# label.set_fontsize(8)
if epsilons is not None:
ax2 = ax.twinx()
ax2.set_ymargin(0.)
ax2.set_xmargin(0.)
ax2.autoscale(False)
ax2.plot(domain, epsilons, 'r--', alpha=0.5)
ax2.set_ylabel("$\epsilon$-greedy schedule", color='tab:red')
for label in ax2.yaxis.get_ticklabels():
label.set_color('tab:red')
# %% Load all the data
path = os.path.join('data', "trial47.tsv")
frame, action_columns = load_frame(path)
# %% Analysis
ONLY_SUCCESSES = False
SHOW_REGRESSIONS = False
NORMALIZE_DISTS = True
if ONLY_SUCCESSES:
frame = frame.loc[frame.success]
groups = frame.groupby(lambda ix: ix // 251)
X = np.arange(1000).reshape(-1, 1)
epsilons = groups.apply(avg_epsilon)
# Compute the average iteration number each 100 epochs
fig, ax = plt.subplots()
def test(args):
parser = pointcloud_parser.Parser('rs', args.pcap_file)
# frame = next(parser.generator())
# frame = filter_bound(frame, [-10., 6.], [-4., 5.], [-3., 3])
# frame = frame[:, [0, 1]]
# x, y = frame[:, 0], frame[:, 1]
# def dbscan_for_4_eps(epss):
# for i, eps in enumerate(epss):
# l_ = DBSCAN(eps=eps).fit(frame).labels_
# plt.subplot(2, 2, i+1)
# plt.xlabel(f"eps = {eps}")
# plt.scatter(x, y, s=4, c=l_)
# def compare_dbscan_kmeans():
# l1 = DBSCAN().fit(frame).labels_
# l2 = KMeans().fit(frame).labels_
# plt.subplot(121)
# plt.xlabel("DBSCAN")
# plt.scatter(x, y, s=4, c=l1)
# plt.subplot(122)
# plt.xlabel("KMeans")
# plt.scatter(x, y, s=4, c=l2)
# # dbscan_for_4_eps([0.05, 0.1, 0.5, 1])
# compare_dbscan_kmeans()
# plt.show()
# return
frame_target = 1
for frame_cnt, frame in enumerate(parser.generator()):
frame = filter_bound(frame, [-10., 6.], [-4., 5.], [-3., 3])
x, y = frame[:, 0], frame[:, 1]
labels = mtt.run(frame[:, [0, 1]])
if frame_cnt < frame_target:
continue
frame_target = int(
input(f'which next frame you want to go(current: {frame_cnt})?'))
plt.xlabel(f"frame_cnt = {frame_cnt}")
plt.scatter(x, y, s=4, c=labels)
# for i, track in enumerate(mtt.tracks):
# x_ = [hist.x_ for hist in track.hists]
# y_ = [hist.y_ for hist in track.hists]
# if x_ != [] and y_ != []:
# plt.scatter(x_, y_, marker='x')
# plt.text(x_[-1], y_[-1], str(id(track))[-4:])
plt.show()
return
if args.use_serialized_frame:
for frame in load_frame():
analyze_frame(frame, args)
if args.mark_contour_data:
r = input('Continue?')
else:
r = 'y'
if r == 'y':
continue
else:
break
return
with open(args.pcap_file, 'rb') as f:
pcap = dpkt.pcap.Reader(f)
i = 0
for timestamp, buf in pcap:
if len(buf) == 1248:
frame = pointcloud_parser.parse(buf, 0)
elif len(buf) == 1290:
frame = pointcloud_parser.parse(buf[42:], 1)
if frame is None:
continue
if args.reset_frames:
save_frame(frame.astype('f4'), i)
i += 1
continue
analyze_frame(frame, args)
if args.mark_contour_data:
r = input('Continue?')
