Conduct code check and improve docs of unstructured lifelong learning

Signed-off-by: SiqiLuo <1587295470@qq.com>

build/kb/Dockerfile

@@ -12,15 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM python:3.6-slim
+FROM python:3.9-slim
 
 RUN pip install colorlog~=4.7.2
 RUN pip install PyYAML~=5.4.1
 RUN pip install fastapi~=0.63.0
 RUN pip install starlette~=0.13.6
 RUN pip install pydantic~=1.8.1
-RUN pip install joblib~=1.0.1
-RUN pip install pandas~=1.1.5
+RUN pip install joblib~=1.2.0
+RUN pip install pandas
 RUN pip install uvicorn~=0.14.0
 RUN pip install python-multipart~=0.0.5
 RUN pip install SQLAlchemy~=1.4.7

examples/lifelong-learning-atcii-classifier.Dockerfile

@@ -2,9 +2,9 @@ FROM python:3.6-slim
 
 COPY ./lib/requirements.txt /home
 # install requirements of sedna lib
+RUN pip install --upgrade pip
 RUN pip install -r /home/requirements.txt
 RUN pip install joblib~=1.0.1
-RUN pip install pandas~=1.1.5
 RUN pip install scikit-learn~=0.24.1
 RUN pip install xgboost~=1.3.3
 

examples/lifelong-learning-robo-rfnet.Dockerfile → examples/lifelong-learning-cityscapes-segmentation.Dockerfile

@@ -10,16 +10,11 @@ COPY ./lib/requirements.dev.txt /home
 # install requirements of sedna lib
 RUN pip install -r /home/requirements.txt
 RUN pip install -r /home/requirements.dev.txt
-RUN pip install joblib~=1.2.0
-RUN pip install pandas
-RUN pip install scikit-learn~=0.23.2
 RUN pip install torchvision~=0.13.0
 RUN pip install Pillow
 RUN pip install tqdm
-RUN pip install minio
 RUN pip install protobuf~=3.20.1
 RUN pip install matplotlib
-RUN pip install opencv-python
 RUN pip install python-multipart
 RUN pip install tensorboard
 RUN pip install watchdog
@@ -29,7 +24,7 @@ ENV PYTHONPATH "/home/lib"
 WORKDIR /home/work
 COPY ./lib /home/lib
 
-COPY ./examples/lifelong_learning/robot_dog_delivery  /home/work/
+COPY ./examples/lifelong_learning/cityscapes  /home/work/
 WORKDIR /home/work/RFNet
 
 ENTRYPOINT ["python"]

