'])
print("LOADED MODEL at " + cfg['load_path'])
else:
sess.run(init)
train_writer = tf.summary.FileWriter("logs/" + newp, sess.graph)
# test_writer = tf.summary.FileWriter(newp + "/data", sess.graph)
print("OK")
for e in range(cfg['epochs']):
wei = max(wei + 0.1, 1.0)
# x, gt, f, box, info, img = loader.serve_test()
# tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
# summary, ls, o = sess.run([merge, mod.loss, mod.out],
# feed_dict={inpts: x, outs: tot, mod.target: tot, mod.inputs: x, mod.feats: f,
# mod.box: box, mod.image: img})
# print(info[0])
#
# for k in range(min(16, len(info))):
# im = drawer.draw_points(o[k], x[k], gt[k], cfg, info[k])
# im.save(newp + "/" + str(e) + "_" + str(k) + ".png")
for i in range(0, loader.total_data // cfg['batch']):
# print(str(e)+" _ "+str(i))
for k in range(cfg["disc_runs_per_gen_runs"]):
x, gt, f, box, info, img = loader.serve()
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
sess.run(
[d_step, dim_step],
feed_dict={
inpts: x,
outs: tot,
mod.target: tot,
mod.image: img,
mod.inputs: x,
mod.box: box,
mod.feats: f,
real_imgs: img
})
ls, _, o = sess.run(
[mod.loss, mini, mod.out],
feed_dict={
inpts: x,
outs: tot,
mod.target: tot,
mod.image: img,
mod.inputs: x,
mod.box: box,
mod.feats: f,
real_imgs: img,
alpha: wei
})
if (i % 200 == 0):
summ = 0
d_summ = 0
fake_loss = 0
real_loss = 0
g_l = 0
for tst in range(0, 20):
x, gt, f, box, info, img = loader.serve_test()
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
summary, ls, o, gl = sess.run(
[merge, mod.loss, mod.out, gen_loss],
feed_dict={
inpts: x,
mod.image: img,
outs: tot,
mod.target: tot,
mod.box: box,
mod.inputs: x,
mod.feats: f,
real_imgs: img
})
rl, fl, dls, r_l, f_l = sess.run(
[r_logits, f_logits, disc_loss, r_loss, f_loss],
feed_dict={
inpts: x,
outs: tot,
mod.target: tot,
mod.image: img,
mod.inputs: x,
mod.box: box,
mod.feats: f,
real_imgs: img
})
summ += ls + gl
g_l += gl
d_summ += dls
fake_loss += f_l
real_loss += r_l
# print(x[0])
train_writer.add_summary(summary,
(loader.total_data * e) + i)
print("fake: " + str(fake_loss / 20.0) + " real: " +
str(real_loss / 20.0))
print("GEN_TOTAL: " + str(summ / 20.0) + " DISC: " +
str(d_summ / 20.0) + " GEN_ADVERSARIAL:" +
str(gl / 20.0) + " iteration " + str(i) + "of " +
str(loader.total_data // cfg['batch']) +
" ,at epoch " + str(e) + " of " + str(cfg['epochs']))
if (i % 200 == 0):
x, gt, f, box, info, img = loader.serve_test()
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
summary, ls, o = sess.run(
[merge, mod.loss, mod.out],
feed_dict={
inpts: x,
mod.image: img,
outs: tot,
mod.target: tot,
mod.inputs: x,
mod.feats: f,
mod.box: box,
real_imgs: img
})
for k in range(min(16, len(info))):
im = drawer.draw_points(o[k], x[k], gt[k], cfg,
info[k])
im.save(newp + "/" + str(e) + "_" + str(k) +
".png") # "#str("_".join(info[i]))+".png")
if (i % 2000 == 0):
saver.save(sess, newp + "/model/model.ckpt")
def test_gan():
cfg = get_config()
filtered = True
