From 858869fec82238ccc3eba0947b0ea37e6202b054 Mon Sep 17 00:00:00 2001 From: Ionel Gog Date: Wed, 29 Sep 2021 11:25:58 -0700 Subject: [PATCH] Updated Dockerfile to support Python 3.8 and TF 2.5.1. (#220) --- README.md | 2 +- configs/lincoln.conf | 5 +- configs/lincoln_frenet.conf | 5 +- configs/scenarios/car_alley.conf | 2 +- configs/scenarios/car_running_red_light.conf | 2 +- ...pposite_vehicle_running_red_light_021.conf | 2 +- configs/scenarios/person_avoidance.conf | 6 +- .../scenarios/person_avoidance_waypoint.conf | 2 +- configs/scenarios/tracker_evaluation.conf | 2 +- docker/Dockerfile | 14 +-- docker/Dockerfile-challenge.master | 12 +-- install.sh | 94 +++---------------- pylot/flags.py | 2 +- pylot/simulation/challenge/challenge.conf | 4 +- .../challenge/challenge_sensors.conf | 4 +- pylot/simulation/utils.py | 5 +- requirements.txt | 12 +-- setup.py | 14 +-- 18 files changed, 61 insertions(+), 128 deletions(-) diff --git a/README.md b/README.md index 59ba89b0e..9d2dc68ff 100644 --- a/README.md +++ b/README.md @@ -39,7 +39,7 @@ Finally, start Pylot in the container: ```console nvidia-docker exec -i -t pylot /bin/bash -cd workspace/pylot/ +cd ~/workspace/pylot/ python3 pylot.py --flagfile=configs/detection.conf ``` diff --git a/configs/lincoln.conf b/configs/lincoln.conf index 906c640c9..c65462d60 100644 --- a/configs/lincoln.conf +++ b/configs/lincoln.conf @@ -5,13 +5,14 @@ --obstacle_detection --nosimulator_obstacle_detection --path_coco_labels=dependencies/models/coco.names ---obstacle_detection_model_paths=coco_models/faster_rcnn_resnet101_coco_2018_01_28/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/efficientdet/efficientdet-d4/efficientdet-d4_frozen.pb +--obstacle_detection_model_names=efficientdet-d4 --obstacle_detection_min_score_threshold=0.3 --obstacle_detection_gpu_memory_fraction=0.3 ####### Traffic light detector config ###### --traffic_light_detection --nosimulator_traffic_light_detection ---traffic_light_det_model_path=dependencies/models/traffic_light_detection/graph_optimized.pb +--traffic_light_det_model_path=dependencies/models/traffic_light_detection/faster-rcnn --traffic_light_det_gpu_memory_fraction=0.3 --traffic_light_det_min_score_threshold=0.3 ###### Lane detection ###### diff --git a/configs/lincoln_frenet.conf b/configs/lincoln_frenet.conf index c38c664a0..b573746e9 100644 --- a/configs/lincoln_frenet.conf +++ b/configs/lincoln_frenet.conf @@ -5,13 +5,14 @@ --obstacle_detection --nosimulator_obstacle_detection --path_coco_labels=dependencies/models/coco.names ---obstacle_detection_model_paths=coco_models/faster_rcnn_resnet101_coco_2018_01_28/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/efficientdet/efficientdet-d4/efficientdet-d4_frozen.pb +--obstacle_detection_model_names=efficientdet-d4 --obstacle_detection_min_score_threshold=0.3 --obstacle_detection_gpu_memory_fraction=0.3 ####### Traffic light detector config ###### --traffic_light_detection --nosimulator_traffic_light_detection ---traffic_light_det_model_path=dependencies/models/traffic_light_detection/graph_optimized.pb +--traffic_light_det_model_path=dependencies/models/traffic_light_detection/faster-rcnn/ --traffic_light_det_gpu_memory_fraction=0.3 --traffic_light_det_min_score_threshold=0.3 ###### Lane detection ###### diff --git a/configs/scenarios/car_alley.conf b/configs/scenarios/car_alley.conf index 49da6edc2..cc21d1a56 100644 --- a/configs/scenarios/car_alley.conf +++ b/configs/scenarios/car_alley.conf @@ -6,7 +6,7 @@ ###### Perception config ##### --obstacle_detection --nosimulator_obstacle_detection ---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/ --obstacle_detection_model_names=faster-rcnn --obstacle_location_finder_sensor=depth_camera --perfect_traffic_light_detection diff --git a/configs/scenarios/car_running_red_light.conf