examples/lifelong_learning/cityscapes/README.md

@@ -0,0 +1,266 @@
+# Using Lifelong Learning in Campus Robot Delivery Scenario
+
+## Introduction
+This example introduces how to use Sedna lifelong learning to implement the lifelong learning delivery task of the robot in a campus. Based on open source project [RFNet](https://github.com/AHupuJR/RFNet) as base model, we realize intelligent perception of environment with Sedna lifelong learning in this example. 
+
+The demo mainly shows:
+1. Lifelong learning unseen task recognition algorithm (prediction) can identify and collect unseen task samples.
+2. Lifelong learning unseen task recognition algorithm (detection) can trigger alarms to remind robot admin that emergency response is required.
+3. Lifelong learning unseen task training algorithm improves the inference accuracy of known categories and the ability to identify new categories.
+
+### Install Sedna
+Follow the [Sedna installation document](/docs/setup/install.md) to install Sedna.
+
+### Configurations
+
+#### Prepare Images
+This example uses the following images:
+- Training worker: docker.io/luosiqi/sedna-robo:v0.1.2
+- Evaluation worker: docker.io/luosiqi/sedna-robo:v0.1.2
+- Inference worker: docker.io/luosiqi/sedna-robo:v0.1.2
+
+These images are generated by the script [build_images.sh](/examples/build_image.sh).
+
+Users can also generate customized images for different workers and config them in yaml which will be presented in the following steps.
+
+#### Configure user nodes.
+```
+WORKER_NODE=sedna-mini-control-plane
+
+DATA_NODE=$WORKER_NODE 
+TRAIN_NODE=$WORKER_NODE 
+EVAL_NODE=$WORKER_NODE 
+INFER_NODE=$WORKER_NODE 
+```
+
+Particularly, data node, train node, eval node and infer node are custom codes which can be specified by users for actual running. Here, for simplicity, we use the same node to demonstrate.
+
+#### Prepare Dataset 
+
+Step 1: Users can use semantic segmentation datasets from [CITYSCAPES](https://www.cityscapes-dataset.com/). While we also provide a re-organized [dataset segmentation_data.zip](https://kubeedge.obs.cn-north-1.myhuaweicloud.com/examples/robo_dog_delivery/segmentation_data.zip) of CITYSCAPES as an example for training and evaluation. 
+
+Download and unzip segmentation_data.zip. Put it into /data of ```$DATA_NODE```. Or you can use ```docker exec``` to get into ```$DATA_NODE``` and then execute the following commands. 
+```
+mkdir /data
+cd /data
+wget https://kubeedge.obs.cn-north-1.myhuaweicloud.com/examples/robo_dog_delivery/segmentation_data.zip
+unzip segmentation_data.zip
+```
+
+Step 2: download [test data](https://kubeedge.obs.cn-north-1.myhuaweicloud.com/examples/robo_dog_delivery/test_data.zip) which is for demonstration at the inference stage, unzip test_data.zip and put it into /data of ```$INFER_NODE```. Or you can use ```docker exec``` to get into ```$INFER_NODE``` and then execute the following commands.
+```
+mkdir /data
+cd /data
+wget https://kubeedge.obs.cn-north-1.myhuaweicloud.com/examples/robo_dog_delivery/test_data.zip
+unzip test_data.zip
+```
+
+After finishing the above preparations, execute the following commands to config.
+```
+local_prefix=/data
+cloud_image=docker.io/luosiqi/sedna-robo:v0.1.2
+edge_image=docker.io/luosiqi/sedna-robo:v0.1.2
+data_url=$local_prefix/segmentation_data/data.txt
+OUTPUT=$local_prefix/lifelonglearningjob/output
+job_name=robo-demo
+```
+
+### Create Lifelong Learning Job
+
+#### Create Initial Dataset Resource 
+```
+kubectl create -f - <<EOF
+apiVersion: sedna.io/v1alpha1
+kind: Dataset
+metadata:
+  name: lifelong-robo-dataset
+spec:
+  url: "$data_url"
+  format: "txt"
+  nodeName: "$DATA_NODE"
+EOF
+```
+
+#### Create Robot Dog Delivery Lifelong Learning Job
+```
+kubectl create -f - <<EOF
+apiVersion: sedna.io/v1alpha1
+kind: LifelongLearningJob
+metadata:
+  name: $job_name
+spec:
+  dataset:
+    name: "lifelong-robo-dataset"
+    trainProb: 0.8
+  trainSpec:
+    template:
+      spec:
+        nodeName: $TRAIN_NODE
+        dnsPolicy: ClusterFirstWithHostNet
+        containers:
+          - image: $cloud_image
+            name:  train-worker
+            imagePullPolicy: IfNotPresent       
+            args: ["train.py"]
+            env:
+              - name: "num_class"