cfg['batch'] = 1
inpts = tf.placeholder(tf.float32, [cfg['batch'], cfg['prev_leng'], cfg['dims']])
outs = tf.placeholder(tf.float32, [cfg['batch'], cfg['pred_ext'] + cfg['fut_leng'], cfg['dims']])
mod = model.rec_model(cfg)
# loader = utils.Loader(cfg)
optimizer = tf.train.AdamOptimizer(cfg['lr'])
# mini=opti.minimize(mod.loss)
gvs = optimizer.compute_gradients(mod.loss)
capped_gvs = [(tf.clip_by_value(grad, -1., 1.), var) for grad, var in gvs]
mini = optimizer.apply_gradients(capped_gvs)
init = tf.initializers.global_variables()
saver = tf.train.Saver()
newp = str(time.time()).split(".")[0][-4:] + "_test_" + cfg["load_path"].split("/")[-3]
os.mkdir(newp)
os.mkdir(newp + "/model")
os.mkdir(newp + "/data")
os.mkdir(newp+"/imgs")
total = []
test_paths=[d for d in os.listdir("../kitti_rev2/training/")]
for t in test_paths:
os.mkdir(newp+"/imgs/"+t)
with tf.Session() as sess:
if (cfg['load'] == "True"):
saver.restore(sess, cfg['load_path'])
else:
"TESTING must have load=true"
exit()
print("OK")
jsons, tot, file_names = loader(test_paths)
for i, d in enumerate(jsons):
df={}
f_keys = d.keys()
for frame in f_keys:
df[frame]={}
img, sx, sy = get_segm("../kitti_rev2/training/"+file_names[i], frame)
for object in d[frame]:
df[frame][object]={}
cls = d[frame][object]["track_class_name"]
if (len(d[frame][object]["future"]) >= cfg['fut_leng']) and (
len(d[frame][object]["past"]) >= cfg['prev_leng'] - 1):
gt = np.clip(np.array(d[frame][object]["future"][0:cfg['fut_leng']]), -1000, 3000)
past = np.clip(np.array(d[frame][object]["past"][-cfg['prev_leng'] + 1:]), -1000, 3000)
if (np.sqrt(np.sum(np.square(gt[-1]-past[0])))>80) or not filtered:
pres = np.array(d[frame][object]["present"])
bbox = d[frame][object]["box"]
bbox[0] = bbox[0] / float(sy)
bbox[1] = bbox[1] / float(sy)
bbox[2] = bbox[2] / float(sy)
bbox[3] = bbox[3] / float(sy)
X = np.concatenate((past, np.expand_dims(pres, 0)), 0)
tot = smooth(np.concatenate((X, gt), 0))
xo=tot[0:cfg['prev_leng']]
x = xo /(float(sy),float(sy))
gto=tot[cfg['prev_leng']:]
gt = gto /(float(sy),float(sy))
x=np.expand_dims(x,0)
gt = np.expand_dims(gt, 0)
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
imx=np.expand_dims(img,0)
o = sess.run(mod.out,
feed_dict={inpts: x, mod.image: imx,
outs: tot, mod.target: tot, mod.box: bbox,
mod.inputs: x})
o_scaled=scale_up(o,sy,sy)
gt_scaled=gto
df[frame][object]["past"] = xo.tolist()
df[frame][object]["gt"] = gt_scaled.tolist()
df[frame][object]["pred"] = o_scaled.tolist()
df[frame][object]["class"] = cls
###############
ot=(newp+"/imgs/"+file_names[i].split("/"[0:-1]))
#[pt, frame, object, sx, sy, cls]
im = drawer.draw_points(o_scaled, xo, gt_scaled, cfg,[ot,file_names[i][-1],"0000",sx,sy,"test"],bbox)
im.save(newp+"/imgs/"+file_names[i])
#################
with open(newp + "/data/"+file_names[i]+".json","w") as out_f:
json.dump(df,out_f,sort_keys=True)
f = open(newp + "/dat", "w")
f.write(str(set(total)))
f.close()
def test_broken(cf):
