overall some small changes

Not worth to break them up.
1. some README changes
2. the set steering model button removed from DriveApp.py
3. some image added.

detection/README.md

@@ -0,0 +1,7 @@
+# Welcome to Detection
+
+This is the detectio module. There are three submodules.
+
+1. Object detection
+2. Lane detection
+3. Traffic light detection

driver.py

@@ -37,13 +37,12 @@
 
 class Driver:
 
-    def __init__(self, steering_model, cruise_control=False, seg_vis=False, obj_det=False, det_vis=False, gps=False):
+    def __init__(self, steering_model, cruise_control=False, seg_vis=False, obj_det=False, gps=False):
 
         self.steering_model = steering_model
         self.cruise_control = cruise_control
         self.seg_vis = seg_vis
         self.obj_det = obj_det
-        self.det_vis = det_vis
         self.gps = gps
 
         # initialize some private variable
@@ -133,7 +132,7 @@ def drive(self):
 
         if cap.isOpened():
 
-            windowName = "self driving car...running"
+            windowName = "self driving car... running"
             cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
             cv2.resizeWindow(windowName, 1100, 470)
             cv2.moveWindow(windowName, 0, 0)
@@ -154,8 +153,6 @@ def drive(self):
 
                 # ------------------ segmentation -------------------------
                 # press down on "a" key to disable stopping
-
-                # TODO: Test this new implementation of stopping
                 if cv2.waitKey(33) == ord('a'):
                     self.__disable_stopping = not self.__disable_stopping
 
@@ -190,7 +187,6 @@ def drive(self):
 
                 # visualizing steering class activation
                 # checks for the key if the user pressed "h"
-                # TODO: Make sure this code is bug free
                 if cv2.waitKey(104) == ord('h'):
                     self.__steering_heatmap = not self.__steering_heatmap
                 if self.__steering_heatmap:

gui/DriveApp.py

@@ -14,7 +14,6 @@ def __init__(self, parent, *args, **kwargs):
         self.winfo_toplevel().title("self driving golf cart")
         self.parent.resizable(width=False, height=False)
         self.parent.geometry('{}x{}'.format(300, 350))
-        # self.parent.iconbitmap(r'/home/neil/Workspace/self-driving-golf-cart/media/icon.ico')
         self.create_label("Welcome to the autnomous vehicle program")
 
         # ---- drop down menu ------
@@ -23,8 +22,8 @@ def __init__(self, parent, *args, **kwargs):
         self.var.set("Own")
         self.option = tk.OptionMenu(self, self.var, "Own", "Komanda", "Autumn", "AutoPilot")
         self.option.pack()
-        self.button = tk.Button(self, text="OK", command=self.set_steering_model, bg="yellow")
-        self.button.pack()
+        # self.button = tk.Button(self, text="OK", command=self.set_steering_model)
+        # self.button.pack()
 
         # -----------
         self.create_label("Please specify run configeration")
@@ -42,11 +41,6 @@ def __init__(self, parent, *args, **kwargs):
         self.cb3 = tk.Checkbutton(self, text="Object Detection", variable=self.detc_bool)
         self.cb3.pack()
 
-        self.detc_vis = tk.IntVar()
-        self.detc_vis.set(1)
-        self.cb4 = tk.Checkbutton(self, text="Detection Visualization", variable=self.detc_vis)
-        self.cb4.pack()
-
         self.gps_bool = tk.IntVar()
         self.cb5 = tk.Checkbutton(self, text="GPS", variable=self.gps_bool)
         self.cb5.pack()
@@ -55,29 +49,25 @@ def __init__(self, parent, *args, **kwargs):
         self.beginButton = tk.Button(self, text="Begin", command=self.begin)
         self.beginButton.pack()
 
-        # -- init driver -----
-        self.steering_model = None
-
+        self.create_label("Once the program has started: ")
+        self.create_label("- Press the 'a' key to disable braking")
+        self.create_label("- Press the 'h' key to visualize steering with activation map.")
 
     def begin(self):
 
         if self.steering_model != None:
 
