def main():
# Set any options needed
options = opts.parse(OPTS, OPTS_HELP)
swarmService = defaults.register(OPTS, OPTS_HELP, \
Importer, "couchdbImporter")
# Serve forever
defaults.serve()
def main():
options = opts.parse(OPTS, OPTS_HELP)
mySwarm = swarm()
mySwarm.password = options["mPass"]
mySwarm.keys("private.pem", "private.pem")
# Start the server
if options["mStart"]:
thread.start_new_thread(mySwarm.start, ())
# Give it time to start the swarm server so we can register
# This is a problem because theres only one server in this case
time.sleep(0.1)
mySwarm.registerWith(options["sName"], password=options["mPass"], \
host=options["mHost"], port=options["mPort"])
data = {
"some": "data"
}
raw_input("Press enter to call master")
for i in xrange(0, 5):
print mySwarm.call(options["sMethod"], \
options["mHost"], options["mPort"], data)
raw_input("\nPress enter to call swarm")
for i in xrange(0, 5):
print mySwarm.callDist(options["sName"], options["sMethod"], \
options["mHost"], options["mPort"], data)
raw_input("\nPress enter for nodeList")
print mySwarm.call("nodeList", \
options["mHost"], options["mPort"], {})
raw_input("\nPress enter to exit")
def simpletest1():
# test if the code can learn a simple sequence
opt = parse()
opts(opt)
epochs = 100
train_loader, val_loader, valvideo_loader = get_dataset(opt)
trainer = train.Trainer()
model = AsyncTFBase(100, 5, opt.nhidden).cuda()
criterion = AsyncTFCriterion(opt).cuda()
optimizer = torch.optim.SGD(model.parameters(),
opt.lr,
momentum=opt.momentum,
weight_decay=opt.weight_decay)
epoch = -1
for i in range(epochs):
top1, _ = trainer.train(train_loader, model, criterion, optimizer, i,
opt)
print('cls weights: {}, aa weights: {}'.format(
model.mA.parameters().next().norm().data[0],
model.mAAa.parameters().next().norm().data[0]))
top1, _ = trainer.validate(train_loader, model, criterion, epochs, opt)
for i in range(5):
top1val, _ = trainer.validate(val_loader, model, criterion, epochs + i,
opt)
print('top1val: {}'.format(top1val))
ap = trainer.validate_video(valvideo_loader, model, criterion, epoch, opt)
return top1, top1val, ap
def main():
global args, best_top1
args = parse()
if not args.no_logger:
tee.Tee(args.cache + '/log.txt')
print(vars(args))
seed(args.manual_seed)
model, criterion, optimizer = create_model(args)
if args.resume:
best_top1 = checkpoints.load(args, model, optimizer)
print(model)
trainer = train.Trainer()
loaders = get_dataset(args)
train_loader = loaders[0]
if args.evaluate:
scores = validate(trainer, loaders, model, criterion, args)
checkpoints.score_file(scores, "{}/model_000.txt".format(args.cache))
return
for epoch in range(args.start_epoch, args.epochs):
if args.distributed:
trainer.train_sampler.set_epoch(epoch)
scores = {}
scores.update(trainer.train(train_loader, model, criterion, optimizer, epoch, args))
scores.update(validate(trainer, loaders, model, criterion, args, epoch))
is_best = scores[args.metric] > best_top1
best_top1 = max(scores[args.metric], best_top1)
checkpoints.save(epoch, args, model, optimizer, is_best, scores, args.metric)
if not args.nopdb:
pdb.set_trace()
def main():
options = opts.parse(OPTS, OPTS_HELP)
if options["start"]:
myServer = server()
myServer.start(service.HOST, PORT, alwaysAdd)
else:
connect(service.HOST, PORT, "hello")
def main():
global opt, best_mAP
opt = parse()
tee.Tee(opt.cache+'/log.txt')
print(vars(opt))
seed(opt.manual_seed)
model, criterion, optimizer = create_model(opt)
if opt.resume: best_mAP = checkpoints.load(opt, model, optimizer)
print(model)
trainer = train.Trainer()
train_loader, val_loader, valvideo_loader = get_dataset(opt)
if opt.evaluate:
#trainer.validate(val_loader, model, criterion, -1, opt)
trainer.validate_video(valvideo_loader, model, -1, opt)
return
for epoch in range(opt.start_epoch, opt.epochs):
if opt.distributed:
trainer.train_sampler.set_epoch(epoch)
top1,top5 = trainer.train(train_loader, model, criterion, optimizer, epoch, opt)
top1val,top5val = trainer.validate(val_loader, model, criterion, epoch, opt)
mAP = trainer.validate_video(valvideo_loader, model, epoch, opt)
is_best = mAP > best_mAP
best_mAP = max(mAP, best_mAP)
scores = {'top1train':top1,'top5train':top5,'top1val':top1val,'top5val':top5val,'mAP':mAP}
checkpoints.save(epoch, opt, model, optimizer, is_best, scores)
def main(argv):
# 5. parse command line arguments
argv0 = argv.pop(0)
opts.parse(argv)
# Initialize map
# print "font-size: %d" % opts.CFG["font-size"]
app = gui.MainWindow(int(opts.CFG["width"]), int(opts.CFG["height"]),
int(opts.CFG["font-size"]), not opts.CFG["mouse"],
int(opts.CFG["header"]))
buildMenu(argv,app)