+                value: "24"
+              - name: "epoches"
+                value: "1"
+              - name: "attribute"
+                value: "real, sim"
+              - name: "city"
+                value: "bremen"
+              - name: "BACKEND_TYPE"
+                value: "PYTORCH"
+            resources:
+              limits:
+                cpu: 6
+                memory: 12Gi
+              requests:
+                cpu: 4
+                memory: 12Gi
+            volumeMounts:
+            - mountPath: /dev/shm
+              name: cache-volume
+        volumes:
+        - emptyDir:
+            medium: Memory
+            sizeLimit: 256Mi
+          name: cache-volume
+    trigger:
+      checkPeriodSeconds: 30
+      timer:
+        start: 00:00
+        end: 24:00
+      condition:
+        operator: ">"
+        threshold: 100
+        metric: num_of_samples
+  evalSpec:
+    template:
+      spec:
+        nodeName: $EVAL_NODE
+        dnsPolicy: ClusterFirstWithHostNet
+        containers:
+          - image: $cloud_image
+            name:  eval-worker
+            imagePullPolicy: IfNotPresent
+            args: ["evaluate.py"]
+            env:
+              - name: "operator"
+                value: "<"
+              - name: "model_threshold"
+                value: "0"
+              - name: "num_class"
+                value: "24"
+              - name: "BACKEND_TYPE"
+                value: "PYTORCH"
+            resources:
+              limits:
+                cpu: 6
+                memory: 12Gi
+              requests:
+                cpu: 4
+                memory: 12Gi
+  deploySpec:
+    template:
+      spec:
+        nodeName: $INFER_NODE
+        dnsPolicy: ClusterFirstWithHostNet
+        hostNetwork: true
+        containers:
+        - image: $edge_image
+          name:  infer-worker
+          imagePullPolicy: IfNotPresent
+          args: ["predict.py"]
+          env:
+            - name: "test_data"
+              value: "/data/test_data"
+            - name: "num_class"
+              value: "24"
+            - name: "unseen_save_url"
+              value: "/data/unseen_samples"
+            - name: "INFERENCE_RESULT_DIR"
+              value: "/data/infer_results"
+            - name: "BACKEND_TYPE"
+              value: "PYTORCH"
+          volumeMounts:
+          - name: unseenurl
+            mountPath: /data/unseen_samples
+          - name: inferdata
+            mountPath: /data/infer_results
+          - name: testdata
+            mountPath: /data/test_data
+          resources:
+            limits:
+              cpu: 6
+              memory: 12Gi
+            requests:
+              cpu: 4
+              memory: 12Gi
+        volumes:
+          - name: unseenurl
+            hostPath:
+              path: /data/unseen_samples
+              type: DirectoryOrCreate
+          - name: inferdata
+            hostPath:
+              path: /data/infer_results
+              type: DirectoryOrCreate
+          - name: testdata
+            hostPath:
+              path: /data/test_data
+              type: DirectoryOrCreate
+  outputDir: $OUTPUT/$job_name
+EOF
+```
+
+### Check Lifelong Learning Status
+
+```
+kubectl get lifelonglearningjob
+```
+
+### Effect Display
+
+#### Evaluation results of two round lifelong learning
+
+<table class="tg">
+<thead>
+  <tr>
+    <th class="tg-lboi" rowspan="2">Rounds</th>
+    <th class="tg-c3ow" colspan="3">Metrics</th>
+  </tr>
+  <tr>
+    <th class="tg-0pky">Pixel Accuracy Class (CPA)</th>
+    <th class="tg-0pky">Mean Intersection over Union (mIoU)</th>
+    <th class="tg-0pky">Frequency Weighted Intersection over Union (FWIoU)</th>
+  </tr>
+</thead>
+<tbody>
+  <tr>
+    <td class="tg-0pky">Round 1</td>
+    <td class="tg-0pky">0.385</td>
+    <td class="tg-0pky">0.319</td>
+    <td class="tg-0pky">0.648</td>
+  </tr>
+  <tr>
+    <td class="tg-0pky">Round 2</td>
+    <td class="tg-0pky">0.402</td>
+    <td class="tg-0pky">0.339</td>
+    <td class="tg-0pky">0.659</td>
+  </tr>
+</tbody>
+</table>
+
+#### Segmentation inference display
+![Inference sample](./RFNet/images/2086.png) | ![Segementation display](./RFNet/images/2086_color.png)|![Merge](./RFNet/images/2086_merge.png)
+---|---|---
+
+
+
+
+
+
+ 

