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| # Copyright 2016 The TensorFlow Authors All Rights Reserved. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| # ============================================================================== | |
| import pprint | |
| import copy | |
| import os | |
| from tensorflow.python.platform import app | |
| from tensorflow.python.platform import flags | |
| import logging | |
| import src.utils as utils | |
| import cfgs.config_common as cc | |
| import tensorflow as tf | |
| rgb_resnet_v2_50_path = 'cache/resnet_v2_50_inception_preprocessed/model.ckpt-5136169' | |
| def get_default_args(): | |
| robot = utils.Foo(radius=15, base=10, height=140, sensor_height=120, | |
| camera_elevation_degree=-15) | |
| camera_param = utils.Foo(width=225, height=225, z_near=0.05, z_far=20.0, | |
| fov=60., modalities=['rgb', 'depth']) | |
| env = utils.Foo(padding=10, resolution=5, num_point_threshold=2, | |
| valid_min=-10, valid_max=200, n_samples_per_face=200) | |
| data_augment = utils.Foo(lr_flip=0, delta_angle=1, delta_xy=4, relight=False, | |
| relight_fast=False, structured=False) | |
| task_params = utils.Foo(num_actions=4, step_size=4, num_steps=0, | |
| batch_size=32, room_seed=0, base_class='Building', | |
| task='mapping', n_ori=6, data_augment=data_augment, | |
| output_transform_to_global_map=False, | |
| output_canonical_map=False, | |
| output_incremental_transform=False, | |
| output_free_space=False, move_type='shortest_path', | |
| toy_problem=0) | |
| buildinger_args = utils.Foo(building_names=['area1_gates_wingA_floor1_westpart'], | |
| env_class=None, robot=robot, | |
| task_params=task_params, env=env, | |
| camera_param=camera_param) | |
| solver_args = utils.Foo(seed=0, learning_rate_decay=0.1, | |
| clip_gradient_norm=0, max_steps=120000, | |
| initial_learning_rate=0.001, momentum=0.99, | |
| steps_per_decay=40000, logdir=None, sync=False, | |
| adjust_lr_sync=True, wt_decay=0.0001, | |
| data_loss_wt=1.0, reg_loss_wt=1.0, | |
| num_workers=1, task=0, ps_tasks=0, master='local') | |
| summary_args = utils.Foo(display_interval=1, test_iters=100) | |
| control_args = utils.Foo(train=False, test=False, | |
| force_batchnorm_is_training_at_test=False) | |
| arch_args = utils.Foo(rgb_encoder='resnet_v2_50', d_encoder='resnet_v2_50') | |
| return utils.Foo(solver=solver_args, | |
| summary=summary_args, control=control_args, arch=arch_args, | |
| buildinger=buildinger_args) | |
| def get_vars(config_name): | |
| vars = config_name.split('_') | |
| if len(vars) == 1: # All data or not. | |
| vars.append('noall') | |
| if len(vars) == 2: # n_ori | |
| vars.append('4') | |
| logging.error('vars: %s', vars) | |
| return vars | |
| def get_args_for_config(config_name): | |
| args = get_default_args() | |
| config_name, mode = config_name.split('+') | |
| vars = get_vars(config_name) | |
| logging.info('config_name: %s, mode: %s', config_name, mode) | |
| args.buildinger.task_params.n_ori = int(vars[2]) | |
| args.solver.freeze_conv = True | |
| args.solver.pretrained_path = rgb_resnet_v2_50_path | |
| args.buildinger.task_params.img_channels = 5 | |
| args.solver.data_loss_wt = 0.00001 | |
| if vars[0] == 'v0': | |
| None | |
| else: | |
| logging.error('config_name: %s undefined', config_name) | |
| args.buildinger.task_params.height = args.buildinger.camera_param.height | |
| args.buildinger.task_params.width = args.buildinger.camera_param.width | |
| args.buildinger.task_params.modalities = args.buildinger.camera_param.modalities | |
| if vars[1] == 'all': | |
| args = cc.get_args_for_mode_building_all(args, mode) | |
| elif vars[1] == 'noall': | |
| args = cc.get_args_for_mode_building(args, mode) | |
| # Log the arguments | |
| logging.error('%s', args) | |
| return args | |