# 10. scan rom dirs
# sortid.png
# sortid/[sortid,]something.ext
# sortid.ini
# sortid
# - key | label | path
# 20. open pygame
# 30. prompt menu
# 40. exit pygame
# 50. action menu results
# 60. goto 2.
while True:
r = app.run()
print "r= %s" % r
if (r is None) or (r == gui.R_EXIT):
break
if (r == ':'):
continue
else:
for k in opts.CFG["ext"]:
if r[-len(k)-1:] == "."+k:
print "RUN %s %s %s" % (k,opts.CFG["ext"][k], r)
subprocess.call("%s '%s'" % (opts.CFG["ext"][k], r),shell=True)
# subprocess.call("sh",shell=True)
sys.exit()
def main():
opt = opts.parse()
chainer.cuda.get_device_from_id(opt.gpu).use()
for i in range(1, opt.nTrials + 1):
print('+-- Trial {} --+'.format(i))
t_err, v_err = train(opt, i)
return t_err, v_err
def main():
opt = opts.parse()
if opt.noGPU == False:
torch.cuda.set_device(opt.gpu)
for i in range(1, opt.nTrials + 1):
print('+-- Trial {} --+'.format(i))
best_val_error = train(opt, i)
print("Best validation rate: {}".format(best_val_error))
def main():
best_score = 0
args = parse()
if not args.no_logger:
tee.Tee(args.cache + '/log.txt')
print(vars(args))
print('experiment folder: {}'.format(experiment_folder()))
print('git hash: {}'.format(get_script_dir_commit_hash()))
seed(args.manual_seed)
cudnn.benchmark = not args.disable_cudnn_benchmark
cudnn.enabled = not args.disable_cudnn
metrics = get_metrics(args.metrics)
tasks = get_tasks(args.tasks)
model, criterion = get_model(args)
if args.optimizer == 'sgd':
optimizer = torch.optim.SGD(model.parameters(),
args.lr,
momentum=args.momentum,
weight_decay=args.weight_decay)
elif args.optimizer == 'adam':
optimizer = torch.optim.Adam(model.parameters(),
args.lr,
weight_decay=args.weight_decay)
else:
assert False, "invalid optimizer"
if args.resume:
best_score = checkpoints.load(args, model, optimizer)
print(model)
trainer = train.Trainer()
train_loader, val_loader = get_dataset(args)
if args.evaluate:
scores = validate(trainer, val_loader, model, criterion, args, metrics,
tasks, -1)
print(scores)
score_file(scores, "{}/model_999.txt".format(args.cache))
return
if args.warmups > 0:
for i in range(args.warmups):
print('warmup {}'.format(i))
trainer.validate(train_loader, model, criterion, -1, metrics, args)
for epoch in range(args.start_epoch, args.epochs):
if args.distributed:
trainer.train_sampler.set_epoch(epoch)
scores = {}
scores.update(
trainer.train(train_loader, model, criterion, optimizer, epoch,
metrics, args))
scores.update(
validate(trainer, val_loader, model, criterion, args, metrics,
tasks, epoch))
is_best = scores[args.metric] > best_score
best_score = max(scores[args.metric], best_score)
checkpoints.save(epoch, args, model, optimizer, is_best, scores,
args.metric)
def main():
global opt, best_mAP
opt = parse()
tee.Tee(opt.cache + '/log.txt')
print(vars(opt))
seed(opt.manual_seed)
base_model, logits_model, criterion, base_optimizer, logits_optimizer = create_model(
opt)
if opt.resume:
best_mAP = checkpoints.load(opt, base_model, logits_model,
base_optimizer, logits_optimizer)
print(logits_model)
trainer = train.Trainer()
train_loader, val_loader, valvideo_loader = get_dataset(opt)
if opt.evaluate:
trainer.validate(val_loader, base_model, logits_model, criterion, -1,
opt)
trainer.validate_video(valvideo_loader, base_model, logits_model,
criterion, -1, opt)
return
for epoch in range(opt.start_epoch, opt.epochs):
if opt.distributed:
trainer.train_sampler.set_epoch(epoch)
s_top1, s_top5, o_top1, o_top5, v_top1, v_top5, sov_top1 = trainer.train(
train_loader, base_model, logits_model, criterion, base_optimizer,
logits_optimizer, epoch, opt)
s_top1val, s_top5val, o_top1val, o_top5val, v_top1val, v_top5val, sov_top1val = trainer.validate(
val_loader, base_model, logits_model, criterion, epoch, opt)
sov_mAP, sov_rec_at_n, sov_mprec_at_n = trainer.validate_video(
valvideo_loader, base_model, logits_model, criterion, epoch, opt)
is_best = sov_mAP > best_mAP
best_mAP = max(sov_mAP, best_mAP)
scores = {
's_top1': s_top1,
's_top5': s_top5,
'o_top1': o_top1,
'o_top5': o_top5,
'v_top1': v_top1,
'v_top5': v_top5,
'sov_top1': sov_top1,
's_top1val': s_top1val,
's_top5val': s_top5val,
'o_top1val': o_top1val,
'o_top5val': o_top5val,
'v_top1val': v_top1val,
'v_top5val': v_top5val,
'sov_top1val': sov_top1val,
'mAP': sov_mAP,
'sov_rec_at_n': sov_rec_at_n,
'sov_mprec_at_n': sov_mprec_at_n
}
checkpoints.save(epoch, opt, base_model, logits_model, base_optimizer,
logits_optimizer, is_best, scores)
def main():
global opt, best_mAP
opt = parse()
tee.Tee(opt.cache + '/log_0724-valvideo.txt')
#print(vars(opt))
seed(opt.manual_seed)
print('1. create_model')
base_model, logits_model, criterion, base_optimizer, logits_optimizer = create_model(
opt)
if opt.resume:
print('checkpoints load')
#best_mAP = checkpoints.load(opt, base_model, logits_model, base_optimizer, logits_optimizer)
checkpoints.load(opt, base_model, logits_model, base_optimizer,
logits_optimizer)
#print('base_model = InceptionI3D Networks') # InceptionI3D Networks
#print(base_model)
#print('logits_model = AsyncTFBase: Linear Networks') # AsyncTFBase: Linear Networks
#print(logits_model)
trainer = train.Trainer()
print('2. get_dataset')
train_loader, val_loader, valvideo_loader = get_dataset(opt)
#print('train_loader') # [56586, [25,img,s,v,o,meta]]
#print(train_loader) # 56586=pairs
#print('val_loader') # [12676, [25,img,s,v,o,meta]]
#print(val_loader)
#print('valvideo_loader') # [1863, [25+1,img,s,v,o,meta]]
#print(valvideo_loader) # 1863=num_(kind of video)
if opt.evaluate:
trainer.validate(val_loader, base_model, logits_model, criterion, -1,
opt)
trainer.validate_video(valvideo_loader, base_model, logits_model,
criterion, -1, opt)
return
print('3.3 Valiation Video')
#if opt.distributed:
# trainer.train_sampler.set_epoch(epoch)
sov_mAP, sov_rec_at_n, sov_mprec_at_n = trainer.validate_video(
valvideo_loader, base_model, logits_model, criterion, epoch, opt)
is_best = sov_mAP > best_mAP
best_mAP = max(sov_mAP, best_mAP)
scores = {
'mAP': sov_mAP,
'sov_rec_at_n': sov_rec_at_n,
'sov_mprec_at_n': sov_mprec_at_n
}
checkpoints.score_file(scores,
"{}/model_{}.txt".format(opt.cache, 'valvideo'))
def main():
options = opts.parse(OPTS, OPTS_HELP)
client = comms.service()
client.keys("public.pem", "private.pem")
client.getKey(host=options["host"], port=options["port"])
services, error = client.call("nodeList", \
options["host"], options["port"], {})
if not error:
countServices(services)
else:
raise comms.error(services, error)
def main():