b/configs/scenarios/car_running_red_light.conf index 75e1420fa..f0d945bd8 100644 --- a/configs/scenarios/car_running_red_light.conf +++ b/configs/scenarios/car_running_red_light.conf @@ -9,7 +9,7 @@ --obstacle_detection #--perfect_obstacle_detection --obstacle_detection_model_names=faster-rcnn ---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/ --obstacle_location_finder_sensor=depth_camera #--perfect_traffic_light_detection --simulator_traffic_light_detection diff --git a/configs/scenarios/opposite_vehicle_running_red_light_021.conf b/configs/scenarios/opposite_vehicle_running_red_light_021.conf index 3c89eb0ac..7b6cf2ff8 100644 --- a/configs/scenarios/opposite_vehicle_running_red_light_021.conf +++ b/configs/scenarios/opposite_vehicle_running_red_light_021.conf @@ -4,7 +4,7 @@ ###### Perception config ##### --obstacle_detection --nosimulator_obstacle_detection ---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/ --obstacle_detection_model_names=faster-rcnn --obstacle_location_finder_sensor=depth_camera --perfect_traffic_light_detection diff --git a/configs/scenarios/person_avoidance.conf b/configs/scenarios/person_avoidance.conf index 467bdd5ca..57b251599 100644 --- a/configs/scenarios/person_avoidance.conf +++ b/configs/scenarios/person_avoidance.conf @@ -10,9 +10,9 @@ --obstacle_detection --nosimulator_obstacle_detection #--perfect_obstacle_detection ---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb -#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1/frozen_inference_graph.pb -#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1-fpn/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/ +#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1/ +#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1-fpn/ --obstacle_detection_model_names=faster-rcnn --obstacle_location_finder_sensor=depth_camera --perfect_traffic_light_detection diff --git a/configs/scenarios/person_avoidance_waypoint.conf b/configs/scenarios/person_avoidance_waypoint.conf index 52625c358..b82d27948 100644 --- a/configs/scenarios/person_avoidance_waypoint.conf +++ b/configs/scenarios/person_avoidance_waypoint.conf @@ -11,7 +11,7 @@ --obstacle_detection #--perfect_obstacle_detection --obstacle_detection_model_names=faster-rcnn ---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/ --obstacle_location_finder_sensor=depth_camera #--perfect_traffic_light_detection --simulator_traffic_light_detection diff --git a/configs/scenarios/tracker_evaluation.conf b/configs/scenarios/tracker_evaluation.conf index e327bc23f..265755b3c 100644 --- a/configs/scenarios/tracker_evaluation.conf +++ b/configs/scenarios/tracker_evaluation.conf @@ -7,7 +7,7 @@ --perfect_obstacle_detection # Don't evaluate tracking on small, easy bounding boxes in the distance. --dynamic_obstacle_distance_threshold=50 ---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/ --obstacle_detection_model_names=faster-rcnn --obstacle_location_finder_sensor=depth_camera ###### Tracking config ##### diff --git a/docker/Dockerfile b/docker/Dockerfile index 80991608b..437841634 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -1,4 +1,4 @@ -FROM nvidia/cudagl:10.2-devel-ubuntu18.04 +FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04 MAINTAINER Sukrit Kalra (sukrit.kalra@berkeley.edu) # Set up a erdos user first. @@ -34,19 +34,21 @@ RUN sudo apt-get -y --fix-missing update ENV DEBIAN_FRONTEND=noninteractive RUN sudo DEBIAN_FRONTEND=noninteractive sudo DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata -# Get the erdos directory. -RUN sudo apt-get -y update -RUN sudo apt-get -y install git curl clang python3 python3-pip +# Get the ERDOS package dependencies. +RUN sudo apt-get -y install apt-utils git curl clang python-is-python3 python3-pip RUN python3 -m pip install --upgrade pip RUN python3 -m pip