# Run session
with tf.Session() as sess:
if is_saved_model_exist():
pass
else:
# Initiale mode must be 'training'
if is_test_mode:
raise ValueError("Test mode is not valid when a trained module doesn't exist")
# Training configuration
batch_size = config.batch_size
# Get a batch from the reader
reader = ImageReader(images_dir, labels_dir, data_list_file, (config.image_height, config.image_width),
False, False, 0)
inputs = reader.dequeue(batch_size)
image_batch = inputs[0] #batch size x height x width x 3
label_batch = inputs[1] #batch size x height x width x 1
# Load the model
mapping = model.get_mapping_model(image_batch, name='mapping')
# Initialize variables
sess.run(tf.global_variables_initializer())
# Loss and optimizer
loss = model.loss(mapping, label_batch)
optimizer = model.optimizer(loss)
# Run the data queue
import matplotlib.pyplot as plt
from PIL import Image
from imageReader import ImageReader
img = Image.open("./rg.png")
imr = ImageReader()
squares = imr.transfromImage(img, 15)
imgplot = plt.imshow(squares)
plt.show()
def testModel(model, X, y, nGesture):
nCorrect = 0
nGuess = np.zeros(nGesture)
for i in range(0, X.shape[0]):
guess = nn.infer(X[i], model)
nGuess[guess] = nGuess[guess] + 1
#print "Guess", i, ":", guess, "Actual :", np.argmax(y[i])
nCorrect = nCorrect + y[i][guess]
#print nCorrect, "correct out of", X.shape[0]
print "Accuracy :", nCorrect * 1.0 / X.shape[0] * 100.0, "%"
print "nGuesses :", nGuess
if __name__ == "__main__":
imageReader = ImageReader()
nHiddenLayer = 3
hiddenLayerSize = 1000
lmbda = 0.01
maxIter = 400
hiddenLayerSizes = []
for i in range(0, nHiddenLayer):
hiddenLayerSizes.append(hiddenLayerSize)
layerSizes = [imageReader.n] + hiddenLayerSizes + [imageReader.nGesture]
(X, y), (Xv, yv) = imageReader.readImages()
print len(X), "training data"
print len(Xv), "test data"
model = trainModel(layerSizes, X, y, lmbda, maxIter)
# temp = cv2.subtract(img,temp)
# skel = cv2.bitwise_or(skel,temp)
# img = eroded.copy()
# zeros = size - cv2.countNonZero(img)
# if zeros==size:
# done = True
#cv2.imshow("skel",skel)
#D* Lite Method ---------------------------------------------
newHeight = int(height * 0.1)
newWidth = int(width * 0.1)
dliteimage = cv2.resize(agvcmap.getImage(), (newWidth, newHeight))
cv2.imwrite('AGVCmap2.bmp', dliteimage)
robot = Robot(TEG.x, TEG.y, TEG.radius * 2)
imageMap = ImageReader()
imageMap.loadFile("AGVCmap2.bmp")
mapper.initalize(imageMap, robot)
moveGrid = imageMap.convertToGrid().copy()
##goal = point(3,17)
testdivider = 1
goal = point(int(newHeight / testdivider * 0.8),
int(newWidth / testdivider * 0.8))
#cv2.waitKey(0)
##mapper.printMoveGrid()
print "STARTIN LOOP"
moveId = 0
Xlength = mapper.grid.shape[0] / testdivider
def calculatePath(self):
height = self.map.height
width = self.map.width
newHeight = int(height*0.1)
newWidth = int(width*0.1)
dliteimage = cv2.resize(self.map.getImage(),(newWidth,newHeight))
cv2.imwrite('AGVCmap2.bmp', dliteimage)
robot = Robot(self.vehicle.x,self.vehicle.y,self.vehicle.radius*2)
imageMap = ImageReader()
imageMap.loadFile("AGVCmap2.bmp")
mapper.initalize(imageMap,robot)
moveGrid = imageMap.convertToGrid().copy()
##goal = point(3,17)
testdivider = 1
self.goal = point(int(newHeight/testdivider*0.8),int(newWidth/testdivider*0.8))
#cv2.waitKey(0)
##mapper.printMoveGrid()
print "STARTIN LOOP"
moveId=0
Xlength = mapper.grid.shape[0]/testdivider
Ylength = mapper.grid.shape[1]/testdivider
#dstar = dstar3.DStar(Xlength,Ylength,goal)
dstar = dlite.Dlite(Xlength,Ylength,self.goal,robot)