-            self.driver = Driver(steering_model=self.steering_model,
+            self.driver = Driver(steering_model=self.var.get(),
                                  cruise_control=self.cc_bool.get(),
                                  seg_vis=self.seg_vis.get(),
                                  obj_det=self.detc_bool.get(),
-                                 det_vis=self.detc_vis.get(),
                                  gps=self.gps_bool.get())
 
 
             self.driver.drive()
         else:
             messagebox.showerror("Error", "Please select a steering model and click OK")
 
-    def set_steering_model(self):
-        self.steering_model = self.var.get()
-        print(self.steering_model)
 
     def create_label(self, str):
         string = tk.StringVar()

requirements.txt

@@ -11,9 +11,7 @@ Flask == 0.12.2
 
 # cruise/model.py: 5,6,7,8
 # cruise/visualization.py: 14,15
-# detection/object/device_test.py: 29,32
-# detection/object/object_detector.py: 11,13
-# detection/object/visualize_detection.py: 10,11
+# detection/object/object_detector.py: 34,35
 # detection/object/yad2k/models/keras_darknet19.py: 5,6,7,8,9
 # detection/object/yad2k/models/keras_yolo.py: 6,7,8,9
 # semantic_segmentation/models/__init__.py: 2
@@ -28,25 +26,24 @@ Flask == 0.12.2
 # semantic_segmentation/models/icnet/model.py: 6,7,8,9
 # semantic_segmentation/models/layers/core.py: 2,3,4,5,9,23
 # semantic_segmentation/models/layers/pooling.py: 2,3
-# semantic_segmentation/segmentor.py: 14
 # semantic_segmentation/visualization.py: 13,17
 # steering/autumn.py: 12,13,14,15,17,18,19,20
 # steering/models.py: 6,7,8,9,10
-# steering/rambo.py: 6
+# steering/rambo.py: 10
 # steering/validation.py: 3
 # steering/visualization/data.py: 5
+# steering/visualization/model.py: 3,4,6
 Keras == 2.1.5
 
-# detection/object/device_test.py: 30
-# detection/object/object_detector.py: 12
-# detection/object/visualize_detection.py: 12
+# detection/object/object_detector.py: 36
 # detection/object/yad2k/utils/draw_boxes.py: 7
-# semantic_segmentation/segmentor.py: 18
+# gui/info_screen.py: 13,14,15
+# semantic_segmentation/segmentor.py: 16
 # semantic_segmentation/steering_simulation.py: 10
 # semantic_segmentation/visualization.py: 18
 # steering/autumn.py: 8,9,10
 # steering/simulation.py: 9
-# steering/steering_predictor.py: 4,5,6
+# steering/visualization/visualization.py: 8,9,10
 Pillow == 5.1.0
 
 # semantic_segmentation/steering_simulation.py: 5
@@ -59,13 +56,16 @@ googlemaps == 2.5.1
 # localization/gps.py: 1
 gpsd_py3 == 0.3.0
 
-# detection/object/voc_conversion_scripts/voc_to_hdf5.py: 16
+# steering/visualization/model.py: 5
 h5py == 2.7.1
 
-# driver.py: 22
+# detection/object/device_test.py: 30
 # logger/dataset_collector.py: 10
 imutils == 0.4.6
 
+# steering/visualization/visualization.py: 15
+keras_vis == 0.4.1
+
 # cruise/train.py: 7
 # detection/lane/lane_detector.py: 9
 # semantic_segmentation/segmentation_analyzer.py: 6
@@ -74,19 +74,17 @@ imutils == 0.4.6
 # semantic_segmentation/visualization.py: 12
 # steering/train.py: 7
 # steering/visualization/dataset_visualizer.py: 14,15,16
-# steering/visualization/steering_visualizer.py: 14,15,16
+# steering/visualization/testing_visualizer.py: 14,15,16
+# steering/visualization/visualization.py: 11,14
 matplotlib == 2.2.2
 