# Cuda Setting Value : Default = '0'
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
# opts.py : get arg parser
opt = opts.parse()
# Cuda Current Device
print(("device id: {}".format(torch.cuda.current_device())))
# Pytorch version : 0.4.1
print("torch.version", torch.__version__)
# Cuda version : 9.0.1
print("cuda_version", torch.version.cuda)
def main():
opt = opts.parse()
model = net.ConvNet(opt.n_classes, opt.BC, opt.nobias, opt.dropout_ratio)
if opt.gpu > -1:
chainer.cuda.get_device_from_id(opt.gpu).use()
model.to_gpu()
optimizer = optimizers.NesterovAG(lr=opt.LR, momentum=opt.momentum)
optimizer.setup(model)
optimizer.add_hook(chainer.optimizer.WeightDecay(opt.weight_decay))
train_iter, val_iter = dataset.setup(opt)
updater = training.StandardUpdater(train_iter, optimizer, device=opt.gpu)
# Trainer
trainer = training.Trainer(updater, (opt.n_epochs, 'epoch'), opt.save)
trainer.extend(extensions.ExponentialShift('lr', 0.1, opt.LR),
trigger=ManualScheduleTrigger(opt.schedule, 'epoch'))
trainer.extend(extensions.Evaluator(val_iter, model,
device=opt.gpu), trigger=(1, 'epoch'))
trainer.extend(extensions.dump_graph('main/loss'))
trainer.extend(extensions.snapshot(filename='min_loss'), trigger=MinValueTrigger(
key='validation/main/loss', trigger=(5, 'epoch')))
trainer.extend(extensions.snapshot(filename='max_accuracy'), trigger=MaxValueTrigger(
key='validation/main/accuracy', trigger=(5, 'epoch')))
trainer.extend(extensions.snapshot_object(model, 'min_loss_model'),
trigger=MinValueTrigger(key='validation/main/loss', trigger=(5, 'epoch')))
trainer.extend(extensions.snapshot_object(model, 'max_accuracy_model'),
trigger=MaxValueTrigger(key='validation/main/accuracy', trigger=(5, 'epoch')))
trainer.extend(extensions.observe_lr())
trainer.extend(extensions.LogReport())
if extensions.PlotReport.available():
trainer.extend(extensions.PlotReport(
['main/loss', 'validation/main/loss'], 'epoch', file_name='loss.png'))
trainer.extend(extensions.PlotReport(
['main/accuracy', 'validation/main/accuracy'], 'epoch', file_name='accuracy.png'))
trainer.extend(extensions.PlotReport(
['lr'], 'epoch', file_name='learning_rate.png'))
trainer.extend(extensions.PrintReport(['elapsed_time', 'epoch', 'iteration', 'lr',
'main/loss', 'main/accuracy', 'validation/main/loss', 'validation/main/accuracy']))
trainer.extend(extensions.ProgressBar(update_interval=25))
if opt.resume and os.path.exists(opt.resume):
chainer.serializers.load_npz(opt.resume, trainer)
# Run the training
try:
trainer.run()
except Exception as e:
import shutil
import traceback
print('\nerror message')
print(traceback.format_exc())
shutil.rmtree(opt.save)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version", torch.__version__)
print("cuda_version", torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# if opt.genLine:
# if opt.testOnly:
# processData('test')
# else:
# print('Prepare train data')
# processData('train')
# try:
# DataLoader = importlib.import_module('models.' + opt.netType + '-dataloader')
# print('DataLoader1 : ', DataLoader)
# except ImportError:
# DataLoader = importlib.import_module('datasets.dataloader')
# #print('DataLoader2 : ', DataLoader)
# Data loading
print('=> Setting up data loader')
#trainLoader, valLoader = DataLoader.create(opt)
#print('opt',opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
cap = cv2.VideoCapture("input_video/Driving_Studio.avi")
if cap.isOpened():
print("width : {}, height : {}".format(cap.get(3), cap.get(4)))
video_width = int(cap.get(3))
video_height = int(cap.get(4))
# fourcc = cv2.VideoWriter_fourcc(*'DIVX')
# out = cv2.VideoWriter('output_video/TEST.avi', fourcc, 25.0, (video_width,video_height),0)
prev_time = 0
fps_list = []
while True:
ret, frame = cap.read()
if ret:
cur_time = time.time()
input_img = frame / 255.
input_img = preprocess_img(input_img)
# array to tensor
input_img = torch.from_numpy(input_img).float()
with torch.no_grad():
inputData_var = Variable(input_img).unsqueeze(0).cuda()
# inference
output = model.forward(inputData_var, None)
# gpu -> cpu, tensor -> numpy
output = output.detach().cpu().numpy()
output = output[0]
output = postprocess_img(output)
output = np.clip(output, 0, 255)
output = np.uint8(output)
end_time = time.time()
sec = end_time - cur_time
fps = 1 / sec
fps_list.append(fps)
print("Estimated fps {0} ".format(fps))
cv2.imshow("output", output)
key = cv2.waitKey(1) & 0xFF
if key == 27: break
def main():
opt = opts.parse()
chainer.cuda.get_device_from_id(opt.gpu).use()
for split in opt.splits:
print('+-- Split {} --+'.format(split))
train(opt, split)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
pidcal = PidCal()
opt = opts.parse()
warper = Warper()
slidewindow = SlideWindow()
stopline = StopLine()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version",torch.__version__)
print("cuda_version",torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# Data loading
print('=> Setting up data loader')
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
cap = None
if opt.video_idx is 0:
cap = cv2.VideoCapture("input_video/720p.mp4")
elif opt.video_idx is 1:
cap = cv2.VideoCapture("input_video/straight.avi")
elif opt.video_idx is 2:
cap = cv2.VideoCapture("input_video/test.avi")
elif opt.video_idx is 3:
cap = cv2.VideoCapture("input_video/track.avi")
elif opt.video_idx is 4:
cap =cv2.VideoCapture("output_video/field.avi")
elif opt.video_idx is 5:
cap = cv2.VideoCapture("output_video/2020-08-23 19:20:01.166517.avi")
else:
cap = cv2.VideoCapture(0)
# video test
cap.set(3,1280)
cap.set(4,720)
if cap.isOpened():
print("width : {}, height : {}".format(cap.get(3), cap.get(4)))
video_width = int(cap.get(3))
video_height = int(cap.get(4))
#fourcc = cv2.VideoWriter_fourcc('M','J','P','G')
# out = cv2.VideoWriter('output_video/TEST_1.avi', fourcc, 20.0, (1280,480),0)
prev_time = 0
fps_list = []
now = datetime.datetime.now()
fourcc = None
out = None
if opt.video_idx > 2:
fourcc =cv2.VideoWriter_fourcc(*'MJPG')
out = cv2.VideoWriter('output_video/' + str(now) + '.avi',fourcc,30.0,(1280,720))
pid_list=list()
steer_list = list()
lpf_list = list()
pid_old = None
steer_theta = 0
i=0
x_location = 240
frame_cnt = 0
while True:
ret, frame = cap.read()
if frame is None:
break
frame_height, frame_width, frame_channels = frame.shape
print("Frame Info : (Height, Width, Channels) : ({}, {}, {})".format(frame_height, frame_width, frame_channels))
record_frame = cv2.resize(frame, (1280,720))
if ret:
cur_time = time.time()
frame_new = cv2.resize(frame, (320,180))
input_img = frame_new / 255.