cfg = cf
print("TEST_")
filtered = True
os.environ["CUDA_VISIBLE_DEVICES"] = "1"
inpts = tf.placeholder(tf.float32, [cfg['batch'], cfg['prev_leng'], cfg['dims']])
outs = tf.placeholder(tf.float32, [cfg['batch'], cfg['pred_ext'] + cfg['fut_leng'], cfg['dims']])
#mod = model.rec_model(cfg)
cfg['old']=True
newp = str(time.time()).split(".")[0][-4:] + "_test_" + cfg["load_path"].split("/")[-3]
if (filtered):
newp += "_FILTERED"
os.mkdir(newp)
os.mkdir(newp + "/model")
os.mkdir(newp + "/data")
os.mkdir(newp + "/imgs")
cfg['center']=False
total = []
test_paths = [d for d in os.listdir("../kitti_rev2/training/")]
for t in test_paths:
os.mkdir(newp + "/imgs/" + t)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
print(cfg['load'], cfg['load_path'])
if (cfg['load'] == True):
saver = tf.train.import_meta_graph("/".join(cfg['load_path'].split("/")[0:-2])+"/model/model.ckpt.meta")
saver.restore(sess, tf.train.latest_checkpoint("/".join(cfg['load_path'].split("/")[0:-2])+"/model/"))
graph = tf.get_default_graph()
graph_def = sess.graph.as_graph_def(add_shapes=True)
coll=graph.get_all_collection_keys()
mod=graph
c=0
tensors_per_node = [node.values() for node in graph.get_operations()]
tensor_names = [(tensor.name, tensor) for tensors in tensors_per_node for tensor in tensors if tensor.name.startswith("GEN/DEC/dense")]
# (u'Placeholder:0', < tf.Tensor 'Placeholder:0' shape=(1, 10, 2)dtype = float32 >),
# (u'Placeholder_1:0', < tf.Tensor 'Placeholder_1:0' shape=(1, 31, 2)dtype = float32 >),
# (u'Placeholder_2:0', < tf.Tensor 'Placeholder_2:0' shape=(32, 10, 2)dtype = float32 >),
# (u'Placeholder_1_1:0', < tf.Tensor 'Placeholder_1_1:0' shape=(32, 31, 2)dtype = float32 >),
# (u'Placeholder_2_1:0', < tf.Tensor 'Placeholder_2_1:0' shape=(32, 10, 2)dtype = float32 >),
# (u'Placeholder_3:0', < tf.Tensor 'Placeholder_3:0' shape=(32, 31, 2)dtype = float32 >),
# (u'Placeholder_4:0', < tf.Tensor 'Placeholder_4:0' shape=(32, 4)dtype = float32 >),
# (u'Placeholder_5:0', < tf.Tensor 'Placeholder_5:0' shape=(32, 128)dtype = float32 >),
# (u'Placeholder_6:0', < tf.Tensor 'Placeholder_6:0' shape=(32,) dtype = float32 >),
# (u'Placeholder_7:0', < tf.Tensor 'Placeholder_7:0' shape=(32,)dtype = float32 >),
# (u'Placeholder_8:0', < tf.Tensor 'Placeholder_8:0' shape=(32,)dtype = float32 >),
# (u'Placeholder_9:0', < tf.Tensor 'Placeholder_9:0' shape=(32, 128, 256)dtype = float32 >)
for t in tensor_names:
print(t)
out=graph.get_tensor_by_name("GEN/DEC/dense/Tensordot:0")
b_out=graph.get_tensor_by_name("GEN/DEC/dense/BiasAdd:0")
inpts=graph.get_tensor_by_name("Placeholder:0")
targ=graph.get_tensor_by_name("Placeholder_2_1:0")
images = graph.get_tensor_by_name("Placeholder_9:0")
outs=graph.get_tensor_by_name("Placeholder_1:0")
boc=graph.get_tensor_by_name("Placeholder_4:0")
else:
print("TESTING must have load=True")
exit()
jsons, tot, file_names, vmf = loader(test_paths)
for i, d in enumerate(jsons):
print(i)
df = {}
f_keys = d.keys()
