robocars/robocar-tools
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feat: add display record command and refactor training command

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This commit is contained in:
Cyrille Nofficial
2022-06-09 12:19:54 +02:00
parent 02db9e241e
commit 8b8d53af58
8 changed files with 255 additions and 47 deletions
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88
cmd/rc-tools/rc-tools.go
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@ -8,6 +8,7 @@ import (
"github.com/cyrilix/robocar-tools/dkimpt"
"github.com/cyrilix/robocar-tools/part"
"github.com/cyrilix/robocar-tools/pkg/data"
"github.com/cyrilix/robocar-tools/pkg/display"
"github.com/cyrilix/robocar-tools/pkg/models"
"github.com/cyrilix/robocar-tools/pkg/train"
"github.com/cyrilix/robocar-tools/record"
@ -58,16 +59,28 @@ func main() {
flag.BoolVar(&debug, "debug", false, "Display debug logs")
displayFlags := flag.NewFlagSet("display", flag.ExitOnError)
cli.InitMqttFlagSet(displayFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
displayFlags.StringVar(&frameTopic, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC_FRAME"), "Mqtt topic that contains frame to display, use MQTT_TOPIC_FRAME if args not set")
displayFlags.StringVar(&framePath, "frame-path", "", "Directory path where to read jpeg frame to inject in frame topic")
displayFlags.IntVar(&fps, "frame-per-second", 25, "Video frame per second of frame to publish")
displayFlags.StringVar(&objectsTopic, "mqtt-topic-objects", os.Getenv("MQTT_TOPIC_OBJECTS"), "Mqtt topic that contains detected objects, use MQTT_TOPIC_OBJECTS if args not set")
displayFlags.BoolVar(&withObjects, "with-objects", false, "Display detected objects")
displayFlags.Usage = func(){
fmt.Printf("Usage of %s %s:\n", os.Args[0], displayFlags.Name())
fmt.Printf(" camera\n \tLive from car camera\n")
fmt.Printf(" record\n \tLive from published records\n")
}
displayFlags.StringVar(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic that contains road description, use MQTT_TOPIC_ROAD if args not set")
displayFlags.BoolVar(&withRoad, "with-road", false, "Display detected road")
displayRecordFlags := flag.NewFlagSet("record", flag.ExitOnError)
cli.InitMqttFlagSet(displayRecordFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
displayRecordFlags.StringVar(&recordTopic, "mqtt-topic-records", os.Getenv("MQTT_TOPIC_RECORDS"), "Mqtt topic that contains record data for training, use MQTT_TOPIC_RECORDS if args not set")
displayCameraFlags := flag.NewFlagSet("camera", flag.ExitOnError)
cli.InitMqttFlagSet(displayCameraFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
displayCameraFlags.StringVar(&frameTopic, "mqtt-topic-frame", os.Getenv("MQTT_TOPIC_FRAME"), "Mqtt topic that contains frame to display, use MQTT_TOPIC_FRAME if args not set")
displayCameraFlags.StringVar(&framePath, "frame-path", "", "Directory path where to read jpeg frame to inject in frame topic")
displayCameraFlags.IntVar(&fps, "frame-per-second", 25, "Video frame per second of frame to publish")
displayCameraFlags.StringVar(&objectsTopic, "mqtt-topic-objects", os.Getenv("MQTT_TOPIC_OBJECTS"), "Mqtt topic that contains detected objects, use MQTT_TOPIC_OBJECTS if args not set")
displayCameraFlags.BoolVar(&withObjects, "with-objects", false, "Display detected objects")
displayCameraFlags.StringVar(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic that contains road description, use MQTT_TOPIC_ROAD if args not set")
displayCameraFlags.BoolVar(&withRoad, "with-road", false, "Display detected road")
recordFlags := flag.NewFlagSet("record", flag.ExitOnError)
cli.InitMqttFlagSet(recordFlags, DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
@ -90,6 +103,7 @@ func main() {
}
var modelPath, roleArn, trainJobName string
var horizon int
var withFlipImage bool
var trainImageHeight, trainImageWidth int
var enableSpotTraining bool
@ -105,6 +119,7 @@ func main() {
trainingRunFlags.IntVar(&trainImageHeight, "image-height", 128, "Pixels image height")
trainingRunFlags.IntVar(&trainImageWidth, "image-width", 160, "Pixels image width")
trainingRunFlags.IntVar(&horizon, "horizon", 0, "Upper zone image to crop (in pixels)")
trainingRunFlags.BoolVar(&enableSpotTraining, "enable-spot-training", true, "Train models using managed spot training")
trainingListJobFlags := flag.NewFlagSet("list", flag.ExitOnError)
@ -113,6 +128,9 @@ func main() {
trainArchiveFlags.StringVar(&recordsPath, "record-path", os.Getenv("RECORD_PATH"), "Path where records files are stored, use RECORD_PATH if args not set")
trainArchiveFlags.StringVar(&trainArchiveName, "output", os.Getenv("TRAIN_ARCHIVE_NAME"), "Zip archive file name, use TRAIN_ARCHIVE_NAME if args not set")