input_img = preprocess_img(input_img)
# array to tensor
input_img = torch.from_numpy(input_img).float()
with torch.no_grad():
inputData_var = Variable(input_img).unsqueeze(0).cuda()
# inference
output = model.forward(inputData_var)
output = torch.sigmoid(output)
#output = F.softmax(output, dim=1)
# gpu -> cpu, tensor -> numpy
output = output.detach().cpu().numpy()
output = output[0]
output = postprocess_img(output)
output = np.clip(output, 0, 1)
output *= 255
output = np.uint8(output)
output = cv2.resize(output, (640, 360))
output[output>80] = 255
output[output<=80] = 0
# cv2.circle(output, (output.shape[1]/2, output.shape[0]), 9, (255,255,0), -1)
cv2.imshow("output_img", output)
print("shape_info", output.shape)
# cv2.circle(output, (output.shape[0]/2, output.shape[1]/2), 9, (0,255,0), -1)
#warper_img = warper.warp(output)
warper_img = warper.warp_test(output)
cv2.imshow("warp_img", warper_img)
# warper_img_test = warper.warp_test(output)
# cv2.imshow("warp_img_test",warper_img_test)
ret, left_start_x, right_start_x, cf_img = slidewindow.w_slidewindow(warper_img, 180)
if ret:
i+=1
left_x_current,right_x_current, sliding_img,steer_theta,center, length = slidewindow.h_slidewindow(warper_img, left_start_x, right_start_x)
#stop_test Lee youn joo
# if center != None:
# locate_x, locate_y = center
# if (warper_img[int(locate_y)][int(locate_x)] != 0):
# stopFlag, id_L, id_R = stopline.findline(warper_img,locate_x,locate_y,length,left_x_current,right_x_current)
# if stopFlag != None:
# if frame_cnt == 0:
# print('STOP!')
# cv2.line(warper_img,id_L,id_R,(0,0,255),2)
# cv2.waitKey(-1)
# frame += 1
# if (frame_cnt > 0):
# frame_cnt = 0
# print(stopFlag,frame_cnt)
# SD.stop(warper_img)
SD.stoping_tmp(warper_img)
cv2.imshow('sliding_img', sliding_img)
steer_list.append(steer_theta)
x_location = (left_x_current+right_x_current)/2
# low pass filter
steer_theta = lpf(steer_theta, 0.3)
lpf_list.append(steer_theta)
# steer theta : Degree
print("steer theta:" ,steer_theta)
#
# if steer_theta<-28.0 or steer_theta >28.0:
# # auto_drive(pid_old)
# auto_drive(steer_theta)
# else:
# degree angle
pid = round(pidcal.pid_control(steer_theta),6)
pid_list.append(pid)
print("pid :",pid)
pid_old = pid
auto_drive(steer_theta)
# auto_drive(pid)
else:
auto_drive(steer_theta)
# auto_drive(pid)
pidcal.error_sum = 0
pidcal.error_old = 0
end_time = time.time()
sec = end_time - cur_time
fps = 1/sec
fps_list.append(fps)
print("Estimated fps {0} " . format(fps))
# out.write(add_img)
cv2.imshow("frame",frame)
if opt.video_idx == -1:
print("frame.shape : {}".format(frame.shape))
out.write(frame)
# cv2.imshow("src", warper_img)
# cv2.imshow("out_img", output)
cv2.imshow("cf_img", cf_img)
key = cv2.waitKey(1) & 0xFF
if key == 27: break
elif key == ord('p'):
cv2.waitKey(-1)
cap.release()
cv2.destroyAllWindows()
plt.plot(range(i),steer_list,label='steer')
plt.legend()
plt.plot(range(i),pid_list,label='pid')
plt.legend()
plt.plot(range(i),lpf_list,label='lpf')
plt.legend()
pid_info=pidcal.info_p()
plt.savefig('output_video/video_idx:'+ str(opt.video_idx)+' '+str(pid_info) +'.png', dpi=300)
import torch
import os
import opts
from datasets import *
import models
import torch.utils.data
from sklearn.metrics import confusion_matrix
import matplotlib.pyplot as plt
import numpy as np
import itertools
opt = opts.parse()
device = torch.device("cuda:0" if torch.cuda.is_available else "cpu")
print("{} is used.".format(device))
def load_model(model_path1:str, model_path2:str):
model1 = models.EnvNet5(50).cuda()
model2 = models.EnvNet6(50).cuda()
model1.load_state_dict(torch.load(model_path1, map_location=lambda storage, loc: storage))
model2.load_state_dict(torch.load(model_path2, map_location=lambda storage, loc: storage))
model1.eval()
model2.eval()
return model1, model2
def data_test(models):
test_fold = 5
print("Data Get fold {}".format(test_fold))
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
warper = Warper()
#slidewindow = SlideWindow()
# slidewindow = LineDetector()
pidcal = PidCal()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version", torch.__version__)
print("cuda_version", torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# Data loading
print('=> Setting up data loader')
#trainLoader, valLoader = DataLoader.create(opt)
#print('opt',opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
cap = cv2.VideoCapture(
"/home/foscar/ISCC_2019/src/race/src/my_lane_detection/input_video/0.avi"
)
ret, frame = cap.read()
slidewindow = LineDetector(frame)
if cap.isOpened():
print("width : {}, height : {}".format(cap.get(3), cap.get(4)))
video_width = int(cap.get(3))
video_height = int(cap.get(4))
fourcc = cv2.VideoWriter_fourcc(*'DIVX')
video_name = time.time()
out = cv2.VideoWriter('output_video/{}.avi'.format(video_name), fourcc,
25.0, (video_width, video_height), 0)
prev_time = 0
count = 0
while True:
ret, frame = cap.read()
count += 1
if ret:
cur_time = time.time()
frame = cv2.resize(frame, (480, 360))
input_img = frame / 255.