for frame in f_keys:
df[frame] = {}
img, sx, sy = get_segm("../kitti_rev2/training/" + str(file_names[i]), frame)
for object in d[frame]:
df[frame][object] = {}
cls = d[frame][object]["track_class_name"]
if (len(d[frame][object]["future"]) >= cfg['fut_leng']) and (
len(d[frame][object]["past"]) >= cfg['prev_leng'] - 1):
gt = np.clip(np.array(d[frame][object]["future"][0:cfg['fut_leng']]), -1000, 3000)
past = np.clip(np.array(d[frame][object]["past"][-cfg['prev_leng'] + 1:]), -1000, 3000)
fact=4.0
if (np.sqrt(np.sum(np.square(gt[-1] - past[0]))) > 60) or not filtered:
pres = np.array(d[frame][object]["present"])
bbox = d[frame][object]["box"]
bbox[0] = (bbox[0] / (sx /fact))
bbox[1] = (bbox[1] / float(sy))
bbox[2] = (bbox[2] / (sx / fact))
bbox[3] = (bbox[3] / float(sy))
bbox = np.array(bbox)
o_bbox = bbox
bbox = np.expand_dims(bbox, 0)
X = np.concatenate((past, np.expand_dims(pres, 0)), 0)
#conc = np.concatenate((X, gt), 0) / np.array(((float(sy)), float(sy)))
conc = np.concatenate((X, gt), 0) / np.array((sx/4.0,sy))
tot = smooth(conc)
xo = tot[0:cfg['prev_leng']]
x = xo
gto = tot[cfg['prev_leng']:]
old = gto
old_x = x
gt = gto
x = np.expand_dims(x, 0)
gt = np.expand_dims(gt, 0)
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
imx = np.expand_dims(img, 0)
# o = sess.run(out,
# feed_dict={inpts: x, mod.image: imx, outs: tot, mod.target: tot, mod.box: bbox,
# mod.inputs: x})
##########################
#HORRIBLE
x=np.tile(x,[cfg['batch'],1,1])
imx = np.tile(imx, [cfg['batch'], 1, 1])
tot= np.tile(tot, [cfg['batch'], 1, 1])
bbox=np.tile(bbox, [cfg['batch'], 1])
##########################
o,bias = sess.run([out,b_out],feed_dict={inpts: x,images:imx,targ:x, outs:tot,boc:bbox})
o=bias
poins = o[0]
o_scaled = poins * (sx / fact, float(sy))
gto = gto
gt_scaled = gto * (sx / fact, float(sy))
xo = xo
xo = xo * (sx / fact, float(sy))
df[frame][object]["past"] = xo.tolist()
df[frame][object]["gt"] = gt_scaled.tolist()
df[frame][object]["pred"] = o_scaled.tolist()
df[frame][object]["class"] = cls
im = drawer.draw_points(o[0], old_x, old, cfg,
["../kitti_rev2/training/" + str(file_names[i]), frame, "0000", sx,
sy, "test"], o_bbox)
im.save(newp + "/imgs/" + file_names[i] + "/" + frame + ".png")
with open(newp + "/data/" + file_names[i] + ".json", "w") as out_f:
json.dump(df, out_f, sort_keys=True)
f = open(newp + "/dat", "w")
f.write(str(set(total)))
f.close()
def test(cf):
cfg = cf
print("TEST_")
filtered=True
cfg['batch']=1
cfg['old']=False
cfg['inverted']=False
os.environ["CUDA_VISIBLE_DEVICES"] = "1"#str(cfg['GPU'])
inpts = tf.placeholder(tf.float32, [cfg['batch'], cfg['prev_leng'], cfg['dims']])
outs = tf.placeholder(tf.float32, [cfg['batch'], cfg['pred_ext'] + cfg['fut_leng'], cfg['dims']])
mod = model.rec_model(cfg)
saver = tf.train.Saver()
newp = str(time.time()).split(".")[0][-4:] + "_test_" + cfg["load_path"].split("/")[-3]
if (filtered):
newp+="_FILTERED"
os.mkdir(newp)
os.mkdir(newp + "/model")