 # cruise/train.py: 10
 # cruise/utils.py: 2
 # cruise/visualization.py: 7
 # detection/lane/lane_detector.py: 6
 # detection/lane/utils.py: 8
-# detection/object/device_test.py: 27
-# detection/object/object_detector.py: 10
-# detection/object/visualize_detection.py: 9
-# detection/object/voc_conversion_scripts/voc_to_hdf5.py: 17
-# detection/object/voc_conversion_scripts/voc_to_tfrecords.py: 16
+# detection/object/device_test.py: 29
+# detection/object/object_detector.py: 33
 # detection/object/yad2k/models/keras_yolo.py: 4
 # detection/object/yad2k/utils/draw_boxes.py: 6
 # detection/traffic-light/scripts/cfg/process.py: 5
@@ -113,36 +111,36 @@ matplotlib == 2.2.2
 # detection/traffic-light/scripts/utils/im_transform.py: 1
 # detection/traffic-light/scripts/utils/images_to_mp4.py: 3
 # detection/traffic-light/scripts/utils/loader.py: 4
-# driver.py: 26
+# driver.py: 33
+# gui/info_screen.py: 16
 # logger/dataset_collector.py: 15
-# semantic_segmentation/segmentor.py: 17
+# semantic_segmentation/segmentor.py: 15
 # semantic_segmentation/steering_simulation.py: 3
 # semantic_segmentation/test.py: 4
 # semantic_segmentation/train.py: 5
 # semantic_segmentation/utils.py: 12
 # semantic_segmentation/visualization.py: 16
 # steering/komanda.py: 15
-# steering/pc_test.py: 10
 # steering/preprocess_dataset.py: 10
-# steering/rambo.py: 3
+# steering/rambo.py: 7
 # steering/simulation.py: 6
 # steering/steering_predictor.py: 2
 # steering/train.py: 3
 # steering/utils.py: 2
 # steering/validation.py: 1
 # steering/visualization/data.py: 4
 # steering/visualization/dataset_visualizer.py: 9
-# steering/visualization/steering_visualizer.py: 9
+# steering/visualization/testing_visualizer.py: 9
+# steering/visualization/visualization.py: 7
 numpy == 1.14.2
 
 # cruise/cruise_predictor.py: 8
 # cruise/utils.py: 1
 # cruise/visualization.py: 8
 # detection/lane/lane_detector.py: 7
 # detection/lane/utils.py: 7
-# detection/object/device_test.py: 26
-# detection/object/object_detector.py: 7
-# detection/object/visualize_detection.py: 5
+# detection/object/device_test.py: 28
+# detection/object/object_detector.py: 29
 # detection/traffic-light/scripts/darkflow.py: 4
 # detection/traffic-light/scripts/net/flow.py: 2
 # detection/traffic-light/scripts/net/help.py: 9
@@ -153,50 +151,47 @@ numpy == 1.14.2
 # detection/traffic-light/scripts/utils/im_transform.py: 2
 # detection/traffic-light/scripts/utils/images_to_mp4.py: 1
 # detection/traffic-light/scripts/utils/udacity_voc_csv.py: 8
-# driver.py: 25
+# driver.py: 32
 # logger/dataset_collector.py: 14
 # logger/recorder.py: 1
 # semantic_segmentation/segmentation_analyzer.py: 1
-# semantic_segmentation/segmentor.py: 16
+# semantic_segmentation/segmentor.py: 14
 # semantic_segmentation/test.py: 1
 # semantic_segmentation/utils.py: 9
 # semantic_segmentation/visualization.py: 14
 # steering/autumn.py: 7
 # steering/komanda.py: 14
-# steering/pc_test.py: 11
 # steering/preprocess_dataset.py: 6
-# steering/rambo.py: 9
+# steering/rambo.py: 13
 # steering/simulation.py: 5
 # steering/steering_predictor.py: 3
 # steering/train.py: 2
 # steering/utils.py: 1
 # steering/validation.py: 7
 # steering/visualization/data.py: 1
 # steering/visualization/dataset_visualizer.py: 10
-# steering/visualization/steering_visualizer.py: 10
+# steering/visualization/testing_visualizer.py: 10
+# steering/visualization/visualization.py: 17
 opencv_python == 3.4.0.12
 
