def __init__(self, src_path_map):
self._map_obj = MapBuilder(src_path_map)
self._z_hit = 50 #5
self._z_short = 10 #1
self._z_max = .1 #.1
self._z_rand = 200 #3
self._sigma_hit = 100
self._lambda_short = .02
self._max_range = 1000
self._min_probability = 0.95
self._subsampling = 10
# self._norm_wts = 1.0 / (self._z_hit + self._z_short + self._z_max + self._z_rand)
self._norm_wts = 1.0
# main
from MapBuilder import MapBuilder
from qlearner import QLearner
from universe import Universe
from Criterions import get_cost_based_on_fuel, get_cost_based_on_time, get_cost_based_on_mixture
if __name__ == "__main__":
universe = Universe(MapBuilder())
qlearners = [
QLearner(universe.get_initial_state(),
get_cost_based_on_fuel, universe.move_request,
universe.get_terminal_state(), 1, 0.9, universe.next_state),
QLearner(universe.get_initial_state(),
get_cost_based_on_time, universe.move_request,
universe.get_terminal_state(), 1, 0.9, universe.next_state),
QLearner(universe.get_initial_state(),
get_cost_based_on_mixture, universe.move_request,
universe.get_terminal_state(), 1, 0.9, universe.next_state)
]
num_of_epochs = 1000
for epoch_num in range(num_of_epochs):
for qlearner in qlearners:
while qlearner._state != universe.get_terminal_state():
qlearner.move()
qlearner.reset(universe.get_initial_state())
print("Energy:", qlearners[0]._Q, end='\n\n')
print("Time:", qlearners[1]._Q, end='\n\n')
os.remove(new_file)
params = local_folder + '/params.ini'
folder_params = local_folder + '/' + folder_name + '/params.ini'
shutil.copy(params, folder_params)
configurator.set('organized', True)
if configurator.config['map'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
if os.path.isdir(run):
print run
base = run.split('/')[-2]
temp_vid = base + '2.avi'
args = parse_args(run, temp_vid)
mb = MapBuilder(args, 1, 600, 0.5, 0.1)
output = run + '/' + base + '_bg.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees'])
mb.exportData(output)
output = run + '/' + base + '_ground.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees', 'ground'])
mb.exportData(output)
configurator.set('map', True)
if configurator.config['multilane'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
cam_num = args['cam_num']
video_file = args['video']
video_reader = VideoReader(video_file)
params = args['params']
cam = params['cam'][cam_num]
gps_reader_mark1 = GPSReader(args['gps_mark1'])
gps_data_mark1 = gps_reader_mark1.getNumericData()
gps_reader_mark2 = GPSReader(args['gps_mark2'])
gps_data_mark2 = gps_reader_mark2.getNumericData()
imu_transforms_mark1 = IMUTransforms(gps_data_mark1)
imu_transforms_mark2 = IMUTransforms(gps_data_mark2)
gps_times_mark1 = utc_from_gps_log_all(gps_data_mark1)
gps_times_mark2 = utc_from_gps_log_all(gps_data_mark2)
builder = MapBuilder(args, 0, 999999, 0.1, 0.05)
# parameter server
thr = ThreadedServer(port)
thr.setDaemon(True)
thr.start()
time.sleep(1)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.sendto('PARAMETER_REQUEST:' + str(port) + '\n', ('localhost', 2929))
while not paramInit:
time.sleep(1)
print int(sys.argv[3])
video_reader.setFrame(int(sys.argv[3]))
(success, orig) = video_reader.getNextFrame()
while True:
cam_num = args['cam_num']
video_file = args['video']
video_reader = VideoReader(video_file)
params = args['params']
cam = params['cam'][cam_num]
gps_reader_mark1 = GPSReader(args['gps_mark1'])
gps_data_mark1 = gps_reader_mark1.getNumericData()
gps_reader_mark2 = GPSReader(args['gps_mark2'])
gps_data_mark2 = gps_reader_mark2.getNumericData()
imu_transforms_mark1 = IMUTransforms(gps_data_mark1)
imu_transforms_mark2 = IMUTransforms(gps_data_mark2)
gps_times_mark1 = utc_from_gps_log_all(gps_data_mark1)
gps_times_mark2 = utc_from_gps_log_all(gps_data_mark2)
builder = MapBuilder(args, 0, 999999, 0.1, 0.05)
# parameter server
thr = ThreadedServer(port)
thr.setDaemon(True)
thr.start()
time.sleep(1)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.sendto('PARAMETER_REQUEST:'+str(port)+'\n', ('localhost', 2929))
while not paramInit:
time.sleep(1)
print int(sys.argv[3])
video_reader.setFrame(int(sys.argv[3]))
(success, orig) = video_reader.getNextFrame()
while True:
# results_L = results_L[20:-1]
# -------------------------------MAIN SCRIPT----------------------------------
# -----------------initialize variables-------------------
alpha1 = 0
alpha2 = 0
alpha3 = 0 # increasing these two variables appears to make the particles move farther
alpha4 = 0
mot = MotionModel(alpha1, alpha2, alpha3, alpha4)
M = 1000 # number of particles
map = MapBuilder('../map/wean.dat')
mapList = map.getMap()
mapInit(mapList)
sensorModel = SensorModel('../map/wean.dat')
resampler = Resampling()
# ------------initialize particles throughout map--------
# generate list of locations with '0' value
counter = 0
goodLocs_x = []
goodLocs_y = []
for i in range(0, 800):
for j in range(0, 800):
if mapList[i][j] == 0:
counter = counter + 1
os.remove(new_file)
params = local_folder + '/params.ini'
folder_params = local_folder + '/' + folder_name + '/params.ini'
shutil.copy(params, folder_params)
configurator.set('organized', True)
if configurator.config['map'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
if os.path.isdir(run):
print run
base = run.split('/')[-2]
temp_vid = base + '604.zip'
args = parse_args(run, temp_vid)
mb = MapBuilder(args, 1, 600, 0.5, 0.1)
output = run + '/' + base + '_bg.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees'])
mb.exportData(output)
output = run + '/' + base + '_ground.npz'
if not os.path.isfile(output):
mb.buildMap(['no-trees', 'ground'])
mb.exportData(output)
configurator.set('map', True)
if configurator.config['multilane'] == False:
for run in sorted(glob.glob(local_folder + '/*/')):
