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)