os.mkdir(newp + "/data")
os.mkdir(newp + "/imgs")
total = []
test_paths=[d for d in os.listdir("../kitti_rev2/training/")]
for t in test_paths:
os.mkdir(newp+"/imgs/"+t)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
print(cfg['load'],cfg['load_path'] )
if (cfg['load'] == True):
saver = tf.train.import_meta_graph("/".join(cfg['load_path'].split("/")[0:-2]) + "/model/model.ckpt.meta")
graph = tf.get_default_graph()
print_tensors_in_checkpoint_file(cfg['load_path'], all_tensors=False, tensor_name='DEC/DEC/gru_cell/candidate/bias',all_tensor_names=False)
#saver.restore(sess, cfg['load_path'])
for v in graph.get_all_collection_keys():
vars=graph.get_collection(v)
for v in vars:
print(v)
saver.restore(sess, cfg['load_path'])
print("MODEL LOADED")
else:
print("TESTING must have load=True")
exit()
jsons, tot, file_names,vmf = loader(test_paths)
for i, d in enumerate(jsons):
print(i)
df={}
f_keys = d.keys()
for frame in f_keys:
df[frame]={}
img, sx, sy = get_segm_new("../kitti_rev2/training/"+str(file_names[i])+"/deeplab_cache", frame)
for object in d[frame]:
df[frame][object]={}
cls = d[frame][object]["track_class_name"]
if (len(d[frame][object]["future"]) >= cfg['fut_leng']) and (
len(d[frame][object]["past"]) >= cfg['prev_leng'] - 1):
gt = np.clip(np.array(d[frame][object]["future"][0:cfg['fut_leng']]), -1000, 3000)
past = np.clip(np.array(d[frame][object]["past"][-cfg['prev_leng'] + 1:]), -1000, 3000)
if (np.sqrt(np.sum(np.square(gt[-1]-past[0])))>80) or not filtered:
pres = np.array(d[frame][object]["present"])
bbox = d[frame][object]["box"]
bbox[0] = (bbox[0] / (sx / 2.0)) - 1.0
bbox[1] = (bbox[1] / float(sy)) - 0.5
bbox[2] = (bbox[2] / (sx / 2.0)) - 1.0
bbox[3] = (bbox[3] / float(sy)) - 0.5
bbox=np.array(bbox)
o_bbox=bbox
bbox=np.expand_dims(bbox,0)
X = np.concatenate((past, np.expand_dims(pres, 0)), 0)
conc = np.concatenate((X, gt), 0) / np.array(((sx / 2.0), float(sy)))
conc = conc - np.array([1.0, 0.5])
tot = smooth(conc)
xo=tot[0:cfg['prev_leng']]
x = xo
gto=tot[cfg['prev_leng']:]
old=gto
old_x=x
gt = gto
x=np.expand_dims(x,0)
gt = np.expand_dims(gt, 0)
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
imx=np.expand_dims(img,0)
o = sess.run(mod.out,
feed_dict={inpts: x, mod.image: imx, outs: tot, mod.target: tot,mod.box:bbox,
mod.inputs: x,mod.drop:1.0})
poins = o[0] + np.array([1.0, 0.5])
o_scaled = poins * (sx / 2.0, float(sy))
gto = gto + np.array([1.0, 0.5])
gt_scaled=gto* (sx / 2.0, float(sy))
xo = xo + np.array([1.0, 0.5])
xo=xo* (sx / 2.0, sy)
df[frame][object]["past"] = xo.tolist()
df[frame][object]["gt"] = gt_scaled.tolist()
df[frame][object]["pred"] = o_scaled.tolist()
df[frame][object]["class"] = cls
im = drawer.draw_points(o[0], old_x, old, cfg,["../kitti_rev2/training/"+str(file_names[i]),frame,"0000",sx,sy,"test"],o_bbox)
im.save(newp+"/imgs/"+file_names[i]+"/"+frame+".png")
with open(newp + "/data/"+file_names[i]+".json","w") as out_f:
json.dump(df,out_f,sort_keys=True)
f = open(newp + "/dat", "w")
