road_detection_angle_estimation_test.py

import torch
import numpy as np
import cv2
import argparse
import config
import albumentations
import SteeringAngleUtils as st_util

from PIL import Image
from model import model
from utils.helpers import draw_test_segmentation_map, image_overlay

# construct the argument parser
parser = argparse.ArgumentParser()
parser.add_argument('-m', '--model-path', dest='model_path', required=True,
                    help='path to the trained model weights')
parser.add_argument('-i', '--input', required=True, 
                    help='path to input image')
args = vars(parser.parse_args())

# define the image transforms
transform = albumentations.Compose([
    albumentations.Normalize(
            mean=[0.45734706, 0.43338275, 0.40058118],
            std=[0.23965294, 0.23532275, 0.2398498],
            always_apply=True)
])

# initialize the model
model = model
# load the model checkpoint
checkpoint = torch.load(args['model_path'])
# load the trained weights
model.load_state_dict(checkpoint['model_state_dict'])
# load the model on to the computation device
model.eval().to(config.DEVICE)

image = np.array(Image.open(args['input']).convert('RGB'))
# make a copy of the image
orig_image = image.copy()
# apply transforms
image = transform(image=image)['image']
# tranpose dimensions
image = np.transpose(image, (2, 0, 1))
# convert to torch tensors
image = torch.tensor(image, dtype=torch.float)
# add batch dimension
image = image.unsqueeze(0).to(config.DEVICE)

# forward pass through the model
outputs = model(image)
outputs = outputs['out']
# get the segmentation map
segmented_image = draw_test_segmentation_map(outputs)
# image overlay
result = image_overlay(orig_image, segmented_image)

#Compute Angle
land_follower = st_util.HandCodedLaneFollower()
combo_image = land_follower.follow_lane(segmented_image)

# visualize result
cv2.imshow('Overlayed Image', result)
#cv2.imshow('Segmented Image', segmented_image)

st_util.show_image('final', combo_image, True)
cv2.waitKey(0)
save_name = f"{args['input'].split('/')[-1].split('.')[0]}"
cv2.imwrite(f"outputs/{save_name}.jpg", result)