else:
r = 'y'
if r == 'y':
i += 1
continue
else:
i += 1
break
PATTERN_PL = path.join(DIR_PL, '*')
files_random_baselines = glob.glob(PATTERN_RB)
files_cascade = glob.glob(PATTERN_CS)
files_policy = glob.glob(PATTERN_PL)
Instance = namedtuple("Instance", 'name p seed frame')
Stats = namedtuple(
"Stats", 'p success_rates avg_papers avg_iterations efficiency size')
instances_rb = list()
for f in files_random_baselines:
name = f.split(path.sep)[-1][:-4]
_, __, p, seed = name.split('_')
frame, _ = load_frame(f)
instance = Instance(name, float(p), int(seed), frame)
instances_rb.append(instance)
instances_cs = list()
for f in files_cascade:
name = f.split(path.sep)[-1][:-4]
_, seed = name.split('_')
frame, _ = load_frame(f)
instance = Instance(name, 0, int(seed), frame)
instances_cs.append(instance)
instances_pl = list()
for f in files_policy:
def __init__(self) -> None:
self.frames = {
self.get_garbage_name(frame): load_frame(frame)
for frame in self.FRAME_FILES
}
# %% [markdown]
# ### Worst frame SDR
# %%
results.loc[results.sdr.idxmin()][[
'evaluation_dataset', 'model', 'source', 'chorale', 'frame', 'sdr'
]].to_frame().T
# %%
results.sort_values('sdr').head(10)[[
'evaluation_dataset', 'model', 'source', 'chorale', 'frame', 'sdr'
]]
# %%
reference, estimate = u.load_frame('chorales_synth_v5', 'alto', 358, 39, '006',
models)
# %%
Audio(reference, rate=44100, normalize=False)
# %%
np.unique(reference, return_counts=True)
# %%
u.get_snr(reference, estimate)
# %%
u.get_snr(reference, estimate, 30)
# %% [markdown]
# ## Frames that are quiet but good
def test(FLAG):
output_dim = 11
valid_list = getVideoList(FLAG.valid_video_list)
dvalid = pd.DataFrame.from_dict(valid_list)
xtest = load_frame(FLAG.valid_pkl_file)
# model
scope_name = "M2"
model = MQ2(scope_name=scope_name)
model.build(lstm_units=[1024, 1024], max_seq_len=25, input_dim= 40960, output_dim=output_dim)
def initialize_uninitialized(sess):
global_vars = tf.global_variables()
is_not_initialized = sess.run([tf.is_variable_initialized(var) for var in global_vars])
not_initialized_vars = [v for (v,f) in zip(global_vars, is_not_initialized) if not f]
if len(not_initialized_vars):
sess.run(tf.variables_initializer(not_initialized_vars))
with tf.Session() as sess:
if FLAG.save_dir is not None:
sess.run(tf.global_variables_initializer())
saver = tf.train.Saver()
ckpt = tf.train.get_checkpoint_state(FLAG.save_dir)
if ckpt and ckpt.model_checkpoint_path:
saver.restore(sess, ckpt.model_checkpoint_path)
print("Model restored %s" % ckpt.model_checkpoint_path)
sess.run(tf.global_variables())
else:
print("No model checkpoint in %s" % FLAG.save_dir)
else:
sess.run(tf.global_variables_initializer())
sess.run(tf.global_variables())
print("Initialized")
Xtest, Xtest_end_index = pad_feature_maxlen(xtest, max_len=model.max_seq_len)
pred, rnn_output = sess.run([model.pred, model.rnn_output],
feed_dict={model.x: Xtest,
model.seq_end_index: Xtest_end_index,
model.is_train:False})
np.savetxt(X=pred.astype(int), fname=os.path.join(FLAG.output_dir, 'p2_result.txt'), fmt='%s')
print("save as %s" % os.path.join(FLAG.output_dir, 'p2_result.txt'))
if FLAG.run_tsne:
from sklearn.manifold import TSNE