examples/lifelong_learning/cityscapes/RFNet/accuracy.py

@@ -0,0 +1,54 @@
+# Copyright 2023 The KubeEdge Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from tqdm import tqdm
+from sedna.common.class_factory import ClassType, ClassFactory
+from sedna.common.log import LOGGER
+
+from utils.args import EvaluationArguments
+from utils.metrics import Evaluator
+from dataloaders import make_data_loader
+
+__all__ = ('accuracy', )
+
+
+@ClassFactory.register(ClassType.GENERAL)
+def accuracy(y_true, y_pred, **kwargs):
+    args = EvaluationArguments()
+    _, _, test_loader = make_data_loader(args, test_data=y_true)
+    evaluator = Evaluator(args.num_class)
+
+    tbar = tqdm(test_loader, desc='\r')
+    for i, (sample, _) in enumerate(tbar):
+        if args.depth:
+            image, depth, target = sample['image'], sample['depth'], sample['label']
+        else:
+            image, target = sample['image'], sample['label']
+        if args.cuda:
+            image, target = image.cuda(), target.cuda()
+            if args.depth:
+                depth = depth.cuda()
+
+        target[target > evaluator.num_class - 1] = 255
+        target = target.cpu().numpy()
+        # Add batch sample into evaluator
+        evaluator.add_batch(target, y_pred[i])
+
+    # Test during the training
+    CPA = evaluator.Pixel_Accuracy_Class()
+    mIoU = evaluator.Mean_Intersection_over_Union()
+    FWIoU = evaluator.Frequency_Weighted_Intersection_over_Union()
+
+    LOGGER.info("CPA:{}, mIoU:{}, fwIoU: {}".format(CPA, mIoU, FWIoU))
+    return mIoU

examples/lifelong_learning/robot_dog_delivery/RFNet/dataloaders/custom_transforms.py → examples/lifelong_learning/cityscapes/RFNet/dataloaders/custom_transforms.py

@@ -1,15 +1,16 @@
 import torch
 import random
 import numpy as np
-
 from PIL import Image, ImageOps, ImageFilter
 
+
 class Normalize(object):
     """Normalize a tensor image with mean and standard deviation.
     Args:
         mean (tuple): means for each channel.
         std (tuple): standard deviations for each channel.
     """
+
     def __init__(self, mean=(0., 0., 0.), std=(1., 1., 1.)):
         self.mean = mean
         self.std = std
@@ -60,10 +61,12 @@ class ToTensor(object):
                 'depth': depth,
                 'label': mask}
 
+
 class CropBlackArea(object):
     """
     crop black area for depth image
     """
+
     def __call__(self, sample):
         img = sample['image']
         depth = sample['depth']
@@ -78,12 +81,9 @@ class CropBlackArea(object):
         depth = depth.crop((left, top, right, bottom))
         mask = mask.crop((left, top, right, bottom))
         # resize
-        img = img.resize((width,height), Image.BILINEAR)
-        depth = depth.resize((width,height), Image.BILINEAR)
-        mask = mask.resize((width,height), Image.NEAREST)
-        # img = img.resize((512,1024), Image.BILINEAR)
-        # depth = depth.resize((512,1024), Image.BILINEAR)
-        # mask = mask.resize((512,1024), Image.NEAREST)
+        img = img.resize((width, height), Image.BILINEAR)
+        depth = depth.resize((width, height), Image.BILINEAR)
+        mask = mask.resize((width, height), Image.NEAREST)
 
         return {'image': img,
                 'depth': depth,
@@ -148,7 +148,8 @@ class RandomScaleCrop(object):
         depth = sample['depth']
         mask = sample['label']
         # random scale (short edge)
-        short_size = random.randint(int(self.base_size * 0.5), int(self.base_size * 2.0))
+        short_size = random.randint(
+            int(self.base_size * 0.5), int(self.base_size * 2.0))
         w, h = img.size
         if h > w:
             ow = short_size
@@ -164,8 +165,10 @@ class RandomScaleCrop(object):
             padh = self.crop_size - oh if oh < self.crop_size else 0
             padw = self.crop_size - ow if ow < self.crop_size else 0
             img = ImageOps.expand(img, border=(0, 0, padw, padh), fill=0)
-            depth = ImageOps.expand(depth, border=(0, 0, padw, padh), fill=0)  # depth多余的部分填0
-            mask = ImageOps.expand(mask, border=(0, 0, padw, padh), fill=self.fill)
+            depth = ImageOps.expand(depth, border=(
+                0, 0, padw, padh), fill=0)  
+            mask = ImageOps.expand(mask, border=(
+                0, 0, padw, padh), fill=self.fill)
         # random crop crop_size
         w, h = img.size
         x1 = random.randint(0, w - self.crop_size)
@@ -209,9 +212,11 @@ class FixScaleCrop(object):
                 'depth': depth,
                 'label': mask}
 
