torch implementation for 541 input data

Benchmark/f1tenth_benchmarks/benchmark_results/generate_benchmark_results.py

@@ -9,6 +9,7 @@
 from f1tenth_benchmarks.data_tools.specific_plotting.plot_drl_training import plot_drl_training
 from f1tenth_benchmarks.data_tools.plot_trajectory_analysis import plot_trajectory_analysis
 from f1tenth_benchmarks.run_scripts.run_functions import *
+import os
 
 NUMBER_OF_LAPS = 10
 
@@ -75,51 +76,51 @@ def tinylidar_drl():
 
 def end_to_end_il():
     test_id = "benchmark_e2e_il"
-    planner = EndToEnd(test_id,4, '/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_S_noquantized.tflite')
+    planner = EndToEnd(test_id,4, os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_S_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def end_to_end_il_m():
     test_id = "benchmark_e2e_il_m"
-    planner = EndToEnd(test_id,2, '/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_M_noquantized.tflite')
+    planner = EndToEnd(test_id,2, os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_M_noquantized.tflite')
     # planner = EndToEnd(test_id,2, '/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/MLP_M_Dropout_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def end_to_end_il_l():
     test_id = "benchmark_e2e_il_l"
-    planner = EndToEnd(test_id, 1, '/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_paper_noquantized.tflite')
+    planner = EndToEnd(test_id, 1, os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_paper_noquantized.tflite')
     # planner = EndToEnd(test_id, 1, '/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_L_Dropout_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def end_to_end_il_128():
     test_id = "benchmark_e2e_il_128"
-    planner = EndToEnd(test_id, 1, '/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_128_noquantized.tflite')
+    planner = EndToEnd(test_id, 1, os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_128_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def tinylidar_il_mean():
     test_id = "benchmark_tiny_il_mean"
-    planner = TinyLidarNet(test_id,4, 1,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_mean_noquantized.tflite')
+    planner = TinyLidarNet(test_id,4, 1,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_mean_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def tinylidar_il_max():
     test_id = "benchmark_tiny_il_max"
-    planner = TinyLidarNet(test_id,4, 2,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_max_noquantized.tflite')
+    planner = TinyLidarNet(test_id,4, 2,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_max_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def tinylidar_il_min():
     test_id = "benchmark_tiny_il_min"
-    planner = TinyLidarNet(test_id,4, 3,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_min_noquantized.tflite')
+    planner = TinyLidarNet(test_id,4, 3,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_min_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
@@ -129,7 +130,7 @@ def tinylidar_il_temporal():
 
     print(test_id)
     #planner = TinyLidarNet(test_id, 2, 5,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_temporal_M_noquantized.tflite')
-    planner = TinyLidarNet(test_id, 2, 5,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_temporal_2M_noquantized.tflite')
+    planner = TinyLidarNet(test_id, 2, 5,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_temporal_2M_noquantized.tflite')
 
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
@@ -138,7 +139,7 @@ def tinylidar_il_temporal():
 def tinylidar_il_birdeye():
     test_id = "benchmark_tiny_il_birdeye"
     print(test_id)
-    planner = TinyLidarNet(test_id, 2, 6,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_birdeye_M_noquantized.tflite')
+    planner = TinyLidarNet(test_id, 2, 6,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_birdeye_M_noquantized.tflite')
 
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
@@ -147,15 +148,15 @@ def tinylidar_il_birdeye():
 def tinylidar_il():
     test_id = "benchmark_tiny_il"
     print(test_id)
-    planner = TinyLidarNet(test_id,4, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_noquantized.tflite')
+    planner = TinyLidarNet(test_id,4, 0,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_smaller_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 
     plot_trajectory_analysis(planner.name, test_id)
 
 def tinylidar_il_m():
     test_id = "benchmark_tiny_il_m"
     print(test_id)
-    planner = TinyLidarNet(test_id,2, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_small_noquantized.tflite')
+    planner = TinyLidarNet(test_id,2, 0,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_small_noquantized.tflite')
     # planner = TinyLidarNet(test_id,2, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_TLN_M_Dag_noquantized.tflite')
     # planner = TinyLidarNet(test_id,2, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/TinyLidarNet_M_Dropout_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
@@ -165,7 +166,7 @@ def tinylidar_il_m():
 def tinylidar_il_l():
     test_id = "benchmark_tiny_il_l"
     print(test_id)
-    planner = TinyLidarNet(test_id,1, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_main_noquantized.tflite')
+    planner = TinyLidarNet(test_id,1, 0,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_main_noquantized.tflite')
     # planner = TinyLidarNet(test_id,1, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_TLN_L_Dropout_noquantized.tflite')
     # planner = TinyLidarNet(test_id,1, 0,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_TLN_L_Dag_noquantized.tflite')
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
@@ -176,7 +177,7 @@ def tinylidar_il_l():
 def tinylidar_il_dropout():
     test_id = "benchmark_tiny_il_dropout"
     print(test_id)
-    planner = TinyLidarNet(test_id,1, 4,'/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_unifying_noquantized.tflite')
+    planner = TinyLidarNet(test_id,1, 4,os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+'/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_unifying_noquantized.tflite')
 
     test_mapless_all_maps(planner, test_id, number_of_laps=NUMBER_OF_LAPS)
 

