import?tensorflow?as?tf
import?numpy?as?np
import?os
import?sys
import?gflags

from?keras.callbacks?import?ModelCheckpoint
from?keras?import?optimizers

import?logz
import?cnn_models
import?utils
import?log_utils
from?common_flags?import?FLAGS



def?getModel（img_width?img_height?img_channels?output_dim?weights_path）:
????“““
????Initialize?model.

????#?Arguments
???????img_width:?Target?image?widht.
???????img_height:?Target?image?height.
???????img_channels:?Target?image?channels.
???????output_dim:?Dimension?of?model?output.
???????weights_path:?Path?to?pre-trained?model.

????#?Returns
???????model:?A?Model?instance.
????“““
????model?=?cnn_models.resnet8（img_width?img_height?img_channels?output_dim）

????if?weights_path:
????????try:
????????????model.load_weights（weights_path）
????????????print（“Loaded?model?from?{}“.format（weights_path））
????????except:
????????????print（“Impossible?to?find?weight?path.?Returning?untrained?model“）

????return?model


def?trainModel（train_data_generator?val_data_generator?model?initial_epoch）:
????“““
????Model?training.

????#?Arguments
???????train_data_generator:?Training?data?generated?batch?by?batch.
???????val_data_generator:?Validation?data?generated?batch?by?batch.
???????model:?Target?image?channels.
???????initial_epoch:?Dimension?of?model?output.
????“““

????#?Initialize?loss?weights
????model.alpha?=?tf.Variable（1?trainable=False?name=‘a(chǎn)lpha‘?dtype=tf.float32）
????model.beta?=?tf.Variable（0?trainable=False?name=‘beta‘?dtype=tf.float32）

????#?Initialize?number?of?samples?for?hard-mining
????model.k_mse?=?tf.Variable（FLAGS.batch_size?trainable=False?name=‘k_mse‘?dtype=tf.int32）
????model.k_entropy?=?tf.Variable（FLAGS.batch_size?trainable=False?name=‘k_entropy‘?dtype=tf.int32）


????optimizer?=?optimizers.Adam（decay=1e-5）

????#?Configure?training?process
????model.compile（loss=[utils.hard_mining_mse（model.k_mse）
????????????????????????utils.hard_mining_entropy（model.k_entropy）]
????????????????????????optimizer=optimizer?loss_weights=[model.alpha?model.beta]）

????#?Save?model?with?the?lowest?validation?loss
????weights_path?=?os.path.join（FLAGS.experiment_rootdir?‘weights_{epoch:03d}.h5‘）
????writeBestModel?=?ModelCheckpoint（filepath=weights_path?monitor=‘val_loss‘
?????????????????????????????????????save_best_only=True?save_weights_only=True）

????#?Save?model?every?‘log_rate‘?epochs.
????#?Save?training?and?validation?losses.
????logz.configure_output_dir（FLAGS.experiment_rootdir）
????saveModelAndLoss?=?log_utils.MyCallback（filepath=FLAGS.experiment_rootdir
????????????????????????????????????????????period=FLAGS.log_rate
????????????????????????????????????????????batch_size=FLAGS.batch_size）

????#?Train?model
????steps_per_epoch?=?int（np.ceil（train_data_generator.samples?/?FLAGS.batch_size））
????validation_steps?=?int（np.ceil（val_data_generator.samples?/?FLAGS.batch_size））

????model.fit_generator（train_data_generator
????????????????????????epochs=FLAGS

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件?????1610372??2019-03-20?15:41??Dronet.pdf
?????文件?????2077111??2019-03-20?15:26??RAL18_Loquercio.pdf
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\
?????文件????????6455??2018-05-24?17:59??rpg_public_dronet-master\cnn.py
?????文件????????3043??2018-05-24?17:59??rpg_public_dronet-master\cnn_models.py
?????文件????????1645??2018-05-24?17:59??rpg_public_dronet-master\common_flags.py
?????文件??????????31??2018-05-24?17:59??rpg_public_dronet-master\constants.py
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\data_preprocessing\
?????文件????????2012??2018-05-24?17:59??rpg_public_dronet-master\data_preprocessing\time_stamp_matching.py
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\configs\
?????文件????????1228??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\configs\outdoor.yaml
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\
?????文件?????????191??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\CMakeLists.txt
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\include\
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\include\dronet_control\
?????文件????????1960??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\include\dronet_control\deep_navigation.h
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\launch\
?????文件?????????507??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\launch\deep_navigation.launch
?????文件?????????533??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\package.xml
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\src\
?????文件????????3619??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_control\src\deep_navigation.cpp
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\
?????文件???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\__init__.py
?????文件?????????466??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\CMakeLists.txt
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\launch\
?????文件????????1066??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\launch\bebop_launch.launch
?????文件?????????856??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\launch\dronet_launch.launch
?????文件????????1881??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\launch\full_perception_launch.launch
?????目錄???????????0??2018-05-24?17:59??rpg_public_dronet-master\drone_control\dronet\dronet_perception\models\
............此處省略29個(gè)文件信息