80 lines
3.3 KiB
Python
80 lines
3.3 KiB
Python
"""Сквозной прогон конвейера по бэгу: решения, треки, тайминги.
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python tools/run_pipeline.py --bag data/for_hackathon/doubleT_obstacle --verbose
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python tools/run_pipeline.py --all --memory artifacts/mushroom_body.npz
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"""
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from __future__ import annotations
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import argparse
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import numpy as np
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import _bootstrap as B # noqa: F401
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from flyguard.bag import Bag, find_bags
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from flyguard.mushroom_body import MushroomBody
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from flyguard.pipeline import FlyGuard, Params
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def run(bag_path, params: Params, memory, limit: int | None, verbose: bool) -> dict:
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bag = Bag(bag_path)
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fg = FlyGuard(params, memory=memory)
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stages: dict[str, list[float]] = {}
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n_det = n_frames = 0
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dists, speeds, ncand = [], [], []
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for _, pc in bag.frames(stop=limit):
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res = fg.process(pc)
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if res is None:
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continue
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n_frames += 1
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for k, v in res.timings.items():
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stages.setdefault(k, []).append(v)
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ncand.append(len(res.candidates))
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speeds.append(res.ego.speed if res.ego else 0.0)
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d = res.decision
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if d.detected:
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n_det += 1
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dists.append(d.distance)
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if verbose and n_frames % 10 == 0:
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obj = (f"{d.distance:6.1f} м conf={d.confidence:.2f} "
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f"{'ЭКСТРЕННО' if d.emergency else 'предупр.'}"
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if d.detected else "путь свободен")
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print(f" кадр {n_frames:4d} v={res.ego.speed*3.6:5.1f} км/ч "
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f"канд.={len(res.candidates):3d} треков={len(fg.cx.tracks):3d} | {obj} "
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f"| {res.total_ms:5.1f} мс")
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tot = np.array([sum(v[i] for v in stages.values()) for i in range(n_frames)]) \
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if n_frames else np.zeros(1)
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res = dict(name=bag.path.name, frames=n_frames, det_rate=n_det / max(n_frames, 1),
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p50=float(np.median(tot)), p95=float(np.percentile(tot, 95)),
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cands=float(np.mean(ncand)) if ncand else 0.0,
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v=float(np.median(speeds) * 3.6) if speeds else 0.0,
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d_med=float(np.median(dists)) if dists else float("nan"))
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print(f"{res['name']:40s} кадров {res['frames']:4d} | тревога в {res['det_rate']:6.1%} "
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f"кадров (медиана {res['d_med']:6.1f} м) | канд./кадр {res['cands']:5.1f} | "
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f"v={res['v']:5.1f} км/ч | {res['p50']:5.1f}/{res['p95']:5.1f} мс (p50/p95)")
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if verbose:
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for k in sorted(stages, key=lambda k: -np.median(stages[k])):
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print(f" {k:12s} {np.median(stages[k]):6.2f} мс")
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return res
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def main() -> None:
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ap = argparse.ArgumentParser(description=__doc__)
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ap.add_argument("--bag")
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ap.add_argument("--all", action="store_true")
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ap.add_argument("--limit", type=int, default=150)
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ap.add_argument("--memory", default=None)
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ap.add_argument("--fov", type=float, default=30.0)
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ap.add_argument("--verbose", action="store_true")
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args = ap.parse_args()
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memory = MushroomBody.load(args.memory) if args.memory else None
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params = Params(fov_deg=args.fov)
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bags = find_bags(B.DATA / "for_hackathon") if args.all else [args.bag]
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for b in bags:
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run(b, params, memory, args.limit, args.verbose)
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if __name__ == "__main__":
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main()
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