adding evaluation plots

cmvae/eval_cmvae.py

@@ -13,10 +13,10 @@
 import racing_utils
 from racing_utils.paths import *
 # DEFINE TESTING META PARAMETERS
-data_dir = ppr_img_data_dir
+data_dir = ws_eval_dir
 read_table = True
 latent_space_constraints = True
-weights_path = ppr_cmvae_output_dir + "/cmvae_model_45.ckpt"
+weights_path = ws_cmvae_250K_output_dir + "/cmvae_model_50.ckpt"
 
 n_z = 10
 img_res = 64
@@ -25,8 +25,8 @@
 rows = 10
 
 num_interp_z = 10
-idx_close = 0  #7
-idx_far = 1  #39
+idx_close = 7  #7
+idx_far = 44  #39
 
 z_range_mural = [-0.02, 0.02]
 z_num_mural = 11
@@ -44,9 +44,9 @@
 images_np, raw_table = racing_utils.dataset_utils.create_test_dataset_csv(data_dir, img_res, read_table=read_table)
 print('Done with dataset')
 
-images_np = images_np[:1000,:]
-if read_table is True:
-    raw_table = raw_table[:1000,:]
+# images_np = images_np[:1000,:]
+# if read_table is True:
+#     raw_table = raw_table[:1000,:]
 
 # create model
 if latent_space_constraints is True:
@@ -86,6 +86,7 @@
     plt.axis('off')
     plt.imshow(img_display)
 # fig.savefig(os.path.join('D:/ppr_files/figs', 'reconstruction_results.png'))
+plt.savefig("../figs/img_recon.png")
 plt.show()
 
 # show interpolation btw two images in latent space
@@ -134,7 +135,7 @@
 axs[1].set_ylabel(r'[deg]')
 axs[2].set_ylabel(r'[deg]')
 axs[3].set_ylabel(r'[deg]')
-
+plt.savefig('../figs/interpolation_graph.png')
 # plot the interpolated images
 fig2 = plt.figure(figsize=(96, 96))
 columns = num_interp_z + 2
@@ -153,6 +154,7 @@
 plt.axis('off')
 plt.imshow(img_display)
 # fig2.savefig(os.path.join('D:/ppr_files/figs', 'reconstruction_interpolation_results.png'))
+plt.savefig("../figs/interpolated.png")
 plt.show()
 
 # new plot traveling through latent space
@@ -172,4 +174,5 @@
     plt.axis('off')
     plt.imshow(img_display)
 # fig3.savefig(os.path.join('D:/ppr_files/figs', 'z_mural.png'))
-plt.show()
+plt.savefig("../figs/traveling_in_the_latent_space.png")
+plt.show()

datagen/img_generator/main.py

@@ -1,8 +1,8 @@
 from time import sleep
 from pose_sampler import *
 
-num_samples = 50000
-dataset_path = ws_img_data_250k_dir
+num_samples = 1000
+dataset_path = ws_eval_dir
 
 # check if output folder exists
 if not os.path.isdir(dataset_path):
@@ -11,13 +11,13 @@
     os.makedirs(img_dir)
 else:
     print("Error: path already exists.")
-    # flag= input("Enter Y/y to confirm folder deletion and recreation or any letter to abort: ")
-    # if flag == 'y' or flag == 'Y' :
-    #     shutil.rmtree(dataset_path)
-    #     os.makedirs(dataset_path)
-    #     img_dir = os.path.join(dataset_path, 'images')
-    #     os.makedirs(img_dir)
-    # else: exit()
+    flag= input("Enter Y/y to confirm folder deletion and recreation or any letter to abort: ")
+    if flag == 'y' or flag == 'Y' :
+        shutil.rmtree(dataset_path)
+        os.makedirs(dataset_path)
+        img_dir = os.path.join(dataset_path, 'images')
+        os.makedirs(img_dir)
+    else: exit()
 
 pose_sampler = PoseSampler(num_samples, dataset_path)
 

datagen/img_generator/pose_sampler.py

@@ -32,7 +32,7 @@
 UAV_PITCH_RANGE = [-eps, eps]  #[-np.pi/4, np.pi/4]
 UAV_ROLL_RANGE = [-eps, eps]  #[-np.pi/4, np.pi/4]
 
-R_RANGE = [6, 12]  # in meters
+R_RANGE = [2, 8]  # in meters
 correction = 0.85
 CAM_FOV = 90.0*correction  # in degrees -- needs to be a bit smaller than 90 in fact because of cone vs. square
 
@@ -42,7 +42,7 @@ def __init__(self, num_samples, dataset_path, with_gate=True):
         self.num_samples = num_samples
         self.base_path = dataset_path
         self.csv_path = os.path.join(self.base_path, 'gate_training_data.csv')
-        self.curr_idx = 250000
+        self.curr_idx = 0
         self.with_gate = with_gate
         self.client = airsim.MultirotorClient()
 

racing_utils/paths.py

@@ -8,6 +8,7 @@
 ws_cmvae_output_dir = "/home/dell/Drone_Project/models_outputs/cmvae_con"
 
 ws_img_data_250k_dir = "/home/dell/Drone_Project/datasets/img_data_250K"
+ws_eval_dir = "/home/dell/Drone_Project/datasets/evaluation_data"
 ws_img_data_50k_dir = "/home/dell/Drone_Project/datasets/img_data_50K"
 ws_cmvae_250K_output_dir = "/home/dell/Drone_Project/models_outputs/cmvae_con_250k"
 ws_il_data_dir = "/home/dell/Drone_Project/datasets/il_data"

racing_utils/stats_utils.py

@@ -25,8 +25,8 @@ def calculate_gate_stats(predictions, poses):
     weights = np.ones(len(abs_diff[:, 0]))/len(abs_diff[:, 0])
 
     axs[0].hist(abs_diff[:, 0], bins=30, range=(0,2.0), weights=weights, density=False)
-    axs[1].hist(abs_diff[:, 1]*180/np.pi, bins=30, range=(0, np.pi/20*180/np.pi), weights=weights, density=False)
-    axs[2].hist(abs_diff[:, 2]*180/np.pi, bins=30, range=(0, np.pi/20*180/np.pi), weights=weights, density=False)
+    axs[1].hist(abs_diff[:, 1]*180/np.pi, bins=50, range=(0, np.pi/20*180/np.pi), weights=weights, density=False)
+    axs[2].hist(abs_diff[:, 2]*180/np.pi, bins=50, range=(0, np.pi/20*180/np.pi), weights=weights, density=False)
     axs[3].hist(abs_diff[:, 3]*180/np.pi, bins=50, range=(0, np.pi/4*180/np.pi), weights=weights, density=False)
 
     for idx in range(4):
@@ -46,7 +46,7 @@ def calculate_gate_stats(predictions, poses):
     # axs[3].set_xlabel(r'[$^{\circ}$]')
 
     axs[0].set_ylabel('Error Density')
-
+    plt.savefig("../figs/error_density.png")
     plt.show()
 
     print('bla')