trainArchiveFlags.IntVar(&trainSliceSize, "slice-size", trainSliceSize, "Number of record to shift with image, use TRAIN_SLICE_SIZE if args not set")
trainArchiveFlags.IntVar(&trainImageWidth, "image-width", 0, "Resize image width")
trainArchiveFlags.IntVar(&trainImageHeight, "image-height", 0, "Resize image height")
trainArchiveFlags.IntVar(&horizon, "horizon", 0, "Upper zone image to crop (in pixels)")
trainArchiveFlags.BoolVar(&withFlipImage, "with-flip-image", withFlipImage, "Flip horiontal image and reverse steering to increase data into training archive")
@ -160,12 +178,32 @@ func main() {
displayFlags.PrintDefaults()
os.Exit(0)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
switch displayFlags.Arg(0) {
case displayRecordFlags.Name():
if err := displayRecordFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
displayRecordFlags.PrintDefaults()
os.Exit(0)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
}
runDisplayRecord(client, recordTopic)
case displayCameraFlags.Name():
if err := displayCameraFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
displayCameraFlags.PrintDefaults()
os.Exit(0)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
}
defer client.Disconnect(50)
runDisplay(client, framePath, frameTopic, fps, objectsTopic, roadTopic, withObjects, withRoad)
default:
displayFlags.PrintDefaults()
os.Exit(0)
}
defer client.Disconnect(50)
runDisplay(client, framePath, frameTopic, fps, objectsTopic, roadTopic, withObjects, withRoad)
case recordFlags.Name():
if err := recordFlags.Parse(os.Args[2:]); err == flag.ErrHelp {
recordFlags.PrintDefaults()
@ -200,14 +238,13 @@ func main() {
trainingRunFlags.PrintDefaults()
os.Exit(0)
}
runTraining(bucket, ociImage, roleArn, trainJobName, recordsPath, trainSliceSize, withFlipImage, modelPath,
trainImageHeight, trainImageWidth, enableSpotTraining)
runTraining(bucket, ociImage, roleArn, trainJobName, recordsPath, trainSliceSize, trainImageWidth, trainImageHeight, horizon, withFlipImage, modelPath, enableSpotTraining)
case trainArchiveFlags.Name():
if err := trainArchiveFlags.Parse(os.Args[3:]); err == flag.ErrHelp {
trainArchiveFlags.PrintDefaults()
os.Exit(0)
}
runTrainArchive(recordsPath, trainArchiveName, trainSliceSize, withFlipImage)
runTrainArchive(recordsPath, trainArchiveName, trainSliceSize, trainImageWidth, trainImageHeight, horizon, withFlipImage)
default:
trainingFlags.PrintDefaults()
os.Exit(0)
@ -266,9 +303,9 @@ func runRecord(client mqtt.Client, recordsDir, recordTopic string) {
}
}
func runTrainArchive(basedir, archiveName string, sliceSize int, withFlipImage bool) {
func runTrainArchive(basedir, archiveName string, sliceSize int, imgWidth, imgHeight int, horizon int, withFlipImage bool) {
err := data.WriteArchive(basedir, archiveName, sliceSize, withFlipImage)
err := data.WriteArchive(basedir, archiveName, sliceSize, imgWidth, imgHeight, horizon, withFlipImage)
if err != nil {
zap.S().Fatalf("unable to build archive file %v: %v", archiveName, err)
}
@ -283,7 +320,16 @@ func runImportDonkeyRecords(basedir, destdir string) {
zap.S().Fatalf("unable to import files from %v to %v: %v", basedir, destdir, err)
}
}
func runDisplayRecord(client mqtt.Client, recordTopic string){
r := display.NewRecordDisplay(client, recordTopic)
defer r.Stop()
cli.HandleExit(r)
err := r.Start()
if err != nil {
zap.S().Fatalf("unable to start service: %v", err)
}
}
func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int, objectsTopic string, roadTopic string, withObjects bool, withRoad bool) {
if framePath != "" {
@ -310,8 +356,7 @@ func runDisplay(client mqtt.Client, framePath string, frameTopic string, fps int
}
}
func runTraining(bucketName string, ociImage string, roleArn string, jobName, dataDir string, sliceSize int, withFlipImage bool,
outputModel string, imgHeight int, imgWidth int, enableSpotTraining bool) {
func runTraining(bucketName, ociImage, roleArn, jobName, dataDir string, sliceSize, imgWidth, imgHeight int, horizon int, withFlipImage bool, outputModel string, enableSpotTraining bool) {
l := zap.S()
if bucketName == "" {
@ -335,8 +380,7 @@ func runTraining(bucketName string, ociImage string, roleArn string, jobName, da
}
training := train.New(bucketName, ociImage, roleArn)
err := training.TrainDir(context.Background(), jobName, dataDir, imgHeight, imgWidth, sliceSize, withFlipImage,
outputModel, enableSpotTraining)
err := training.TrainDir(context.Background(), jobName, dataDir, imgWidth, imgHeight, sliceSize, horizon, withFlipImage, outputModel, enableSpotTraining)
if err != nil {
l.Fatalf("unable to run training: %v", err)