 # cruise/train.py: 6
 # cruise/utils.py: 5
 # cruise/visualization.py: 10
-# detection/object/visualize_detection.py: 7
 # semantic_segmentation/train.py: 7
 # semantic_segmentation/visualization.py: 15
-# steering/pc_test.py: 12
 # steering/preprocess_dataset.py: 7
 # steering/train.py: 1
 # steering/utils.py: 3
 # steering/validation.py: 4
 # steering/visualization/dataset_visualizer.py: 12
-# steering/visualization/steering_visualizer.py: 12
+# steering/visualization/testing_visualizer.py: 12
 pandas == 0.22.0
 
 # cruise/visualization.py: 9
-# detection/object/visualize_detection.py: 16
 # semantic_segmentation/visualization.py: 19
 # steering/preprocess_dataset.py: 9
 # steering/visualization/dataset_visualizer.py: 11
-# steering/visualization/steering_visualizer.py: 11
+# steering/visualization/testing_visualizer.py: 11
 pygame == 1.9.3
 
 # cruise/sc.py: 6
@@ -208,11 +203,11 @@ pyserial == 3.4
 # steering/simulation.py: 7
 python_socketio == 1.9.0
 
-# steering/pc_test.py: 21
 # steering/preprocess_dataset.py: 11
-# steering/rambo.py: 7
+# steering/rambo.py: 11
 # steering/visualization/dataset_visualizer.py: 29
-# steering/visualization/steering_visualizer.py: 19
+# steering/visualization/testing_visualizer.py: 19
+# steering/visualization/visualization.py: 12
 scikit_image == 0.13.1
 
 # semantic_segmentation/segmentation_analyzer.py: 4
@@ -222,12 +217,11 @@ scikit_image == 0.13.1
 # steering/auto_pilot.py: 6
 # steering/autumn.py: 6
 # steering/komanda.py: 12
-# steering/rambo.py: 8
+# steering/rambo.py: 12
 # steering/simulation.py: 12
 # steering/validation.py: 10
 scipy == 1.0.1
 
-# detection/object/voc_conversion_scripts/voc_to_tfrecords.py: 17
 # detection/object/yad2k/models/keras_yolo.py: 5,31
 # detection/traffic-light/scripts/net/build.py: 1
 # detection/traffic-light/scripts/net/flow.py: 5
@@ -245,7 +239,7 @@ scipy == 1.0.1
 # steering/models.py: 11
 tensorflow == 1.7.0
 
-# driver.py: 29
+# driver.py: 34
 # helper.py: 1
 # logger/dataset_collector.py: 16
 termcolor == 1.1.0

steering/README.md

@@ -1,12 +1,13 @@
-# Welcome to Autonomous Steering Control Sytetm (ASCS)
+# Welcome to Autonomous Steering Control System (ASCS)
 One of the most important aspect of the vehicle is the autonomous steering system.  
+
 ![](../media/ascs.JPG)
 
 ## About this directory
 ### Training
 `train.py` trains the ConvNet
 
-`model.pys` has all the model architectures
+`models.py` has all the model architectures
 
 ### Running
 `steering_predictor` is a class that `drive.py` calls. The predictor takes in an image and return a visualization and steering angle.
@@ -15,8 +16,16 @@ One of the most important aspect of the vehicle is the autonomous steering syste
 
 `./motor_control` has the arduino motor control program.
 
+### Visualization
+I have implemented some methods for you to visualize the autonomous steering system. All of those scripts can be found in the `./visualization` directory. 
+
+`testing_visualizer.py` allows you to visualize the trained results. You must have the [Udacity validation dataset](https://github.com/udacity/self-driving-car/blob/master/datasets/CH2/Ch2_001.tar.gz.torrent).
+
+There is also a attention visualizatio script which the car uses to draw a heatmap overlay on the input image. You can use this to study the behavior of the model. 
+
+![](../media/attention.png)
+
 ## Others
-`steering_visualization.py` allows you to visualize the trained results. You must have the [Udacity validation dataset](https://github.com/udacity/self-driving-car/blob/master/datasets/CH2/Ch2_001.tar.gz.torrent).
 
 `simulation.py` allows you to run a trained model on the Udacity driving simulator. You can download it here.