def select_data(dataset, keys):
"""
Given a dataset with the float data and a set of keys, get the subset of these keys.
Args:
dataset:
keys:
Returns:
"""
if g_conf.DATA_USED == 'central':
camera_names = \
dataset.measurements[np.where(dataset.meta_data[:, 0] == b'camera'), :][0][0]
keys = splitter.label_split(camera_names, keys, [[1]])[0]
elif g_conf.DATA_USED == 'sides':
camera_names = \
dataset.measurements[np.where(dataset.meta_data[:, 0] == b'camera'), :][0][0]
keys = splitter.label_split(camera_names, keys, [[0, 2]])[0]
elif g_conf.DATA_USED != 'all':
raise ValueError(" Invalid data used keyname")
if not g_conf.USE_NOISE_DATA:
steerings = dataset.measurements[np.where(
dataset.meta_data[:, 0] == b'steer'), :][0][0]
steerings_noise = dataset.measurements[np.where(
dataset.meta_data[:, 0] == b'steer_noise'), :][0][0]
noise_vec = steerings[:] != steerings_noise[:]
non_noise_data = splitter.label_split(noise_vec, keys, [[0]])
keys = list(set(non_noise_data[0]).intersection(set(keys)))
return keys
def test_real_data(self):
dataset = CoILDataset(self.root_test_dir)
steerings = dataset.measurements[0, :]
print(dataset.meta_data)
# TODO: read meta data and turn into a coool dictionary ?
print(np.where(dataset.meta_data[:, 0] == 'control'))
labels = dataset.measurements[24, :]
print(np.unique(labels))
keys = range(0, len(steerings))
splitted_labels = splitter.label_split(
labels, keys, g_conf.param.INPUT.LABELS_DIVISION)
# print (splitted_labels)
# Another level of splitting
splitted_steer_labels = []
for keys in splitted_labels:
splitter_steer = splitter.float_split(
steerings, keys, g_conf.param.INPUT.STEERING_DIVISION)
splitted_steer_labels.append(splitter_steer)
#weights = [1.0/len(g_conf.param.INPUT.STEERING_DIVISION)]*len(g_conf.param.INPUT.STEERING_DIVISION)
sampler = CoILSampler(splitted_steer_labels)
for i in BatchSampler(sampler, 120, False):
print(i)
def test_split_sequence(self):
measurements = self.generate_float_data()
labels = self.generate_label_data()
g_conf.param.MISC.NUMBER_IMAGES_SEQUENCE = 20
keys = range(0, measurements.shape[0])
splitted_labels = splitter.label_split(
labels, keys, g_conf.param.INPUT.LABELS_DIVISION)
# Another level of splitting
splitted_steer_labels = []
for keys in splitted_labels:
splitter_steer = splitter.float_split(
measurements, keys, g_conf.param.INPUT.STEERING_DIVISION)
for i in range(0, len(splitter_steer)):
sum_now = 0
for key in splitter_steer[i]:
sum_now += measurements[key]
avg_now = sum_now / len(splitter_steer[i])
print(avg_now)
#if i > 0:
#self.assertLess(avg_previous, avg_now)
avg_previous = avg_now
splitted_steer_labels.append(splitter_steer)
def test_split_real_data(self):
root_test_dir = 'testing/unit_tests/data'
dataset = CoILDataset(root_test_dir)
steerings = dataset.measurements[0, :]
print(dataset.meta_data)