input_img = preprocess_img(input_img)
# array to tensor
input_img = torch.from_numpy(input_img).float()
with torch.no_grad():
inputData_var = Variable(input_img).unsqueeze(0).cuda()
# inference
output = model.forward(inputData_var)
print("output.shape : ", output.shape)
# gpu -> cpu, tensor -> numpy
output = output.detach().cpu().numpy()
output = output[0]
output = postprocess_img(output)
# cv2.imshow("203",output)
output *= 255
output = np.clip(output, 0, 255)
output = np.uint8(output)
# resize
output = cv2.resize(output, (640, 480))
# cv2.imshow('resize',output)
# threshold
ret, thr_img = cv2.threshold(output, 20, 255, 0)
# cv2.imshow('threshold',thr_img)
# warp
warp_img = warper.warp(thr_img)
# cv2.imshow('warped',warp_img)
# cv2.imshow("new output", canny_like_output)
#canny = cv2.Canny(warp_img, 40, 255)
kernel1 = np.array([[-1, -1, -1], [-1, 9, -1], [-1, -1, -1]])
kernel2 = np.ones((
5,
5,
), np.uint8)
#dilate = cv2.dilate(warp_img, kernel1, iterations=2)
#closed = cv2.morphologyEx(dilate, cv2.MORPH_OPEN, kernel2)
# x_start_L, x_start_R=slidewindow.find_sliding_point(warp_img)
# img, x_location = slidewindow.slide_window(x_start_L,x_start_R,warp_img)
slided_img, x_location, point_list_left, point_list_right = slidewindow.main(
warp_img)
if x_location != None:
# cv2.circle(img,(int(x_location),300),5,(0,0,255),3)
pid = round(pidcal.pid_control(int(x_location)), 6)
#print("pid rate : ", pid)
auto_drive(pid, x_location)
else:
pid = pidcal.pid_control(slidewindow_middle)
print("pid rate : ", pid)
auto_drive(pid)
end_time = time.time()
sec = end_time - cur_time
fps = 1 / sec
fps_list.append(fps)
print("Estimated fps {0} ".format(fps))
out.write(output)
cv2.imshow("src", frame)
pid_draw.append(pid)
# cv2.imshow("th_img", thr_img)
# cv2.imshow("output", output)
# img = cv2.imread('/home/foscar/Downloads/wapped_screenshot_12.08.2020.png',cv2.IMREAD_GRAYSCALE)
# img = cv2.resize(img, (640, 480))
# ret, thr_img = cv2.threshold(img,20,255,cv2.THRESH_BINARY)
# img ,xloc, point_list_left, point_list_right = slidewindow.main(thr_img)
# plt.xlim(0,640)
# plt.ylim(0,480)
# plt.plot(point_list_left[0], point_list_left[1])
# plt.plot(point_list_right[0], point_list_right[1])
# plt.show()
# cv2.imshow('aa',img)
# key = cv2.waitKey(1) & 0xFFx
# if key == 27: break
# elif key == ord('p'):
# cv2.waitKey(-1)
cv2.imshow("ws", slided_img)
print("x_loc :", x_location)
key = cv2.waitKey(1) & 0xFF
if key == 27: break
elif key == ord('p'):
cv2.waitKey(-1)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version",torch.__version__)
print("cuda_version",torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# if opt.genLine:
# if opt.testOnly:
# processData('test')
# else:
# print('Prepare train data')
# processData('train')
# try:
# DataLoader = importlib.import_module('models.' + opt.netType + '-dataloader')
# #print('DataLoader1 : ', DataLoader)
# except ImportError:
# DataLoader = importlib.import_module('datasets.dataloader')
# #print('DataLoader2 : ', DataLoader)
#
# Data loading
print('=> Setting up data loader')
#trainLoader, valLoader = DataLoader.create(opt)
#print('opt',opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
file_name = "0000.png"
input_img = cv2.imread(file_name,cv2.IMREAD_COLOR)
img_w,img_h,_ = input_img.shape
print("w : ", img_w, " h : ", img_h)
image = image_loader(input_img)
im,imgs = model(image)
img = im[0].cpu().detach().numpy()
print(img.shape)
img = np.transpose(img, (1, 2, 0))
print(img.shape, ' ', type(img))
img = np.clip(img,0,255)
img = np.uint8(img)
dst = cv2.resize(img,dsize=(img_h,img_w),interpolation=cv2.INTER_LANCZOS4)
#dst = cv2.threshold(dst,50,255,cv2.THRESH_BINARY)
dst = dst*255
dst = np.clip(dst,0,255)
#print(dst.shape)
# plt.imshow(dst)
# plt.show()
cv2.imshow("dst",dst)
cv2.waitKey(100000)
#cv2.imwrite('output_img/test12_bin.png',dst)
mean = np.array([0.485, 0.456, 0.406])
std = np.array([0.229, 0.224, 0.225])
import torch
import torch.nn
import torch.optim
from torch import autograd
from torch.nn.functional import avg_pool2d, interpolate, softmax
from torch.nn import UpsamplingBilinear2d, Upsample
from torch.autograd import Variable
import numpy as np
import tqdm
import matplotlib.pyplot as plt
import config as c
import opts
import time
opts.parse(sys.argv)
config_str = ""
config_str += "==="*30 + "\n"
config_str += "Config options:\n\n"
upsampler = Upsample(size=(c.org_size, c.org_size), align_corners=True, mode='bilinear')
for v in dir(c):
if v[0]=='_': continue
s=eval('c.%s'%(v))
config_str += " {:25}\t{}\n".format(v,s)
config_str += "==="*30 + "\n"
print(config_str)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
warper = Warper()
slidewindow = SlideWindow()
pidcal = PidCal()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version",torch.__version__)
print("cuda_version",torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# Data loading
print('=> Setting up data loader')
#trainLoader, valLoader = DataLoader.create(opt)
#print('opt',opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
cap = cv2.VideoCapture(0)
if cap.isOpened():
print("width : {}, height : {}".format(cap.get(3), cap.get(4)))
video_width = int(cap.get(3))
video_height = int(cap.get(4))
fourcc = cv2.VideoWriter_fourcc(*'DIVX')
video_name = time.time()
out = cv2.VideoWriter('output_video/{}.avi'.format(video_name), fourcc, 25.0, (video_width,video_height),0)
prev_time = 0
fps_list = []
while True:
ret, frame = cap.read()
if ret:
cur_time = time.time()
frame = cv2.resize(frame, (480,360))
input_img = frame / 255.