install setuptools setuptools-rust numpy==1.19.5 + +# Setup Rust and install ERDOS. RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y ENV PATH="/home/erdos/.cargo/bin:${PATH}" +RUN echo "export PATH=/home/erdos/.cargo/bin:${PATH}" >> ~/.bashrc RUN rustup default nightly RUN mkdir -p /home/erdos/workspace RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/erdos.git && cd erdos && python3 python/setup.py install --user # Set up Pylot. -RUN sudo apt-get install -y libcudnn7 cuda-toolkit-10-0 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5 python3-tk +RUN sudo apt-get install -y libcudnn8 cuda-toolkit-11-4 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5 python3-tk python3-pygame libgeos-dev # Get the Pylot directory. RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/pylot.git WORKDIR /home/erdos/workspace/pylot/ @@ -64,7 +66,7 @@ RUN python3 -m pip install py-trees==0.8.3 networkx==2.2 Shapely==1.6.4 psutil== RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/leaderboard.git RUN python3 -m pip install dictor requests -RUN echo "export PYTHONPATH=/home/erdos/workspace/pylot/dependencies/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/agents/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/:/home/erdos/workspace/scenario_runner" >> ~/.bashrc +RUN echo "export PYTHONPATH=/home/erdos/workspace/pylot/dependencies/:/home/erdos/workspace/pylot/dependencies/lanenet:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/agents/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/:/home/erdos/workspace/scenario_runner" >> ~/.bashrc RUN echo "export PYLOT_HOME=/home/erdos/workspace/pylot/" >> ~/.bashrc RUN echo "export CARLA_HOME=/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1" >> ~/.bashrc RUN echo "if [ -f ~/.bashrc ]; then . ~/.bashrc ; fi" >> ~/.bash_profile diff --git a/docker/Dockerfile-challenge.master b/docker/Dockerfile-challenge.master index 2e090d44e..95c3f1619 100644 --- a/docker/Dockerfile-challenge.master +++ b/docker/Dockerfile-challenge.master @@ -1,4 +1,4 @@ -FROM nvidia/cuda:10.0-cudnn7-devel-ubuntu18.04 +FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04 ARG HTTP_PROXY ARG HTTPS_PROXY @@ -13,7 +13,7 @@ ENV LC_ALL en_US.UTF-8 RUN apt-get -y update ENV DEBIAN_FRONTEND=noninteractive RUN DEBIAN_FRONTEND=noninteractive ; apt-get install -y tzdata - + RUN apt-get update && apt-get install -y --no-install-recommends \ build-essential \ cmake \ @@ -22,8 +22,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ vim \ ca-certificates \ libjpeg-dev \ - libpng16-16 \ - libtiff5 \ + libpng16-16 \ + libtiff5 \ libpng-dev \ python-dev \ python3 \ @@ -76,14 +76,14 @@ RUN chmod +x /workspace/leaderboard/scripts/run_evaluation.sh ######################################################################################################################## ######################################################################################################################## -RUN apt-get update && apt-get install -y clang libgeos-dev python-opencv libqt5core5a libeigen3-dev cmake qtbase5-dev python3-tk +RUN apt-get update && apt-get install -y clang libgeos-dev python-opencv libqt5core5a libeigen3-dev cmake qtbase5-dev python3-tk libcudnn8 cuda-toolkit-11-4 ssh python3-pygame RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y ENV PATH="/root/.cargo/bin/:${PATH}" RUN rustup default nightly RUN packages='wheel setuptools setuptools-rust fire' && pip install ${packages} RUN git clone https://github.com/erdos-project/erdos.git && cd erdos && python3 python/setup.py install --user -RUN packages='absl-py cvxpy gdown lapsolver matplotlib==2.2.4 motmetrics numpy<1.17 open3d-python==0.5.0.0 opencv-python>=4.1.0.25 opencv-contrib-python>=4.1.0.25 pillow>=6.2.2 pytest scikit-image<0.15 scipy==1.2.2 shapely==1.6.4 tensorflow-gpu==1.15.4 