rnn_tsne = TSNE(n_components=2, perplexity=30.0, random_state=5566).fit_transform(rnn_output)
labels = np.array(dvalid.Action_labels).astype('int32')
plt.figure(0)
for i in range(output_dim):
xplot = rnn_tsne[np.where(labels==i)[0]]
plt.scatter(xplot[:,0], xplot[:,1], label=i)
plt.legend()
plt.title("RNN-based features")
plt.xlabel("tSNE-1")
plt.ylabel("tSNE-2")
plt.tight_layout()
plt.show()
plt.savefig(os.path.join(FLAG.output_dir, 'rnn_tsne.png'))
print("save as %s" % os.path.join(FLAG.output_dir, 'rnn_tsne.png'))
def stylize(args):
# Load the model
saved_sr_model = args.model
print("Using %s as the model for Super Resolution.." % saved_sr_model)
cap = cv2.VideoCapture(0)
n_frame = 0
while True:
start = time.time()
# Capture frame from webcam
ret_val, img = cap.read()
# Downsample the image
img = cv2.resize(img,
None,
fx=(1 / args.downsample_scale),
fy=(1 / args.downsample_scale))
# Upsample it for presentation
img_up = cv2.resize(img,
None,
fx=args.downsample_scale,
fy=args.downsample_scale,
interpolation=cv2.INTER_NEAREST)
content_image = utils.load_frame(img)
content_transform = transforms.Compose(
[transforms.ToTensor(),
transforms.Lambda(lambda x: x.mul(255))])
content_image = content_transform(content_image)
content_image = content_image.unsqueeze(0)
if is_cuda:
content_image = content_image.cuda()
content_image = Variable(content_image, volatile=True)
# Select the appropriate image transformation network
if args.downsample_scale == 8:
sr_model = SR_8x_TransformerNet()
else:
sr_model = SR_4x_TransformerNet()
sr_model.load_state_dict(torch.load(saved_sr_model))
# Pass the image through the model and obtain the output
if is_cuda:
sr_model.cuda()
output = sr_model(content_image)
if is_cuda:
output = output.cpu()
output_data = output.data[0]
end = time.time()
print("Processed frame %d" % n_frame)
print("FPS = %f" % (1 / (end - start)))
n_frame = n_frame + 1
frame = output_data.clone().clamp(0, 255).numpy()
frame = frame.transpose(1, 2, 0).astype("uint8")
# Crop the images for presentation
img_up = img_up[100:400, 250:550]
frame = frame[100:400, 250:550]
show = np.hstack((img_up, frame))
cv2.namedWindow("output", cv2.WND_PROP_FULLSCREEN)
cv2.setWindowProperty("output", cv2.WND_PROP_FULLSCREEN,
cv2.WINDOW_FULLSCREEN)
cv2.imshow("output", show)
if cv2.waitKey(1) == 27:
break # esc to quit
import os
import matplotlib.pyplot as plt
from matplotlib.ticker import *
import numpy as np
from utils import load_frame, bootsrapping_test, frame_action_distribution, plot_dist
# %% Load the data
path_policy = os.path.join('data', "trial40_eval.tsv")
path_random = os.path.join('data', "baseline_balancedrandom_n.tsv")
path_cascade = os.path.join('data', "baseline_cascade_n.tsv")
path_exploit = os.path.join('data', "baseline_exploit_n.tsv")
path_explore = os.path.join('data', "baseline_explore_n.tsv")
policy_orig, policy_action_cols = load_frame(path_policy)
policy_orig.set_index("id", inplace=True)
random_orig, random_action_cols = load_frame(path_random)
random_orig.set_index("id", inplace=True)
cascade_orig, cascade_action_cols = load_frame(path_cascade)
cascade_orig.set_index("id", inplace=True)
exploit_orig, exploit_action_cols = load_frame(path_exploit)
exploit_orig.set_index("id", inplace=True)