input_img = preprocess_img(input_img)
# array to tensor
input_img = torch.from_numpy(input_img).float()
with torch.no_grad():
inputData_var = Variable(input_img).unsqueeze(0).cuda()
# inference
output = model.forward(inputData_var)
print("output.shape : ", output.shape)
# gpu -> cpu, tensor -> numpy
output = output.detach().cpu().numpy()
output = output[0]
output = postprocess_img(output)
output *= 255
output = np.clip(output, 0, 255)
output = np.uint8(output)
# resize
output = cv2.resize(output, (640, 480))
# threshold
ret, thr_img = cv2.threshold(output, 180, 255, 0)
# warp
output, warp_img = warper.warp(output, thr_img)
img, x_location = slidewindow.slidewindow(warp_img)
if x_location != None:
pid = round(pidcal.pid_control(int(x_location)), 6)
print("pid rate : ", pid)
auto_drive(pid, x_location)
else:
pid = pidcal.pid_control(320)
print("pid rate : ", pid)
auto_drive(pid)
end_time = time.time()
sec = end_time - cur_time
fps = 1/sec
fps_list.append(fps)
print("Estimated fps {0} " . format(fps))
out.write(output)
cv2.imshow("src", frame)
cv2.imshow("output", output)
cv2.imshow("thre", img)
key = cv2.waitKey(1) & 0xFF
if key == 27: break
elif key == ord('p'):
cv2.waitKey(-1)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
print(("device id: {}".format(torch.cuda.current_device())))
models = importlib.import_module('models.init')
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
if opt.genLine:
if opt.testOnly:
processData('test')
else:
processData('train')
try:
DataLoader = importlib.import_module('models.' + opt.netType + '-dataloader')
except ImportError:
DataLoader = importlib.import_module('datasets.dataloader')
# Data loading
print('=> Setting up data loader')
trainLoader, valLoader = DataLoader.create(opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
# The trainer handles the training loop and evaluation on validation set
trainer = Trainer.createTrainer(model, criterion, opt, optimState)
if opt.testOnly:
loss = trainer.test(valLoader, 0)
sys.exit()
bestLoss = math.inf
startEpoch = max([1, opt.epochNum])
if checkpoint != None:
startEpoch = checkpoint['epoch'] + 1
bestLoss = checkpoint['loss']
print('Previous loss: \033[1;36m%1.4f\033[0m' % bestLoss)
trainer.LRDecay(startEpoch)
for epoch in range(startEpoch, opt.nEpochs + 1):
trainer.scheduler.step()
trainLoss = trainer.train(trainLoader, epoch)
testLoss = trainer.test(valLoader, epoch)
bestModel = False
if testLoss < bestLoss:
bestModel = True
bestLoss = testLoss
print(' * Best model: \033[1;36m%1.4f\033[0m * ' % testLoss)
checkpoints.save(epoch, trainer.model, criterion, trainer.optimizer, bestModel, testLoss ,opt)
print(' * Finished Err: \033[1;36m%1.4f\033[0m * ' % bestLoss)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version",torch.__version__)
print("cuda_version",torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# if opt.genLine:
# if opt.testOnly:
# processData('test')
# else:
# print('Prepare train data')
# processData('train')
try:
DataLoader = importlib.import_module('models.' + opt.netType + '-dataloader')
print('DataLoader1 : ', DataLoader)
except ImportError:
DataLoader = importlib.import_module('datasets.dataloader')
#print('DataLoader2 : ', DataLoader)
# Data loading
print('=> Setting up data loader')
trainLoader, valLoader = DataLoader.create(opt)
#print('opt',opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
cap = cv2.VideoCapture("output_video/TEST11.avi")
if cap.isOpened():
print("width : {}, height : {}".format(cap.get(3), cap.get(4)))
video_width = int(cap.get(3))
print(type(video_width))
video_height = int(cap.get(4))
fourcc = cv2.VideoWriter_fourcc(*'DIVX')
out = cv2.VideoWriter('output_video/TEST11_ADAM.avi', fourcc, 25.0, (video_width,video_height),0)
while True:
ret, frame = cap.read()
if ret:
image = image_loader(frame)
im = model(image)
img = im[0][0].cpu().detach().numpy()
img = np.clip(img,0,255)
slice1Copy = np.uint8(img)
print(slice1Copy.shape)
slice1Copy = np.transpose(slice1Copy,(1,2,0))
dst = cv2.resize(slice1Copy,dsize=(video_width,video_height),interpolation=cv2.INTER_LANCZOS4)
print(type(dst))
#dst = cv2.cvtColor(dst, cv2.COLOR_GRAY2BGR)
out.write(dst)
# add_img = cv2.hconcat([frame, dst])
#cv2.imshow("original",frame)
cv2.imshow('video', dst)
#
k = cv2.waitKey(1) & 0xFF
if k == 27:
break
else:
print('error')
break
cap.release()
cv2.destroyAllWindows()
def main():
global opt, best_mAP
opt = parse()
tee.Tee(opt.cache + '/log0819-t2f51.txt')
#print(vars(opt))
seed(opt.manual_seed)
print('1. create_model')
base_model, logits_model, criterion, base_optimizer, logits_optimizer = create_model(
opt)
if opt.resume:
print('checkpoints load')
best_mAP = checkpoints.load(opt, base_model, logits_model,
base_optimizer, logits_optimizer)
#checkpoints.load(opt, base_model, logits_model, base_optimizer, logits_optimizer)
print('base_model = InceptionI3D Networks') # InceptionI3D Networks
#print(base_model)
print('logits_model = AsyncTFBase: Linear Networks'
) # AsyncTFBase: Linear Networks
#print(logits_model)
trainer = train.Trainer()
print('2. get_dataset')
train_loader, val_loader, valvideo_loader = get_dataset(opt)
#print('train_loader') # [56586, [25, img, tuple]]
#print(train_loader) # 56586のペア(img-tuple)
#print('val_loader') # [12676, [25, img, tuple]]
#print(val_loader)
#print('valvideo_loader') # [1863, [25, img, tuple]]
#print(valvideo_loader) # 1863=ビデオの種類
if opt.evaluate:
trainer.validate(val_loader, base_model, logits_model, criterion, -1,
opt)
trainer.validate_video(valvideo_loader, base_model, logits_model,
criterion, -1, opt)
return
