def assert_aug_pipelines(aug_pipelines: List[Pipeline]):
try:
assert all(isinstance(o, Pipeline) for o in aug_pipelines)
except:
raise Exception(
"Each augmentation pipeline needs to be an instance of Pipeline.")
try:
assert all(pipe.split_idx == 0 for pipe in aug_pipelines)
except:
raise Exception(
"Each Pipeline instance need to set to Pipeline(..., split_idx=0)")
def __init__(self,
c_targ_x,
c_targ_y,
base_dir,
targ_dir,
world,
img_dir=None,
show_freq=0,
abs_base_dir=0):
self.c_targ_x = c_targ_x
self.c_targ_y = c_targ_y
self.base_dir = base_dir
self.targ_dir = targ_dir
self.prev_targ_angle = 0
self.world = world
self.curr_x = self.world.x()
self.curr_y = self.world.y()
self.direction = 0
self.update_direction()
self.dist = math.inf
self.update_dist()
self.angle = 0
self.step = math.inf
self.all_angles = np.array([])
self.all_base_angles = np.array([])
self.abs_base_dir = abs_base_dir
self.left_throttle = 0
self.right_throttle = 0
self.img_dir = img_dir
if self.img_dir != None:
stack_conds = []
stack_conds.append(os.path.isdir(os.path.join(img_dir, "left")))
stack_conds.append(os.path.isdir(os.path.join(img_dir, "right")))
stack_conds.append(os.path.isdir(os.path.join(img_dir,
"straight")))
# if subdirectories exist, then stacking method not used
if all(stack_conds):
self.img_num_l = len(os.listdir(os.path.join(img_dir, "left")))
self.img_num_r = len(os.listdir(os.path.join(img_dir,
"right")))
self.img_num_s = len(
os.listdir(os.path.join(img_dir, "straight")))
self.stack_dir = False
else:
self.img_num = len(os.listdir(img_dir))
self.stack_dir = True
self.show_freq = show_freq
def _check_kernel_size_consistency(kernel_size):
if not (isinstance(kernel_size, tuple) or
(isinstance(kernel_size, list)
and all([isinstance(elem, tuple) for elem in kernel_size]))):
raise ValueError('`kernel_size` must be tuple or list of tuples')