comma body steering angle predictor

Based on comma.ai's research, adapted for the comma body.

Credits

Riccardo Biasini, George Hotz, Sam Khalandovsky, Eder Santana, and Niel van der Westhuizen

Requirements

Pipeline

sort-videos.sh is an interactive script to preview and sort videos from the body.

augment-videos.sh is used to turn one video into many through viewport manipulation (cropping and translating).

video2hdf5.py converts HEVC and rlog to HDF5. These depend on openpilot and should be run from openpilot/tools/lib. TODO: separate out openpilot dependency

split-dataset.py splits the training and validation sets TODO: split test set as well

Run the servers in separate terminals and train:

./server.py --batch 200 --port 5557
./server.py --batch 200 --validation --port 5556
./train_steering_model.py --port 5557 --val_port 5556 --epoch X
./view_steering_model.py ./outputs/steering_model/steering_angle.json --dataset={TEST_FILE_NAME}

Setup

Environment variables:

$BODY_VIDEO_DIR should contain all HEVC video files $BODY_DATASET_DIR should contain:

camera/
log/

The dataset folder structure is the following:

+-- dataset
|   +-- camera
|   |   +-- 2016-04-21--14-48-08
|   |   ...
|   +-- log
|   |   +-- 2016-04-21--14-48-08
|   |   ...