# write csv
with open('train_log.csv', 'w') as csvfile:
csv_writer = csv.writer(csvfile)
csv_writer.writerow(['i', 'loss', 's', 'v', 'o'])
print('3. Train & Test (Validation)')
for epoch in range(opt.start_epoch, opt.epochs): # 0~20
#print('epoch = ', epoch)
if opt.distributed:
trainer.train_sampler.set_epoch(epoch)
print('3.1 Training')
s_top1, s_top5, o_top1, o_top5, v_top1, v_top5, sov_top1 = trainer.train(
train_loader, base_model, logits_model, criterion,
base_optimizer, logits_optimizer, epoch, opt, csv_writer)
print('3.2 Test (Validation)')
s_top1val, s_top5val, o_top1val, o_top5val, v_top1val, v_top5val, sov_top1val = trainer.validate(
val_loader, base_model, logits_model, criterion, epoch, opt)
print('3.3 Test (Validation_Video)')
sov_mAP, sov_rec_at_n, sov_mprec_at_n = trainer.validate_video(
valvideo_loader, base_model, logits_model, criterion, epoch,
opt)
is_best = sov_mAP > best_mAP
best_mAP = max(sov_mAP, best_mAP)
scores = {
's_top1': s_top1,
's_top5': s_top5,
'o_top1': o_top1,
'o_top5': o_top5,
'v_top1': v_top1,
'v_top5': v_top5,
'sov_top1': sov_top1,
's_top1val': s_top1val,
's_top5val': s_top5val,
'o_top1val': o_top1val,
'o_top5val': o_top5val,
'v_top1val': v_top1val,
'v_top5val': v_top5val,
'sov_top1val': sov_top1val,
'mAP': sov_mAP,
'sov_rec_at_n': sov_rec_at_n,
'sov_mprec_at_n': sov_mprec_at_n
}
#scores = {'s_top1':s_top1,'s_top5':s_top5,'o_top1':o_top1,'o_top5':o_top5,'v_top1':v_top1,'v_top5':v_top5,'sov_top1':sov_top1,'s_top1val':s_top1val,'s_top5val':s_top5val,'o_top1val':o_top1val,'o_top5val':o_top5val,'v_top1val':v_top1val,'v_top5val':v_top5val,'sov_top1val':sov_top1val}
checkpoints.save(epoch, opt, base_model, logits_model,
base_optimizer, logits_optimizer, is_best, scores)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
opt = opts.parse()
# Device ID : 0
print("Device ID : {}".format(torch.cuda.current_device()))
# torch.version : 1.4.0
print("torch.version : ", torch.__version__)
# cuda_version : 10.1
print("cuda_version : ", torch.version.cuda)
models = importlib.import_module('models.init')
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
#Trainer = importlib.import_module('models.' + opt.netType '-train')
Trainer = importlib.import_module('models.stackedHGB-train')
try:
DataLoader = importlib.import_module('models.stackedHGB-dataloader')
#print("try 문")
except ImportError:
DataLoader = importlib.import_module('datasets.dataloader')
#print("try 문")
# Data Load
print("Set up data loader")
trainLoader, valLoader = DataLoader.create(opt)
# Check Points Loader
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
trainer = Trainer.createTrainer(model, criterion, opt, optimState)
if opt.testOnly:
loss = trainer.test(valLoader, 0)
sys.exit()
bestLoss = math.inf
startEpoch = max([1, opt.epochNum])
#print("opt.epochNum : ", opt.epochNum)
if checkpoint != None:
startEpoch = checkpoint['epoch'] + 1
bestLoss = checkpoint['loss']
print('Previous loss: \033[1;36m%1.4f\033[0m' % bestLoss)
# optimizer.step()
trainer.LRDecay(startEpoch)
opt.nEpochs + 1
print("opt.nEpochs : ",opt.nEpochs)
# training
print("Training Start")
for epoch in range(startEpoch, opt.nEpochs + 1):
trainer.scheduler.step()
trainLoss = trainer.train(trainLoader, epoch)
testLoss = trainer.test(valLoader, epoch)
bestModel = False
if testLoss < bestLoss:
bestModel = True
bestLoss = testLoss
print(' * Best model: \033[1;36m%1.4f\033[0m * ' % testLoss)
checkpoints.save(epoch, trainer.model, criterion, trainer.optimizer, bestModel, testLoss ,opt)
print(' * Finished Err: \033[1;36m%1.4f\033[0m * ' % bestLoss)
if not os.path.exists(dir):
with open(dir, 'w') as f:
f.write(file)
else:
with open(dir, 'a') as f:
f.write(file)
if __name__ == '__main__':
while not os.path.exists(first_model_dir):
time.sleep(30)
print('The first model not generate wait to val and get mAP file')
raw_num, part_num, Original_list, Part_class_list = class_reduce.Class_num()
global opt
opt = opts.parse(part_num)
opt.vdlist, opt.BBOX_dir = opts.vd_list('val')
model,_ = create_model(opt, val=1) # model OK
# loss and optimizer
criterion = torch.nn.BCEWithLogitsLoss()
# model = torch.nn.DataParallel(model).cuda()
val_loader = get_dataset_val(opt, Part_class_list)
video_loader = get_dataset_video(opt, Part_class_list)
for model_No in range(1, model_num_all):
model_name = '%02d_' % (model_No) + 'model.pth'
model_dir = '../model/' + model_name
while not os.path.exists(model_dir):
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
pidcal = PidCal()
opt = opts.parse()
warper = Warper()
slidewindow = SlideWindow()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version", torch.__version__)
print("cuda_version", torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# Data loading
print('=> Setting up data loader')
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
##################################################################################
model.eval()
cap = cv2.VideoCapture("input_video/test.avi")
if cap.isOpened():
print("width : {}, height : {}".format(cap.get(3), cap.get(4)))
video_width = int(cap.get(3))
video_height = int(cap.get(4))
fourcc = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')
# out = cv2.VideoWriter('output_video/TEST_1.avi', fourcc, 20.0, (1280,480),0)
prev_time = 0
fps_list = []
# fourcc =cv2.VideoWriter_fourcc(*'MJPG')
out = cv2.VideoWriter('input_video/processed_video.avi', fourcc, 40.0,
(480, 320), 0)
steer_list = list()
lpf_list = list()
while True:
ret, frame = cap.read()
if ret:
cur_time = time.time()
frame_new = cv2.resize(frame, (320, 180))
input_img = frame_new / 255.