torch==1.4.0 torchvision==0.5.0 filterpy==1.4.1 scikit-learn==0.22.2 imgaug==0.2.8 nonechucks==0.3.1 Cython progress pyquaternion nuscenes-devkit' \ +RUN packages='absl-py cvxpy gdown lapsolver matplotlib==3.4.3 motmetrics numpy==1.19.5 open3d==0.13.0 opencv-python>=4.1.0.25 opencv-contrib-python>=4.1.0.25 pillow>=6.2.2 pytest scikit-image==0.18.3 scipy==1.7.1 shapely==1.6.4 tensorflow-gpu==2.5.1 torch==1.4.0 torchvision==0.5.0 filterpy==1.4.1 scikit-learn==1.0 imgaug==0.2.8 nonechucks==0.3.1 Cython progress pyquaternion nuscenes-devkit' \ && pip install ${packages} ENV PYTHONPATH ${TEAM_CODE_ROOT}/:${TEAM_CODE_ROOT}/dependencies/:${PYTHONPATH} ENV TEAM_AGENT ${TEAM_CODE_ROOT}/pylot/simulation/challenge/ERDOSAgent.py diff --git a/install.sh b/install.sh index 16e66d486..12e704f25 100755 --- a/install.sh +++ b/install.sh @@ -13,88 +13,22 @@ sudo apt-get install -y git wget cmake python3-pip unzip clang libpng-dev libgeo # opencv requires. sudo apt-get install -y python3-opencv python3 -m pip install --user gdown +# Install Pygame if available. +PYGAME_PKG=`apt-cache search python3-pygame` +if [ -n "$PYGAME_PKG" ] ; then + sudo apt-get install python3-pygame +fi ############################################################################### # Get models & code bases we depend on ############################################################################### cd $PYLOT_HOME/dependencies/ -mkdir -p dependencies/models - -###### Download CARLA-trained object detection models ###### -echo "[x] Downloading the obstacle detection models..." -cd $PYLOT_HOME/dependencies/models -~/.local/bin/gdown https://drive.google.com/uc?id=1aT0q-HCz3KutvNGcc0Tleh88nK05unSe -unzip obstacle_detection.zip ; rm obstacle_detection.zip - -###### Download the traffic light model ###### -echo "[x] Downloading the traffic light detection models..." -cd $PYLOT_HOME/dependencies/models -mkdir -p traffic_light_detection/faster-rcnn ; cd traffic_light_detection/faster-rcnn -~/.local/bin/gdown https://drive.google.com/uc?id=1MbTIkh4KJubJN66-SurH1x725D9S-w50 - -###### Download the Lanenet lane detection model ###### -echo "[x] Downloading the lane detection models..." -cd $PYLOT_HOME/dependencies/models -mkdir -p lane_detection ; cd lane_detection/ -~/.local/bin/gdown https://drive.google.com/uc?id=1yILceTgUr1MTZ7Q2wanvQ0r8RbBf5ILD -unzip lanenet.zip ; rm lanenet.zip - -###### Download the DRN segmentation cityscapes models ###### -echo "[x] Downloading the segmentation models..." -cd $PYLOT_HOME/dependencies/models -mkdir -p segmentation/drn ; cd segmentation/drn -~/.local/bin/gdown https://drive.google.com/uc?id=1ST0WYo-uDS91jKDTaK21RvShWpayiyXN - -###### Download the DASiamRPN object tracker models ###### -echo "[x] Downloading the object tracking models..." -cd $PYLOT_HOME/dependencies/models -mkdir -p tracking/DASiamRPN ; cd tracking/DASiamRPN -# SiamRPNVOT.model -~/.local/bin/gdown https://drive.google.com/uc?id=1G9GtKpF36-AwjyRXVLH_gHvrfVSCZMa7 -# SiamRPNBIG.model -~/.local/bin/gdown https://drive.google.com/uc?id=1_bIGtHYdAoTMS-hqOPE1j3KU-ON15cVV -# SiamRPNOTB.model -~/.local/bin/gdown https://drive.google.com/uc?id=18-LyMHVLhcx6qBWpUJEcPFoay1tSqURI -###### Download DeepSort models ###### -# Download the real-world model. -cd $PYLOT_HOME/dependencies/models -mkdir -p tracking/deep-sort ; cd tracking/deep-sort -~/.local/bin/gdown https://drive.google.com/uc?id=1bB66hP9voDXuoBoaCcKYY7a8IYzMMs4P -cd ../ -# Download the CARLA model. -mkdir deep-sort-carla ; cd deep-sort-carla -~/.local/bin/gdown https://drive.google.com/uc?id=14JLC_eo_Xpf2KbWffC96qtSAl2sXLyIl - -###### Download CenterTrack models ###### -cd $PYLOT_HOME/dependencies/models -mkdir -p tracking/center_track ; cd tracking/center_track -# MOT model -~/.local/bin/gdown https://drive.google.com/uc?id=1h_8Ts11rf0GQ4_n6FgmCeBuFcWrRjJfa -# KITTI model -~/.local/bin/gdown https://drive.google.com/uc?id=1kBX4AgQj7R7HvgMdbgBcwvIac-IFp95h -# nuScenes -~/.local/bin/gdown https://drive.google.com/uc?id=1e8zR1m1QMJne-Tjp-2iY_o81hn2CiQRt -# COCO model -~/.local/bin/gdown https://drive.google.com/uc?id=1tJCEJmdtYIh8VuN8CClGNws3YO7QGd40 - -###### Download QDTrack models ###### -cd $PYLOT_HOME/dependencies/models -mkdir -p tracking/qd_track ; cd tracking/qd_track -~/.local/bin/gdown https://drive.google.com/uc?id=1YNAQgd8rMqqEG-fRj3VWlO4G5kdwJbxz - -##### Download AnyNet depth estimation models ##### -echo "[x] Downloading the depth estimation models..." -cd $PYLOT_HOME/dependencies/models -mkdir -p depth_estimation/AnyNet ; cd depth_estimation/AnyNet -~/.local/bin/gdown https://drive.google.com/uc?id=18Vi68rQO-vcBn3882vkumIWtGggZQDoU -unzip checkpoint.zip ; rm checkpoint.zip - -###### Download the R2P2 prediction model ###### -echo "[x] Downloading the prediction models..." -cd $PYLOT_HOME/dependencies/models -mkdir -p prediction/r2p2 ; cd prediction/r2p2 -~/.local/bin/gdown https://drive.google.com/uc?id=1Ky_6daMnovoYxlQ8iTTGwJj_4bKd8EKn +###### Download the model weights ###### +echo "[x] Downloading all model weights..." +cd $PYLOT_HOME/dependencies/ +~/.local/bin/gdown https://drive.google.com/uc?id=1rQKFDxGDFi3rBLsMrJzb7oGZvvtwgyiL +unzip models.zip ; rm models.zip #################### Download the code bases #################### echo "[x] Compiling the planners..." @@ -130,12 +64,12 @@ cd $PYLOT_HOME/dependencies/ git clone https://github.com/ICGog/nanonets_object_tracking.git sudo apt-get install python3-tk git clone https://github.com/ICGog/sort.git - ###### Download the DaSiamRPN code ###### cd $PYLOT_HOME/dependencies/ git clone https://github.com/ICGog/DaSiamRPN.git ###### Install CenterTrack ###### +echo "[x] Installing the CenterTrack object tracking code..." cd $PYLOT_HOME/dependencies/ git clone https://github.com/ICGog/CenterTrack cd CenterTrack/src/lib/model/networks/ @@ -148,11 +82,9 @@ python3 setup.py build develop --user ###### Install QDTrack ###### cd $PYLOT_HOME/dependencies/ git clone https://github.com/mageofboy/qdtrack.git -git clone https://github.com/open-mmlab/mmdetection.git -cd mmdetection -python3 setup.py develop #need to add mmcv cd $PYLOT_HOME/dependencies/qdtrack -python3 setup.py develop +python3 -m pip install mmcv==1.3.10 mmdet==2.14.0 +python3 -m pip install -e ./ ##### Download the Lanenet code ##### echo "[x] Cloning the lanenet lane detection code..." diff --git a/pylot/flags.py b/pylot/flags.py index 7b88c7f71..ff10a54ee 100644 --- a/pylot/flags.py +++ b/pylot/flags.py @@ -278,7 +278,7 @@ def prediction_validator(flags_dict): flags.register_multi_flags_validator( ['visualize_prediction', 'execution_mode'], lambda flags_dict: ((not flags_dict['visualize_prediction']) or flags_dict[ - 'execution_mode'] == 'simulator'), + 'execution_mode'] == 'simulation'), message='--visualize_prediction can only be enabled when running atop the' ' simulator') diff --git a/pylot/simulation/challenge/challenge.conf b/pylot/simulation/challenge/challenge.conf index 3f9c49769..795d0de18 100644 --- a/pylot/simulation/challenge/challenge.conf +++ b/pylot/simulation/challenge/challenge.conf @@ -3,7 +3,7 @@ ########## Object detection flags ########## --obstacle_detection --nosimulator_obstacle_detection ---obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +--obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/ --obstacle_detection_model_names=faster-rcnn --path_coco_labels=/workspace/team_code/dependencies/models/pylot.names # --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/efficientdet/efficientdet-d6/efficientdet-d6_frozen.pb @@ -18,7 +18,7 @@ --traffic_light_det_min_score_threshold=0.4 --traffic_light_det_gpu_memory_fraction=0.4 --traffic_light_det_gpu_index=0 ---traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/frozen_inference_graph.pb +--traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/ ######### Tracker config ######### --obstacle_tracking --min_matching_iou=0.2 diff --git a/pylot/simulation/challenge/challenge_sensors.conf b/pylot/simulation/challenge/challenge_sensors.conf index 6f2eee8d3..493bdbae1 100644 --- a/pylot/simulation/challenge/challenge_sensors.conf +++ b/pylot/simulation/challenge/challenge_sensors.conf @@ -3,7 +3,7 @@ ########## Object detection flags ########## --obstacle_detection --nosimulator_obstacle_detection -# --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb +# --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/ # --obstacle_detection_model_names=faster-rcnn #--path_coco_labels=/workspace/team_code/dependencies/models/pylot.names --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/efficientdet/efficientdet-d6/efficientdet-d6_frozen.pb @@ -18,7 +18,7 @@ --traffic_light_det_min_score_threshold=0.4 --traffic_light_det_gpu_memory_fraction=0.3 --traffic_light_det_gpu_index=0 ---traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/frozen_inference_graph.pb +--traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/ ######### Tracker config ######### --obstacle_tracking --min_matching_iou=0.2 diff --git a/pylot/simulation/utils.py b/pylot/simulation/utils.py index 214aab1a1..a6a0d62a2 100644 --- a/pylot/simulation/utils.py +++ b/pylot/simulation/utils.py @@ -19,9 +19,8 @@ def check_simulator_version(simulator_version: str, """Checks if the simulator meets the minimum version requirements.""" ver_strs = simulator_version.split('.') if len(ver_strs) < 2 or len(ver_strs) > 3: - print('WARNING: CARLA version {} is not supported; assuming that the ' - 'API of this version is compatible with 0.9.10'.format( - simulator_version)) + print('WARNING: Assuming that installed CARLA {} API is compatible ' + 'with CARLA 0.9.10 API'.format(simulator_version)) ver_strs = '0.9.10'.split('.') major = int(ver_strs[0]) minor = int(ver_strs[1]) diff --git a/requirements.txt b/requirements.txt index 463e80b6c..6d7faf64b 100644 --- a/requirements.txt +++ b/requirements.txt @@ -11,23 +11,21 @@ pillow>=6.2.2 pycocotools pygame==1.9.6 pytest -scikit-image<0.15 -scipy==1.2.2 +scikit-image==0.18.3 +scipy==1.7.1 shapely==1.6.4 -tensorflow-gpu==2.0.0 +tensorflow-gpu==2.5.1 torch==1.4.0 torchvision==0.5.0 ##### Tracking dependencies ##### Cython filterpy==1.4.1 imgaug==0.2.8 -matplotlib==2.2.4 +matplotlib==3.4.3 nonechucks==0.3.1 nuscenes-devkit progress pyquaternion -scikit-learn==0.22.2 -mmcv>=0.3.0 -mmdet +scikit-learn==1.0 ##### CARLA dependencies ##### networkx==2.2 diff --git a/setup.py b/setup.py index 3d73c431b..a64abcf1a 100644 --- a/setup.py +++ b/setup.py @@ -2,7 +2,7 @@ setup( name="erdos-pylot", - version="0.3.2", + version="0.3.3", author="Pylot Team", description=("A platform for developing autonomous vehicles."), long_description=open("README.md").read(), @@ -16,7 +16,7 @@ "erdos>=0.3.1", "lapsolver", "motmetrics", - "numpy<1.20", # Update to newer numpy version once we switch to tf2 + "numpy<1.20", # Update once TF supports a newer version. "open3d==0.13.0", "opencv-python>=4.1.0.25", "opencv-contrib-python>=4.1.0.25", @@ -24,22 +24,22 @@ "pycocotools", "pygame==1.9.6", "pytest", - "scikit-image<0.15", - "scipy==1.2.2", + "scikit-image==0.18.3", + "scipy==1.7.1", "shapely==1.6.4", - "tensorflow-gpu==2.0.0", + "tensorflow-gpu==2.5.1", "torch==1.4.0", "torchvision==0.5.0", ##### Tracking dependencies ##### "Cython", "filterpy==1.4.1", "imgaug==0.2.8", - "matplotlib==2.2.4", + "matplotlib==3.4.3", "nonechucks==0.3.1", "nuscenes-devkit", "progress", "pyquaternion", - "scikit-learn==0.22.2", + "scikit-learn==1.0", ##### CARLA dependencies ##### "networkx==2.2", ],