explore_orig, explore_action_cols = load_frame(path_explore)
explore_orig.set_index("id", inplace=True)
# %% Analysis tools
def average_papers_read(f):
return f.papers.mean()
import asyncio
import curses
from canvas_constants import CANVAS_FRAME_WIDTH, MIN_CANVAS_COORDINATE
from curses_tools import draw_frame, get_frame_size
from utils import load_frame
spaceship_frame_1 = load_frame('frames/rocket/rocket_frame_1.txt')
spaceship_frame_2 = load_frame('frames/rocket/rocket_frame_2.txt')
spaceship_row_size, spaceship_col_size = get_frame_size(spaceship_frame_1)
gameover_frame = load_frame('frames/game_over.txt')
async def show_gameover(canvas):
row_size, col_size = get_frame_size(gameover_frame)
max_y, max_x = canvas.getmaxyx()
frame_start_row = max_y / 2 - row_size
frame_start_col = max_x / 2 - col_size / 2
while True:
draw_frame(
canvas=canvas,
start_row=frame_start_row,
start_column=frame_start_col,
text=gameover_frame,
)
await asyncio.sleep(0)
def get_spaceship_new_yx(
start_row,
def train(FLAG):
train_list = getVideoList(FLAG.train_video_list)
valid_list = getVideoList(FLAG.valid_video_list)
dtrain = pd.DataFrame.from_dict(train_list)
dvalid = pd.DataFrame.from_dict(valid_list)
# frames
xtrain = load_frame(FLAG.train_pkl_file)
xtest = load_frame(FLAG.valid_pkl_file)
# labels
Ytrain = np.array(dtrain.Action_labels).astype('int32')
Ytest = np.array(dvalid.Action_labels).astype('int32')
Ytrain = one_hot_encoding(Ytrain, 11)
Ytest = one_hot_encoding(Ytest, 11)
# model
scope_name = "M2"
model = MQ2(scope_name=scope_name)
model.build(lstm_units=[1024, 1024],
max_seq_len=25,
input_dim=40960,
output_dim=11)
# trainable variables
train_vars = list()
for var in tf.trainable_variables():
if model.scope_name in var.name:
train_vars.append(var)
# optimizer
learning_rate = FLAG.lr
train_op = tf.train.AdamOptimizer(learning_rate=learning_rate,
beta1=0.5).minimize(model.loss,
var_list=train_vars)
def initialize_uninitialized(sess):
global_vars = tf.global_variables()
is_not_initialized = sess.run(
[tf.is_variable_initialized(var) for var in global_vars])
not_initialized_vars = [
v for (v, f) in zip(global_vars, is_not_initialized) if not f
]
if len(not_initialized_vars):
sess.run(tf.variables_initializer(not_initialized_vars))
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
# hyper parameters
batch_size = 32
epoch = 50
early_stop_patience = 10
min_delta = 0.0001
# recorder
epoch_counter = 0
history = list()
# re-initialize
initialize_uninitialized(sess)
# reset due to adding a new task
patience_counter = 0
current_best_val_accu = 0
saver = tf.train.Saver(tf.global_variables(), max_to_keep=1)
checkpoint_path = os.path.join(FLAG.save_dir, 'model.ckpt')
# optimize when the aggregated obj
while (patience_counter < early_stop_patience
and epoch_counter < epoch):
# start training
stime = time.time()
train_loss, train_accu = 0.0, 0.0
for i in range(int(len(xtrain) / batch_size)):
st = i * batch_size
ed = (i + 1) * batch_size
Xtrain, Xtrain_end_index = pad_feature_maxlen(
xtrain[st:ed], max_len=model.max_seq_len)
# process R
_, loss, accu, logits = sess.run(
[train_op, model.loss, model.accuracy, model.logits],
feed_dict={
model.x: Xtrain,