input_img = preprocess_img(input_img)
# array to tensor
input_img = torch.from_numpy(input_img).float()
with torch.no_grad():
inputData_var = Variable(input_img).unsqueeze(0).cuda()
# inference
output = model.forward(inputData_var)
output = torch.sigmoid(output)
#output = F.softmax(output, dim=1)
# gpu -> cpu, tensor -> numpy
output = output.detach().cpu().numpy()
output = output[0]
output = postprocess_img(output)
output = np.clip(output, 0, 1)
output *= 255
output = np.uint8(output)
output = cv2.resize(output, (640, 360))
output[output > 80] = 255
output[output <= 80] = 0
warper_img, point_img = warper.warp(output)
ret, left_start_x, right_start_x, cf_img = slidewindow.w_slidewindow(
warper_img)
if ret:
left_x_current, right_x_current, sliding_img, steer_theta = slidewindow.h_slidewindow(
warper_img, left_start_x, right_start_x)
cv2.imshow('sliding_img', sliding_img)
steer_list.append(steer_theta)
lpf_result = lpf(steer_theta, 0.5)
lpf_list.append(lpf_result)
print("steer theta:", steer_theta)
if steer_theta < -28 or steer_theta > 28:
continue
else:
pid = round(pidcal.pid_control(int(50 * steer_theta)),
6)
print("pid :", pid)
'''
auto_drive(pid)
'''
else:
pidcal.error_sum = 0
end_time = time.time()
sec = end_time - cur_time
fps = 1 / sec
fps_list.append(fps)
print("Estimated fps {0} ".format(fps))
# out.write(add_img)
cv2.imshow("frame", frame)
out.write(warper_img)
# cv2.imshow("src", warper_img)
# cv2.imshow("out_img", output)
cv2.imshow("cf_img", cf_img)
key = cv2.waitKey(1) & 0xFF
if key == 27: break
elif key == ord('p'):
cv2.waitKey(-1)
plt.figure(1)
plt.plot(steer_list)
plt.figure(2)
plt.plot(lpf_list)
plt.show()
def main():
opt = opts.parse()
for split in opt.splits:
print('+-- Split {} --+'.format(split))
train(opt, split)
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
#cudnn.benchmark = True
opt = opts.parse()
print(("device id: {}".format(torch.cuda.current_device())))
print("torch.version",torch.__version__)
print("cuda_version",torch.version.cuda)
models = importlib.import_module('models.init')
# print(models)
criterions = importlib.import_module('criterions.init')
checkpoints = importlib.import_module('checkpoints')
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# if opt.genLine:
# if opt.testOnly:
# processData('test')
# else:
# print('Prepare train data')
# processData('train')
try:
DataLoader = importlib.import_module('models.' + opt.netType + '-dataloader')
#print('DataLoader1 : ', DataLoader)
except ImportError:
DataLoader = importlib.import_module('datasets.dataloader')
#print('DataLoader2 : ', DataLoader)
# Data loading
print('=> Setting up data loader')
trainLoader, valLoader = DataLoader.create(opt)
#print('opt',opt)
# Load previous checkpoint, if it exists
print('=> Checking checkpoints')
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
# The trainer handles the training loop and evaluation on validation set
trainer = Trainer.createTrainer(model, criterion, opt, optimState)
if opt.testOnly:
loss = trainer.test(valLoader, 0)
sys.exit()
bestLoss = math.inf
startEpoch = max([1, opt.epochNum])
#print("opt.epochNum : ", opt.epochNum)
if checkpoint != None:
startEpoch = checkpoint['epoch'] + 1
bestLoss = checkpoint['loss']
print('Previous loss: \033[1;36m%1.4f\033[0m' % bestLoss)
# optimizer.step()
trainer.LRDecay(startEpoch)
# opt.nEpochs + 1
for epoch in range(startEpoch, opt.nEpochs + 1):
trainer.scheduler.step()
#trainLoss = trainer.train(trainLoader, epoch)
testLoss = trainer.test(valLoader, epoch)
break
def main():
os.environ["CUDA_VISIBLE_DEVICES"] = '0'
# OPTION PARSER
opt = opts.parse()
# Device ID
print("Device ID : {}".format(torch.cuda.current_device()))
# torch.version : 1.4.0
print("torch.version : ", torch.__version__)
# cuda version : 10.1
print("cuda_version : ", torch.version.cuda)
# model init
models = importlib.import_module('models.init')
# criterions init
criterions = importlib.import_module('criterions.init')
# checkpoints init
checkpoints = importlib.import_module('checkpoints')
# Trainer init
Trainer = importlib.import_module('models.' + opt.netType + '-train')
# DataLoader Init
DataLoader = importlib.import_module('datasets.dataloader')
# Data Load
trainLoader, valLoader = DataLoader.create(opt)
# Check Points Loader
print("=> Checking checkpoints")
checkpoint = checkpoints.load(opt)
# Create model
model, optimState = models.setup(opt, checkpoint)
model.cuda()
criterion = criterions.setup(opt, checkpoint, model)
trainer = Trainer.createTrainer(model, criterion, opt, optimState)
bestLoss = math.inf
startEpoch = max([1, opt.epochNum])
if checkpoint != None:
startEpoch = checkpoint['epoch'] + 1
bestLoss = checkpoint['loss']
print('Previous loss: \033[1;36m%1.4f\033[0m' % bestLoss)
trainer.LRDecay(startEpoch)
print("***** Training Start *****")
for epoch in range(startEpoch, opt.nEpochs + 1):
trainer.scheduler.step()
trainLoss = trainer.train(trainLoader, epoch)
testLoss = trainer.test(valLoader, epoch)
bestModel = False
if testLoss < bestLoss:
bestModel = True
bestLoss = testLoss
print(' * Best model: \033[1;36m%1.4f\033[0m * ' % testLoss)
checkpoints.save(epoch, trainer.model, criterion, trainer.optimizer,
bestModel, testLoss, opt)
print(' * Finished Err: \033[1;36m%1.4f\033[0m * ' % bestLoss)