# TODO: read meta data and turn into a coool dictionary ?
print(np.where(dataset.meta_data[:, 0] == 'control'))
labels = dataset.measurements[np.where(
dataset.meta_data[:, 0] == 'control'), :]
print(labels)
print(np.unique(labels))
keys = range(0, len(steerings))
splitted_labels = splitter.label_split(
labels[0][0], keys, g_conf.param.INPUT.LABELS_DIVISION)
print(splitted_labels)
# Another level of splitting
splitted_steer_labels = []
for keys in splitted_labels:
splitter_steer = splitter.float_split(
steerings, keys, g_conf.param.INPUT.STEERING_DIVISION)
print(splitter_steer)
for i in range(0, len(splitter_steer)):
sum_now = 0
for key in splitter_steer[i]:
sum_now += steerings[key]
avg_now = sum_now / len(splitter_steer[i])
#print (avg_now)
if i > 0:
self.assertLess(avg_previous, avg_now)
avg_previous = avg_now
splitted_steer_labels.append(splitter_steer)
def test_split_real_data(self):
root_test_dir = '/home/felipe/Datasets/CVPR02Noise/SeqTrain'
print('SPLITING REAL DATA !')
dataset = CoILDataset(root_test_dir)
steerings = dataset.measurements[0, :]
print(dataset.meta_data)
print(dataset.meta_data[:, 0])
print(" Where is control ",
np.where(dataset.meta_data[:, 0] == b'control'))
labels = dataset.measurements[np.where(
dataset.meta_data[:, 0] == b'control'), :]
keys = range(0, len(steerings))
print(labels)
splitted_labels = splitter.label_split(labels[0][0], keys,
g_conf.LABELS_DIVISION)
# Another level of splitting
splitted_steer_labels = []
for keys in splitted_labels:
splitter_steer = splitter.float_split(steerings, keys,
g_conf.STEERING_DIVISION)
print(splitter_steer)
for i in range(0, len(splitter_steer)):
sum_now = 0
for key in splitter_steer[i]:
sum_now += steerings[key]
avg_now = sum_now / len(splitter_steer[i])
#print (avg_now)
if i > 0:
self.assertLess(avg_previous, avg_now)
avg_previous = avg_now
splitted_steer_labels.append(splitter_steer)
def test_real_data_central_sampler(self):
try:
os.mkdir('_images')
except:
pass
augmenter = Augmenter(g_conf.AUGMENTATION)
dataset = CoILDataset('/home/felipe/Datasets/1HoursW1-3-6-8',
augmenter)
g_conf.NUMBER_IMAGES_SEQUENCE = 1
g_conf.SEQUENCE_STRIDE = 1
#g_conf.LABELS_DIVISION = [[0,2,5], [0,2,5], [0,2,5]]
g_conf.NUMBER_ITERATIONS = 1200
g_conf.BATCH_SIZE = 120
steerings = dataset.measurements[0, :]
# TODO: read meta data and turn into a coool dictionary ?
labels = dataset.measurements[24, :]
print(np.unique(labels))
print('position of camera',
np.where(dataset.meta_data[:, 0] == b'camera'))
camera_names = dataset.measurements[np.where(
dataset.meta_data[:, 0] == b'camera'), :][0][0]
print(" Camera names ")
print(camera_names)
keys = range(0, len(steerings) - g_conf.NUMBER_IMAGES_SEQUENCE)
one_camera_data = splitter.label_split(camera_names, keys, [[0]])
splitted_steer_labels = splitter.control_steer_split(
dataset.measurements, dataset.meta_data, one_camera_data[0])
for split_1 in splitted_steer_labels:
for split_2 in split_1:
for split_3 in split_2:
if split_3 not in one_camera_data[0]:
raise ValueError("not one camera")
#weights = [1.0/len(g_conf.STEERING_DIVISION)]*len(g_conf.STEERING_DIVISION)
#sampler = BatchSequenceSampler(splitted_steer_labels, 0, 120, g_conf.NUMBER_IMAGES_SEQUENCE,
# g_conf.SEQUENCE_STRIDE, False)
sampler = SubsetSampler(one_camera_data[0])
big_steer_vec = []
count = 0
data_loader = torch.utils.data.DataLoader(dataset,
sampler=sampler,
batch_size=120,
num_workers=12,
pin_memory=True)
for data in data_loader:
image, measurements = data
print(image['rgb'].shape)
for i in range(120):
name = '_images/' + str(count) + '.png'
image_to_save = transforms.ToPILImage()(
image['rgb'][i][0].cpu())
image_to_save.save(name)
count += 1