f.write(str(set(total)))
f.close()
def _test(cf):
cfg = cf
print("TEST_")
filtered=True
cfg['batch']=1
os.environ["CUDA_VISIBLE_DEVICES"] = str(cfg['GPU'])
inpts = tf.placeholder(tf.float32, [cfg['batch'], cfg['prev_leng'], cfg['dims']])
outs = tf.placeholder(tf.float32, [cfg['batch'], cfg['pred_ext'] + cfg['fut_leng'], cfg['dims']])
mod = model.rec_model(cfg)
saver = tf.train.Saver()
newp = str(time.time()).split(".")[0][-4:] + "_test_" + cfg["load_path"].split("/")[-3]
if (filtered):
newp+="_FILTERED"
os.mkdir(newp)
os.mkdir(newp + "/model")
os.mkdir(newp + "/data")
os.mkdir(newp + "/imgs")
total = []
test_paths=[d for d in os.listdir("../kitti_rev2/training/")]
for t in test_paths:
os.mkdir(newp+"/imgs/"+t)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
print(cfg['load'],cfg['load_path'] )
if (cfg['load'] == True):
saver.restore(sess, cfg['load_path'])
print("MODEL LOADED")
else:
print("TESTING must have load=True")
exit()
jsons, tot, file_names = loader(test_paths)
for i, d in enumerate(jsons):
print(i)
df={}
f_keys = d.keys()
for frame in f_keys:
df[frame]={}
img, sx, sy = get_segm_new("../kitti_rev2/training/"+str(file_names[i])+"/deeplab_cache", frame)
for object in d[frame]:
df[frame][object]={}
cls = d[frame][object]["track_class_name"]
if (len(d[frame][object]["future"]) >= cfg['fut_leng']) and (
len(d[frame][object]["past"]) >= cfg['prev_leng'] - 1):
gt = np.clip(np.array(d[frame][object]["future"][0:cfg['fut_leng']]), -1000, 3000)
past = np.clip(np.array(d[frame][object]["past"][-cfg['prev_leng'] + 1:]), -1000, 3000)
if (np.sqrt(np.sum(np.square(gt[-1]-past[0])))>80) or not filtered:
pres = np.array(d[frame][object]["present"])
bbox = d[frame][object]["box"]
bbox[0] = bbox[0] / float(sy)
bbox[1] = bbox[1] / float(sy)
bbox[2] = bbox[2] / float(sy)
bbox[3] = bbox[3] / float(sy)
bbox=np.array(bbox)
bbox=np.expand_dims(bbox,0)
X = np.concatenate((past, np.expand_dims(pres, 0)), 0)
tot = smooth(np.concatenate((X, gt), 0))
xo=tot[0:cfg['prev_leng']]
x = xo /(float(sy),float(sy))
gto=tot[cfg['prev_leng']:]
gt = gto /(float(sy),float(sy))
x=np.expand_dims(x,0)
gt = np.expand_dims(gt, 0)
tot = np.concatenate([x[:, -cfg['pred_ext']:], gt], -2)
imx=np.expand_dims(img,0)
o = sess.run(mod.out,
feed_dict={inpts: x, mod.image: imx, outs: tot, mod.target: tot,mod.box:bbox,
mod.inputs: x})
o_scaled=scale_up(o[0],sy,sy)
gt_scaled=gto
df[frame][object]["past"] = xo.tolist()
df[frame][object]["gt"] = gt_scaled.tolist()
df[frame][object]["pred"] = o_scaled.tolist()
df[frame][object]["class"] = cls
########
ot=(newp+"/imgs/"+file_names[i].split("/"[0:-1]))
#[pt, frame, object, sx, sy, cls]
im = drawer.draw_points(o_scaled, xo, gt_scaled, cfg,[ot,file_names[i][-1],"0000",sx,sy,"test"],bbox)
im.save(newp+"/imgs/"+file_names[i])
########
with open(newp + "/data/"+file_names[i]+".json","w") as out_f:
json.dump(df,out_f,sort_keys=True)
f = open(newp + "/dat", "w")
f.write(str(set(total)))
f.close()