Benchmark/f1tenth_benchmarks/data_tools/process_data.py

@@ -7,7 +7,7 @@
 
 def process_data():
     #folders = glob.glob("Logs/*")
-    folders = glob.glob("/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/benchmark_results/Logs/*")
+    folders = glob.glob(os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/f1tenth_benchmarks/benchmark_results/Logs/*")
     #folders = "/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/benchmark_results/Logs/*"
     full_df = []
     summary_df = []
@@ -29,11 +29,11 @@ def process_data():
 
     full_df = pd.concat(full_df)
     full_df = full_df.sort_values(by=["Vehicle", "TestMap"])
-    full_df.to_csv("/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/benchmark_results/Logs/Full.csv", index=False, float_format='%.4f')
+    full_df.to_csv(os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/f1tenth_benchmarks/benchmark_results/Logs/Full.csv", index=False, float_format='%.4f')
     summary_df = pd.DataFrame(summary_df)
     summary_df['VehicleID'] = summary_df['Vehicle'] + "_" + summary_df['TestID']
     summary_df = summary_df.sort_values(by=["Vehicle", "MapName"])
-    summary_df.to_csv("/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/benchmark_results/Logs/Summary.csv", index=False, float_format='%.4f')
+    summary_df.to_csv(os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/f1tenth_benchmarks/benchmark_results/Logs/Summary.csv", index=False, float_format='%.4f')
     print("Complied Full.csv and Summary.csv.")
 
 if __name__ == "__main__":

Benchmark/f1tenth_benchmarks/simulator/laser_models.py

@@ -381,14 +381,14 @@ def __init__(self, num_beams, fov, map_name, random_seed, eps=0.0001, theta_dis=
         self.set_map(map_name)
 
     def set_map(self, map_name):
-        map_path = "/home/m810z573/Downloads/f1tenth_benchmarks/maps/" + map_name + ".yaml"
+        map_path = os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/maps/" + map_name + ".yaml"
 
         with open(map_path, 'r') as yaml_stream:
             try:
                 map_metadata = yaml.safe_load(yaml_stream)
                 self.map_resolution = map_metadata['resolution']
                 self.origin = map_metadata['origin']
-                map_img_path = "/home/m810z573/Downloads/f1tenth_benchmarks/maps/" + map_metadata['image']
+                map_img_path = os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/maps/" + map_metadata['image']
             except yaml.YAMLError as ex:
                 print(ex)
 

Benchmark/f1tenth_benchmarks/utils/BasePlanner.py

@@ -43,13 +43,13 @@ def ensure_path_exists(folder):
 
 
 def load_parameter_file(planner_name):
-    file_name = f"/home/m810z573/Downloads/f1tenth_benchmarks/params/{planner_name}.yaml"
+    file_name = os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/params/"+planner_name+".yaml"
     with open(file_name, 'r') as file:
         params = yaml.load(file, Loader=yaml.FullLoader)
     return Namespace(**params)
 
 def load_parameter_file_with_extras(planner_name, extra_params):
-    file_name = f"/home/m810z573/Downloads/f1tenth_benchmarks/params/{planner_name}.yaml"
+    file_name = os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/params/"+planner_name+".yaml"
     with open(file_name, 'r') as file:
         params = yaml.load(file, Loader=yaml.FullLoader)
     for param in extra_params.keys():

Benchmark/f1tenth_benchmarks/utils/MapData.py

@@ -3,6 +3,7 @@
 import csv, yaml
 from PIL import Image
 from matplotlib.collections import LineCollection
+import os
 
 class MapData:
     def __init__(self, map_name):
@@ -15,7 +16,7 @@ def __init__(self, map_name):
         self.map_width = None
 
         try:
-            self.path = "/home/m810z573/Downloads/f1tenth_benchmarks/maps/"
+            self.path = os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/maps/"
             self.load_map_img()
         except:
             self.path = "../maps/"

Benchmark/f1tenth_benchmarks/utils/track_utils.py

@@ -81,7 +81,7 @@ def calculate_pose(self, s):
 
 
 class CentreLine(TrackLine):
-    def __init__(self, map_name, directory=f"/home/m810z573/Downloads/f1tenth_benchmarks/maps/") -> None:
+    def __init__(self, map_name, directory=os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/maps/") -> None:
         self.map_name = map_name
 
         self.load_track(map_name, directory)

Benchmark/f1tenth_benchmarks/zarrar/test_model.py

@@ -63,7 +63,7 @@ def run_inference(self, scan):
 # Example usage:
 if __name__ == "__main__":
     # Path to your TFLite model
-    model_path = "/home/m810z573/Downloads/f1tenth_benchmarks/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_M_noquantized.tflite"
+    model_path = os.getcwd()[0:-len(os.getcwd().lower().split("tinylidarnet")[-1])]+"/Benchmark/f1tenth_benchmarks/zarrar/f1_tenth_model_diff_MLP_M_noquantized.tflite"
 
     # Initialize the TinyLidarNetTest with the model path
     tiny_lidar_net = TinyLidarNetTest(model_path=model_path)