168 lines
6.4 KiB
Python
168 lines
6.4 KiB
Python
import argparse
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from pathlib import Path
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parser = argparse.ArgumentParser()
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parser.add_argument(
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'--verbose',
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'-v',
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help="Increase verbosity. Add multiple times to increase further.",
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action='count', default=0
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)
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parser.add_argument(
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'--remote-log-addr',
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help="Connect to a remote logger like cutelog. Specify the ip",
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type=str,
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)
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parser.add_argument(
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'--remote-log-port',
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help="Connect to a remote logger like cutelog. Specify the port",
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type=int,
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default=19996
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)
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# parser.add_argument('--foo')
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inference_parser = parser.add_argument_group('inference server')
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connection_parser = parser.add_argument_group('connection')
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frame_emitter_parser = parser.add_argument_group('Frame emitter')
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inference_parser.add_argument("--model_dir",
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help="directory with the model to use for inference",
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type=str, # TODO: make into Path
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default='../Trajectron-plus-plus/experiments/pedestrians/models/models_04_Oct_2023_21_04_48_eth_vel_ar3')
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inference_parser.add_argument("--conf",
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help="path to json config file for hyperparameters, relative to model_dir",
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type=str,
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default='config.json')
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# Model Parameters (hyperparameters)
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inference_parser.add_argument("--offline_scene_graph",
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help="whether to precompute the scene graphs offline, options are 'no' and 'yes'",
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type=str,
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default='yes')
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inference_parser.add_argument("--dynamic_edges",
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help="whether to use dynamic edges or not, options are 'no' and 'yes'",
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type=str,
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default='yes')
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inference_parser.add_argument("--edge_state_combine_method",
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help="the method to use for combining edges of the same type",
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type=str,
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default='sum')
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inference_parser.add_argument("--edge_influence_combine_method",
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help="the method to use for combining edge influences",
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type=str,
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default='attention')
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inference_parser.add_argument('--edge_addition_filter',
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nargs='+',
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help="what scaling to use for edges as they're created",
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type=float,
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default=[0.25, 0.5, 0.75, 1.0]) # We don't automatically pad left with 0.0, if you want a sharp
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# and short edge addition, then you need to have a 0.0 at the
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# beginning, e.g. [0.0, 1.0].
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inference_parser.add_argument('--edge_removal_filter',
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nargs='+',
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help="what scaling to use for edges as they're removed",
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type=float,
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default=[1.0, 0.0]) # We don't automatically pad right with 0.0, if you want a sharp drop off like
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# the default, then you need to have a 0.0 at the end.
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inference_parser.add_argument('--incl_robot_node',
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help="whether to include a robot node in the graph or simply model all agents",
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action='store_true')
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inference_parser.add_argument('--map_encoding',
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help="Whether to use map encoding or not",
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action='store_true')
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inference_parser.add_argument('--no_edge_encoding',
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help="Whether to use neighbors edge encoding",
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action='store_true')
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inference_parser.add_argument('--batch_size',
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help='training batch size',
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type=int,
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default=256)
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inference_parser.add_argument('--k_eval',
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help='how many samples to take during evaluation',
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type=int,
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default=25)
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# Data Parameters
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inference_parser.add_argument("--eval_data_dict",
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help="what file to load for evaluation data (WHEN NOT USING LIVE DATA)",
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type=str,
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default='../Trajectron-plus-plus/experiments/processed/eth_test.pkl')
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inference_parser.add_argument("--output_dir",
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help="what dir to save output (i.e., saved models, logs, etc) (WHEN NOT USING LIVE OUTPUT)",
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type=str,
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default='./OUT/test_inference')
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# inference_parser.add_argument('--device',
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# help='what device to perform training on',
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# type=str,
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# default='cuda:0')
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inference_parser.add_argument("--eval_device",
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help="what device to use during inference",
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type=str,
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default="cpu")
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inference_parser.add_argument('--seed',
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help='manual seed to use, default is 123',
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type=int,
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default=123)
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# Internal connections.
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connection_parser.add_argument('--zmq-trajectory-addr',
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help='Manually specity communication addr for the trajectory messages',
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type=str,
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default="ipc:///tmp/feeds/traj")
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connection_parser.add_argument('--zmq-camera-stream-addr',
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help='Manually specity communication addr for the camera stream messages',
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type=str,
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default="ipc:///tmp/feeds/img")
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connection_parser.add_argument('--zmq-prediction-addr',
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help='Manually specity communication addr for the prediction messages',
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type=str,
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default="ipc:///tmp/feeds/preds")
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connection_parser.add_argument('--zmq-frame-addr',
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help='Manually specity communication addr for the frame messages',
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type=str,
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default="ipc:///tmp/feeds/frame")
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connection_parser.add_argument('--ws-port',
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help='Port to listen for incomming websocket connections. Also serves the testing html-page.',
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type=int,
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default=8888)
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connection_parser.add_argument('--bypass-prediction',
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help='For debugging purpose: websocket input immediately to output',
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action='store_true')
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# Frame emitter
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frame_emitter_parser.add_argument("--video-src",
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help="source video to track from",
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type=Path,
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default='../DATASETS/VIRAT_subset_0102x/VIRAT_S_010200_00_000060_000218.mp4')
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#TODO: camera |