import re
import random
import numpy as np
import os.path
import scipy.misc
import shutil
import zipfile
import time
import tensorflow as tf
from glob import glob
from glob import glob1
from urllib.request import urlretrieve
from tqdm import tqdm
class DLProgress(tqdm):
last_block = 0
def hook(self, block_num=1, block_size=1, total_size=None):
self.total = total_size
self.update((block_num - self.last_block) * block_size)
self.last_block = block_num
def maybe_download_pretrained_vgg(data_dir):
"""
Download and extract pretrained vgg model if it doesn't exist
:param data_dir: Directory to download the model to
"""
vgg_filename = 'vgg.zip'
vgg_path = os.path.join(data_dir, 'vgg')
vgg_files = [
os.path.join(vgg_path, 'variables/variables.data-00000-of-00001'),
os.path.join(vgg_path, 'variables/variables.index'),
os.path.join(vgg_path, 'saved_model.pb')]
missing_vgg_files = [vgg_file for vgg_file in vgg_files if not os.path.exists(vgg_file)]
if missing_vgg_files:
# Clean vgg dir
if os.path.exists(vgg_path):
shutil.rmtree(vgg_path)
os.makedirs(vgg_path)
# Download vgg
print('Downloading pre-trained vgg model...')
with DLProgress(unit='B', unit_scale=True, miniters=1) as pbar:
urlretrieve(
'https://s3-us-west-1.amazonaws.com/udacity-selfdrivingcar/vgg.zip',
os.path.join(vgg_path, vgg_filename),
pbar.hook)
# Extract vgg
print('Extracting model...')
zip_ref = zipfile.ZipFile(os.path.join(vgg_path, vgg_filename), 'r')
zip_ref.extractall(data_dir)
zip_ref.close()
# Remove zip file to save space
os.remove(os.path.join(vgg_path, vgg_filename))
def gen_batch_function(data_folder, image_shape):
"""
Generate function to create batches of training data
:param data_folder: Path to folder that contains all the datasets
:param image_shape: Tuple - Shape of image
:return:
"""
def get_batches_fn(batch_size):
"""
Create batches of training data
:param batch_size: Batch Size
:return: Batches of training data
"""
image_paths = glob(os.path.join(data_folder, 'image_2', '*.png'))
label_paths = {
re.sub(r'_(lane|road)_', '_', os.path.basename(path)): path
for path in glob(os.path.join(data_folder, 'gt_image_2', '*_road_*.png'))}
background_color = np.array([255, 0, 0])
random.shuffle(image_paths)
for batch_i in range(0, len(image_paths), batch_size):
images = []
gt_images = []
for image_file in image_paths[batch_i:batch_i+batch_size]:
gt_image_file = label_paths[os.path.basename(image_file)]
image = scipy.misc.imresize(scipy.misc.imread(image_file), image_shape)
gt_image = scipy.misc.imresize(scipy.misc.imread(gt_image_file), image_shape)
gt_bg = np.all(gt_image == background_color, axis=2)
gt_bg = gt_bg.reshape(*gt_bg.shape, 1)
gt_image = np.concatenate((gt_bg, np.invert(gt_bg)), axis=2)
images.append(image)
gt_images.append(gt_image)
yield np.array(images), np.array(gt_images)
return get_batches_fn
def gen_test_output(sess, logits, keep_prob, image_pl, data_folder, image_shape):
"""
Generate test output using the test images
:param sess: TF session
:param logits: TF Tensor for the logits
:param keep_prob: TF Placeholder for the dropout keep robability
:param image_pl: TF Placeholder for the image placeholder
:param data_folder: Path to the folder that contains the datasets
:param image_shape: Tuple - Shape of image
:return: Output for for each test image
"""
for image_file in glob(os.path.join(data_folder, 'image_2', '*.png')):
image = scipy.misc.imresize(scipy.misc.imread(image_file), image_shape)
im_softmax = sess.run(
[tf.nn.softmax(logits)],
{keep_prob: 1.0, image_pl: [image]})
im_softmax = im_softmax[0][:, 1].reshape(image_shape[0], image_shape[1])
segmentation = (im_softmax > 0.5).reshape(image_shape[0], image_shape[1], 1)
mask = np.dot(segmentation, np.array([[0, 255, 0, 127]]))
mask = scipy.misc.toimage(mask, mode="RGBA")
street_im = scipy.misc.toimage(image)
street_im.paste(mask, box=None, mask=mask)
yield os.path.basename(image_file), np.array(street_im)
def save_inference_samples(runs_dir, data_dir, sess, image_shape, logits, keep_prob, input_image):
# Make folder for current run
output_dir = os.path.join(runs_dir, str(time.time()))
if os.path.exists(output_dir):
shutil.rmtree(output_dir)
os.makedirs(output_dir)
# Run NN on test images and save them to disk
print('Training Finished!')
print('Saving test images to: {}, please wait...'.format(output_dir))
image_outputs = gen_test_output(
sess, logits, keep_prob, input_image, os.path.join(data_dir, 'data_road/testing'), image_shape)
for name, image in image_outputs:
scipy.misc.imsave(os.path.join(output_dir, name), image)
print('All augmented images are saved!')
def gen_output(sess, logits, keep_prob, image_pl, data_folder, image_shape):
"""
Generate test output using the test images
:param sess: TF session
:param logits: TF Tensor for the logits
:param keep_prob: TF Placeholder for the dropout keep robability
:param image_pl: TF Placeholder for the image placeholder
:param data_folder: Path to the folder that contains the datasets
:param image_shape: Tuple - Shape of image
:return: Output for for each test image
"""
for image_file in glob(os.path.join(data_folder, '*.png')):
image = scipy.misc.imresize(scipy.misc.imread(image_file), image_shape)
startTime = time.clock()
im_softmax = sess.run(
[tf.nn.softmax(logits)],
{keep_prob: 1.0, image_pl: [image]})
im_softmax = im_softmax[0][:, 1].reshape(image_shape[0], image_shape[1])
segmentation = (im_softmax > 0.5).reshape(image_shape[0], image_shape[1], 1)
mask = np.dot(segmentation, np.array([[0, 255, 0, 127]]))
mask = scipy.misc.toimage(mask, mode="RGBA")
street_im = scipy.misc.toimage(image)
street_im.paste(mask, box=None, mask=mask)
endTime = time.clock()
speed_ = 1.0 / (endTime - startTime)
yield os.path.basename(image_file), np.array(street_im), speed_
def pred_samples(runs_dir, data_dir, sess, image_shape, logits, keep_prob, input_image, print_speed=False):
# Make folder for current run
output_dir = os.path.join(runs_dir, str(time.time()))
if os.path.exists(output_dir):
shutil.rmtree(output_dir)
os.makedirs(output_dir)
# Run NN on test images and save them to HD
print('Predicting images...')
# start epoch training timer
image_outputs = gen_output(
sess, logits, keep_prob, input_image, data_dir, image_shape)
counter = 0
for name, image, speed_ in image_outputs:
scipy.misc.imsave(os.path.join(output_dir, name), image)
if print_speed is True:
counter+=1
print("Processing file: {0:05d},\tSpeed: {1:.2f} fps".format(counter, speed_))
# sum_time += laptime
# pngCounter = len(glob1(data_dir,'*.png'))
print('All augmented images are saved to: {}.'.format(output_dir))
