import data
import config
import tools
cfg = config.PairTrainConfigs
tools.printf("Loading training data...")
train_data_gen = data.StatefulDataGen(cfg, "/home/cs4li/Dev/KITTI/dataset/",
["00", "01", "02", "03", "04", "05"])
# train_data_gen = data.StatefulDataGen(cfg, "/home/cs4li/Dev/KITTI/dataset/", ["01"], frames=[range(0, 100)])
tools.printf("Loading validation data...")
val_data_gen = data.StatefulDataGen(cfg,
"/home/cs4li/Dev/KITTI/dataset/", ["10"],
frames=[None])
import os
import model
import losses
import tensorflow as tf
import numpy as np
import time
import tools
# =================== MODEL + LOSSES + Optimizer ========================
inputs, is_training, fc_outputs = model.build_pair_training_model()
_, fc_labels = model.model_labels(cfg)
tools.printf("Building losses...")
with tf.device("/gpu:0"):
with tf.variable_scope("Losses"):
fc_losses = losses.pair_train_fc_losses(fc_outputs, fc_labels, cfg.k)
import data
import tensorflow as tf
with tf.device("/cpu:0"):
data.StatefulDataGen("/home/cs4li/Dev/KITTI/dataset/", ["00"])
import data
data.StatefulDataGen("/home/lichunshang/Dev/KITTI/dataset/", ["00", "02"])
if kitti_seq in [
"11", "12", "13", "14", "15", "16", "17", "18", "19", "20", "21"
]:
save_ground_truth = False
else:
save_ground_truth = True
cfg = config.PairCamEvalConfig
tools.printf("Building eval model....")
inputs, is_training, fc_outputs, = model.build_pair_model(cfg)
tools.printf("Loading training data...")
train_data_gen = data.StatefulDataGen(cfg,
"/home/cs4li/Dev/KITTI/dataset/",
[kitti_seq],
frames=[None])
results_dir_path = os.path.join(config.save_path, dir_name)
if not os.path.exists(results_dir_path):
os.makedirs(results_dir_path)
# ==== Read Model Checkpoints =====
restore_model_file = "/home/cs4li/Dev/end_to_end_visual_odometry/results/" \
"train_pair_20180409-23-44-54_75_epochs_0.125_loss/" \
"model_epoch_checkpoint-74"
variable_to_load = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES,
"^(cnn_layer|fc_layer).*")
tf_restore_saver = tf.train.Saver(variable_to_load)