This project was created for the AUVSI SUAS 2016-17 competition. The objective is to autonomously classify ground targets, as per competition specifications. More information regarding the competition may be found at the following link: http://www.auvsi-suas.org/static/competitions/2017/auvsi_suas-2017-rules.pdf
Most of the requirements are included in requirements.txt. The listed packages can be installed by running:
pip install -r requirements.txt
Python-OpenCV is also used for image read/write, processing, and visualization. At the time of writing, OpenCV needed to be installed separately. However, there now appears to be unofficial packages available on PyPI, which could greatly ease the OpenCV setup process. The base package may be installed using:
pip install opencv-python
See the PyPI page for more details and package options
The main entry point is classify_images.py. To get information about its options, run
# Script located in root of repository
python classify_images.py -h
A common example usage is
# Script located in root of repository
python classify_images.py --dir /path/to/directory/with/images --checkpoint_dir /path/to/MODEL_CHECKPOINT.ckpt
The script will loop continuously, processing all images of the specified format (e.g. *.jpg) in the specified directory (including images added while it's running). Terminate it at any time using Ctrl+C. Processed images are moved to subdirectories of as they are processed, e.g. /home/user/images/foo.jpg would be moved to /home/user/images/processed_00/foo.jpg. Note that the script attempts to resolve naming conflicts by incrementing a counter, e.g. if it processes some image /home/user/images/bar.jpg and /home/user/images/processed_00/bar.jpg already exists, then it will attempt to move the processed image to /home/user/images/processed_01/bar.jpg, up to .../processed_99/bar.jpg.
The 2016-17 codebase used ROS to connect its various components. The image processing stack integrates into the ROS framework via classify_ros.py, which additionally depends on rospy, which is installed with ROS. ROS installation instructions can be found here.
Running the code should be fairly straightforward:
# Script located in root of repository
python classify_ros.py -c /path/to/SOME_MODEL_CHECKPOINT.ckpt
The script starts a ROS node that listens for ROIs and automatically classifies and conditionally transmits the classification results using the code in classify_images.py
The main (WideResNet) model is defined in wideresnet_model.py, while training and evaluation are defined in wideresnet_train.py and wideresnet_eval.py respectively. The training and evaluation scripts may be run directly, and can be inspected for options by running
# Scripts located in convnets/wideresnet
python wideresnet_train.py -h
python wideresnet_eval.py -h
However, convenience scripts for training/evaluating models for each of the various SUAS target characteristics are available, which can be run without needing to provide any arguments. For instance:
# Scripts located in convnets/wideresnet
python suas_shapes_train.py
python suas_shapes_eval.py
Note that you can still customize your run with various flags. Some frequent configurations I used looked like:
# Scripts located in convnets/wideresnet
python suas_shapes_train.py --batch_size 64 --train_dir ~/aza_cv/shapes/train
python suas_shapes_eval.py --run_once --eval_dir ~/aza_cv/shapes/eval --checkpoint_dir ~/aza_cv/shapes/train
Training can be resumed from a checkpoint (e.g. in the event of an interruption) using:
# Scripts located in convnets/wideresnet
python suas_alphanum_train.py --checkpoint_path ~/aza_cv/alphanum/train --train_dir ~/aza_cv/alphanum/training_resume
WARNING! Be very careful with your train_dir, as the code might* wipe out the directory on startup or overwrite files. Either way, if you care about the checkpoint, I'd recommend backing it up (copy-pasting it to another dir is enough) before starting any other train or evaluation operation.
*I recall losing checkpoints because of the code clearing directories at one point, but don't remember which part exactly did this and/or if the code still does that
The model uses mean-standard normalization (mean subtraction followed by standard deviation normalization). This is a somewhat dated technique (and could likely be replaced entirely by batchnorming), but if you'd like to retrain the model as is you will need to manually update the mean-stddev values. meanstd.py is a helper script which will calculate the mean and standard deviation of a dataset and print the results to the console:
# Script located in root of this repository
python meanstd.py --dir /path/to/image/directory
Use the printed mean and standard deviation values to update the mean and stddev definitions in convnets/wideresnet/suas_*_data.py in [B, G, R] format before training or evaluating on your data.
Much of this repository is out of date as technology continues to evolve. Some recommended changes include:
- Freeze models instead of loading from checkpoint during deployment. See https://www.tensorflow.org/guide/extend/model_files
- Retrain model with more, better data. Last time the classifier was used, the results were very poor due to poor training (lack of good data, large class imbalance, etc)
- Change to a newer, more state-of-the-art model
- Change tabs to spaces. I used to think tabs were better. I was wrong.
David Hung ([email protected])
Arizona Autonomous Vehicles Club
University of Arizona