def _generator(feeding_data):
intermediary_feeding_data = feeding_data
for generator in generators:
image, angle = generator(intermediary_feeding_data)
intermediary_feeding_data = FeedingData(image, angle)
return intermediary_feeding_data.image(
), intermediary_feeding_data.steering_angle
def _generator(feeding_data):
count = np.random.randint(0, len(generators)+1)
intermediary_feeding_data = feeding_data
for index in range(count):
generator = generators[index]
image, angle = generator(intermediary_feeding_data)
intermediary_feeding_data = FeedingData(image, angle)
return intermediary_feeding_data.image(), intermediary_feeding_data.steering_angle
def test_record_allocation_angle_type_with_zeros(self):
data_set = DriveDataSet([
FeedingData(None, 0.0),
FeedingData(None, 0.1),
FeedingData(None, -0.1),
FeedingData(None, 0.25),
FeedingData(None, -0.25),
FeedingData(None, -1),
FeedingData(None, 0.001),
FeedingData(None, 0.251),
FeedingData(None, -0.249),
])
allocator = AngleSegmentRecordAllocator(
data_set, AngleSegment((-1.0, -0.25), 10),
AngleSegment((-0.25, -0.249), 10), AngleSegment((-0.249, -0.1),
10),
AngleSegment((-0.1, 0), 10), AngleSegment((0, 0.001), 10),
AngleSegment((0.001, 0.1), 10), AngleSegment((0.1, 0.25), 10),
AngleSegment((0.25, 0.251), 10), AngleSegment((0.251, 1.001), 10),
AngleSegment((1.001, 2.0), 10))
records = allocator.allocate(any_number(), any_number(), len(data_set))
self.assertEqual(same_range_angles(allocator, records, 0), [0.0])
self.assertEqual(same_range_angles(allocator, records, 0.1), [0.1])
self.assertEqual(same_range_angles(allocator, records, -0.1), [-0.1])
self.assertEqual(same_range_angles(allocator, records, 0.25), [0.25])
self.assertEqual(same_range_angles(allocator, records, -0.25), [-0.25])
self.assertEqual(same_range_angles(allocator, records, 1), [0.251])
self.assertEqual(same_range_angles(allocator, records, -1), [-1])
self.assertEqual(same_range_angles(allocator, records, 0.001), [0.001])
self.assertEqual(same_range_angles(allocator, records, -0.001), [-0.1])
self.assertEqual(same_range_angles(allocator, records, 0.252), [0.251])
self.assertEqual(same_range_angles(allocator, records, -0.249),
[-0.249])
def test_pipe_line_generators(self):
def generator(feeding_data):
return feeding_data.image(), feeding_data.steering_angle + 1
generator = pipe_line_generators(generator, generator, generator)
image, angle = generator(FeedingData([[[1, 1, 1]]], 2))
np.testing.assert_almost_equal(image, [[[1, 1, 1]]])
self.assertEqual(angle, 5)
def test_filter(self):
def generator1(feeding_data):
return feeding_data.image(), 0.01
def generator2(feeding_data):
return feeding_data.image(), 1
generator = filter_generator(random_generators(generator1, generator2))
image, angle = generator(FeedingData([[[1, 1, 1]]], 2))
np.testing.assert_almost_equal(image, [[[1, 1, 1]]])
self.assertEqual(
angle, 1,
"should always pickup generator2 as it pass the threshold")
def test_record_allocation_angle_type_with_zeros_in_range(self):
data_set = DriveDataSet([
FeedingData(None, 0.03),
FeedingData(None, -0.03),
FeedingData(None, 0.15),
FeedingData(None, -0.15),
FeedingData(None, 0.26),
FeedingData(None, -0.26)
])
allocator = AngleTypeWithZeroRecordAllocator(data_set, any_number(),
any_number(),
any_number(),
any_number(),
any_number(), 0.25)
self.assertEqual(angles(allocator.zero_angles), [])
self.assertEqual(angles(allocator.zero_angles_left), [])
self.assertEqual(angles(allocator.zero_angles_right), [])
self.assertEqual(angles(allocator.center_angles), [0.03, -0.03])
self.assertEqual(angles(allocator.left_angles), [-0.15, -0.26])
self.assertEqual(angles(allocator.right_angles), [0.15, 0.26])
def test_flip_generator(self):
record = FeedingData(np.array([[[1, 1, 1], [2, 2, 2]]]), 0.1)
image, angle = flip_generator(record)
np.testing.assert_almost_equal(image, [[[2, 2, 2], [1, 1, 1]]])
self.assertEqual(-0.1, angle)