model.y: Ytrain[st:ed],
model.seq_end_index: Xtrain_end_index,
model.is_train: True
})
train_loss += loss
train_accu += accu
train_loss = train_loss / (len(xtrain) / batch_size)
train_accu = train_accu / (len(xtrain) / batch_size)
val_loss, val_accu = 0.0, 0.0
for i in range(int(len(xtest) / batch_size)):
st = i * batch_size
ed = (i + 1) * batch_size
Xtest, Xtest_end_index = pad_feature_maxlen(
xtest[st:ed], max_len=model.max_seq_len)
loss, accu, logits = sess.run(
[model.loss, model.accuracy, model.logits],
feed_dict={
model.x: Xtest,
model.y: Ytest[st:ed],
model.seq_end_index: Xtest_end_index,
model.is_train: False
})
val_loss += loss
val_accu += accu
val_loss = val_loss / (len(xtest) / batch_size)
val_accu = val_accu / (len(xtest) / batch_size)
print(
"Epoch %s (%s), %s sec >> train loss: %.4f, train accu: %.4f, val loss: %.4f, val accu: %.4f"
% (epoch_counter, patience_counter,
round(time.time() - stime,
2), train_loss, train_accu, val_loss, val_accu))
history.append([train_loss, train_accu, val_loss, val_accu])
# early stopping check
if (val_accu - current_best_val_accu) > min_delta:
current_best_val_accu = val_accu
patience_counter = 0
saver.save(sess, checkpoint_path, global_step=epoch_counter)
print("save in %s" % checkpoint_path)
para_dict = sess.run(model.para_dict)
np.save(os.path.join(FLAG.save_dir, "para_dict.npy"),
para_dict)
print("save in %s" %
os.path.join(FLAG.save_dir, "para_dict.npy"))
else:
patience_counter += 1
# epoch end
epoch_counter += 1
# end of training
# end of session
df = pd.DataFrame(history)
df.columns = ['train_loss', 'train_accu', 'val_loss', 'val_accu']
plt.figure(0)
df[['train_loss', 'val_loss']].plot()
plt.savefig(os.path.join(FLAG.save_dir, 'loss.png'))
plt.close()
plt.figure(0)
df[['train_accu', 'val_accu']].plot()
plt.savefig(os.path.join(FLAG.save_dir, 'accu.png'))
plt.close()
occupied = np.ones((numRows, numCols), dtype=float) * 0
extra_mps = []
if args.with_extra_points:
kf = kfs_dict[kf_id] # current keyframe
camera_center = [kf[1], kf[2], kf[3]]
camera_translation = [kf[4], kf[5], kf[6]]
camera_rotation = [kf[7], kf[8], kf[9], kf[10], kf[11], kf[12], kf[13], kf[14], kf[15]]
time_stamp = kf[0]
camera_matrix = np.asarray([[fx, 0, cx], [0, fy, cy], [0, 0, 1]])
mps_of_this_kf = kfs_mappoints[time_stamp] # map points of current keyframe
camera_to_world = get_camera_to_world(camera_translation, camera_rotation) # tf matrix
world_to_camera = get_world_to_camera(camera_translation, camera_rotation) # inverse tf matrix
kf_img = load_frame(time_stamp, 0)
segment = get_graph_segment_for_frame(time_stamp, 0, sigma=args.sigma) # segmentation from graph-cut algorithm
segment_with_color = segment
segment = segment[:, :, 0] * (255**2) + segment[:, :, 1] * 255 + segment[:, :, 2]
# get pixel coordinates of the map points
pix_of_mps = []
choosen_mps = []
for mp in mps_of_this_kf:
x, y = convert_3d_point_to_pix(mp[2], mp[3], mp[4], world_to_camera, fx, fy, cx, cy)
if x in range(0, segment.shape[1]) and y in range(0, segment.shape[0]):
pix_of_mps.append([x, y])
choosen_mps.append([mp[2], mp[3], mp[4]])
pix_of_mps = np.asarray(pix_of_mps)
plane_equation_dict = create_plane_equation_dict(segment, choosen_mps, pix_of_mps)