print "Entering Loop"
testvar = 0
#for i in range(10):
while (robot.y != self.goal.y or robot.x != self.goal.x) :
if testvar%2 == 0:
newObs = obstacle.Obstacle(random.randint(0,height),random.randint(0,width), 40)
self.map.placeObstacle(newObs,3)
self.obsList.append(newObs)
#Place obstacles on map
self.map.updateObstacles(self.obsList)
#Morph the obstacles
self.map.updateMorph();
dliteimage = cv2.resize(self.map.getImage(),(newWidth,newHeight))
cv2.imwrite('AGVCmap2.bmp', dliteimage)
imageMap.loadFile("AGVCmap2.bmp")
mapper.initalize(imageMap,robot)
moveGrid = imageMap.convertToGrid().copy()
testvar = testvar + 1
moveId = moveId+1
print moveId
if path.pathIsBroken(mapper.grid) :
path.restart()
print "The path is broken"
# dstar2.dstar(mapper, robot, goal, path)
dstar.dstar(mapper, robot, self.goal, path)
#dlite.dstar(robot,goal,path)
# # DstarLite.dstar(mapper, robot, goal, path)
# astar.astar(mapper, robot, goal, path)
pathNode=path.getNextMove()
robot.x = pathNode.x
robot.y = pathNode.y
mapper.moveGrid[pathNode.x][pathNode.y]="1"
#mapper.printMoveGrid()
self.vehicle.x = pathNode.x
self.vehicle.y = pathNode.y
self.vehicle.addPosition(pathNode.x,pathNode.y)
mapper.updateMap(robot)
#raw_input("TEST")
cv2.imshow('AGVC Map', self.map.getMap())
cv2.imshow('AGVC Map Morphed', self.map.getImage())
for i in range(len(self.vehicle.positions)):
self.map.placeRobot(self.vehicle.positions[i][1]*height/newHeight,self.vehicle.positions[i][0]*width/newWidth,self.vehicle.radius)
nPoints = len(self.vehicle.positions)
points = np.array(self.vehicle.positions)*height/newHeight
#points = np.random.rand(nPoints,2)*200
xpoints = [p[0] for p in points]
ypoints = [p[1] for p in points]
xvals, yvals = self.bezier_curve(points, nTimes=1000)
for i in range(len(xvals)):
self.map.placeRobot(int(yvals[i]),int(xvals[i]),self.vehicle.radius*2)
self.map.updateActObstacles(self.obsList)
cv2.waitKey(0)
# skel = cv2.bitwise_or(skel,temp)
# img = eroded.copy()
# zeros = size - cv2.countNonZero(img)
# if zeros==size:
# done = True
#cv2.imshow("skel",skel)
#D* Lite Method ---------------------------------------------
newHeight = int(height*0.1)
newWidth = int(width*0.1)
dliteimage = cv2.resize(agvcmap.getImage(),(newWidth,newHeight))
cv2.imwrite('AGVCmap2.bmp', dliteimage)
robot = Robot(TEG.x,TEG.y,TEG.radius*2)
imageMap = ImageReader()
imageMap.loadFile("AGVCmap2.bmp")
mapper.initalize(imageMap,robot)
moveGrid = imageMap.convertToGrid().copy()
##goal = point(3,17)
testdivider = 1
goal = point(int(newHeight/testdivider*0.8),int(newWidth/testdivider*0.8))
#cv2.waitKey(0)
##mapper.printMoveGrid()
print "STARTIN LOOP"
moveId=0
Xlength = mapper.grid.shape[0]/testdivider
Ylength = mapper.grid.shape[1]/testdivider
import time
import numpy as np
from imageReader import ImageReader
from keras.preprocessing.image import ImageDataGenerator
from cnn import CNN
if __name__ == "__main__":
imageReader = ImageReader()
cnn = CNN(imageReader.nGesture)
(X, y), (Xv, yv) = imageReader.readImages(make1d=False,
validationRatio=0.08)
print len(X), "training data"
print len(Xv), "test data"
imageGenerator = ImageDataGenerator()
cnn.train_gen(imageGenerator.flow(X, y, batch_size=16), len(X), Xv, yv)
trainAccuracy = cnn.test(X, y)
print "Training Accuracy :", trainAccuracy, "%"
valAccuracy = cnn.test(Xv, yv)
print "Test Accuracy :", valAccuracy, "%"
#imageGenerator = ImageDataGenerator()
#data = imageGenerator.flow_from_directory(directory='cropp', target_size=(100,100), color_mode='grayscale')
#test = imageGenerator.flow_from_directory(directory='ASLval', target_size=(100,100), color_mode='grayscale')
#cnn.train_gen(data, test)
#trainAccuracy = cnn.test_gen(data, 11296)
def calculatePath(self):
height = self.map.height
width = self.map.width
newHeight = int(height * 0.1)
newWidth = int(width * 0.1)
dliteimage = cv2.resize(self.map.getImage(), (newWidth, newHeight))
cv2.imwrite('AGVCmap2.bmp', dliteimage)
robot = Robot(self.vehicle.x, self.vehicle.y, self.vehicle.radius * 2)
imageMap = ImageReader()
imageMap.loadFile("AGVCmap2.bmp")
mapper.initalize(imageMap, robot)
moveGrid = imageMap.convertToGrid().copy()
##goal = point(3,17)
testdivider = 1
self.goal = point(int(newHeight / testdivider * 0.8),
int(newWidth / testdivider * 0.8))
#cv2.waitKey(0)
##mapper.printMoveGrid()
print "STARTIN LOOP"
moveId = 0
Xlength = mapper.grid.shape[0] / testdivider
Ylength = mapper.grid.shape[1] / testdivider
#dstar = dstar3.DStar(Xlength,Ylength,goal)
dstar = dlite.Dlite(Xlength, Ylength, self.goal, robot)
print "Entering Loop"
testvar = 0
#for i in range(10):
while (robot.y != self.goal.y or robot.x != self.goal.x):
if testvar % 2 == 0:
newObs = obstacle.Obstacle(random.randint(0, height),
random.randint(0, width), 40)
self.map.placeObstacle(newObs, 3)
self.obsList.append(newObs)
#Place obstacles on map
self.map.updateObstacles(self.obsList)
#Morph the obstacles
self.map.updateMorph()
dliteimage = cv2.resize(self.map.getImage(),
(newWidth, newHeight))
cv2.imwrite('AGVCmap2.bmp', dliteimage)
imageMap.loadFile("AGVCmap2.bmp")
mapper.initalize(imageMap, robot)
moveGrid = imageMap.convertToGrid().copy()
testvar = testvar + 1
moveId = moveId + 1
print moveId
if path.pathIsBroken(mapper.grid):
path.restart()
print "The path is broken"
# dstar2.dstar(mapper, robot, goal, path)
dstar.dstar(mapper, robot, self.goal, path)
#dlite.dstar(robot,goal,path)
# # DstarLite.dstar(mapper, robot, goal, path)
# astar.astar(mapper, robot, goal, path)
pathNode = path.getNextMove()
robot.x = pathNode.x
robot.y = pathNode.y
mapper.moveGrid[pathNode.x][pathNode.y] = "1"
#mapper.printMoveGrid()
self.vehicle.x = pathNode.x
self.vehicle.y = pathNode.y
self.vehicle.addPosition(pathNode.x, pathNode.y)
mapper.updateMap(robot)
#raw_input("TEST")
cv2.imshow('AGVC Map', self.map.getMap())
cv2.imshow('AGVC Map Morphed', self.map.getImage())
for i in range(len(self.vehicle.positions)):
self.map.placeRobot(
self.vehicle.positions[i][1] * height / newHeight,
self.vehicle.positions[i][0] * width / newWidth,
self.vehicle.radius)
nPoints = len(self.vehicle.positions)
points = np.array(self.vehicle.positions) * height / newHeight
#points = np.random.rand(nPoints,2)*200
xpoints = [p[0] for p in points]
ypoints = [p[1] for p in points]
xvals, yvals = self.bezier_curve(points, nTimes=1000)
for i in range(len(xvals)):
self.map.placeRobot(int(yvals[i]), int(xvals[i]),
self.vehicle.radius * 2)
self.map.updateActObstacles(self.obsList)
cv2.waitKey(0)
import path
import astar
#import dstar
#import dstar2
#import dstar3
import dlite
#import DstarLite
'''
config = ConfigParser.SafeConfigParser()
config.read("robot.ini")
'''
#robot = Robot(17,4,44)
robot = Robot(3,17,5)
imageMap = ImageReader()
imageMap.loadFile("../map.bmp")
mapper.initalize(imageMap,robot)
moveGrid = imageMap.convertToGrid().copy()
#goal = point(3,17)
goal = point(17,4)
mapper.printMoveGrid()
print "STARTIN LOOP"
moveId=0
Xlength = mapper.grid.shape[0]
Ylength = mapper.grid.shape[1]
#dstar = dstar3.DStar(Xlength,Ylength,goal)
dstar = dlite.Dlite(Xlength,Ylength,goal,robot)