+
 class FixedResize(object):
     def __init__(self, size):
-        self.size = (size, size)  # size: (h, w)
+        # size: (h, w)
+        self.size = (size, size)  
 
     def __call__(self, sample):
         img = sample['image']
@@ -228,13 +233,13 @@ class FixedResize(object):
                 'depth': depth,
                 'label': mask}
 
+
 class Relabel(object):
-    def __init__(self, olabel, nlabel):  # change trainid label from olabel to nlabel
+    def __init__(self, olabel, nlabel):  
+        # change trainid label from olabel to nlabel
         self.olabel = olabel
         self.nlabel = nlabel
 
     def __call__(self, tensor):
-        # assert (isinstance(tensor, torch.LongTensor) or isinstance(tensor,
-        #                                                            torch.ByteTensor)), 'tensor needs to be LongTensor'
         tensor[tensor == self.olabel] = self.nlabel
-        return tensor
+        return tensor

examples/lifelong_learning/robot_dog_delivery/RFNet/dataloaders/custom_transforms_rgb.py → examples/lifelong_learning/cityscapes/RFNet/dataloaders/custom_transforms_rgb.py

@@ -4,12 +4,14 @@ import numpy as np
 
 from PIL import Image, ImageOps, ImageFilter
 
+
 class Normalize(object):
     """Normalize a tensor image with mean and standard deviation.
     Args:
         mean (tuple): means for each channel.
         std (tuple): standard deviations for each channel.
     """
+
     def __init__(self, mean=(0., 0., 0.), std=(1., 1., 1.)):
         self.mean = mean
         self.std = std
@@ -60,10 +62,12 @@ class ToTensor(object):
         return {'image': img,
                 'label': mask}
 
+
 class CropBlackArea(object):
     """
     crop black area for depth image
     """
+
     def __call__(self, sample):
         img = sample['image']
         mask = sample['label']
@@ -76,15 +80,13 @@ class CropBlackArea(object):
         img = img.crop((left, top, right, bottom))
         mask = mask.crop((left, top, right, bottom))
         # resize
-        img = img.resize((width,height), Image.BILINEAR)
-        mask = mask.resize((width,height), Image.NEAREST)
-        # img = img.resize((512,1024), Image.BILINEAR)
-        # mask = mask.resize((512,1024), Image.NEAREST)
-        print(img.size)
+        img = img.resize((width, height), Image.BILINEAR)
+        mask = mask.resize((width, height), Image.NEAREST)
 
         return {'image': img,
                 'label': mask}
 
+
 class ToTensor_test(object):
     """Convert Image object in sample to Tensors."""
 
@@ -149,7 +151,8 @@ class RandomScaleCrop(object):
         img = sample['image']
         mask = sample['label']
         # random scale (short edge)
-        short_size = random.randint(int(self.base_size * 0.5), int(self.base_size * 2.0))
+        short_size = random.randint(
+            int(self.base_size * 0.5), int(self.base_size * 2.0))
         w, h = img.size
         if h > w:
             ow = short_size
@@ -164,7 +167,8 @@ class RandomScaleCrop(object):
             padh = self.crop_size - oh if oh < self.crop_size else 0
             padw = self.crop_size - ow if ow < self.crop_size else 0
             img = ImageOps.expand(img, border=(0, 0, padw, padh), fill=0)
-            mask = ImageOps.expand(mask, border=(0, 0, padw, padh), fill=self.fill)
+            mask = ImageOps.expand(mask, border=(
+                0, 0, padw, padh), fill=self.fill)
         # random crop crop_size
         w, h = img.size
         x1 = random.randint(0, w - self.crop_size)
@@ -202,9 +206,11 @@ class FixScaleCrop(object):
         return {'image': img,
                 'label': mask}
 
+
 class FixedResize(object):
     def __init__(self, size):
-        self.size = (size, size)  # size: (h, w)
+        # size: (h, w)
+        self.size = (size, size)
 
     def __call__(self, sample):
         img = sample['image']
@@ -218,13 +224,13 @@ class FixedResize(object):
         return {'image': img,
                 'label': mask}
 
+
 class Relabel(object):
-    def __init__(self, olabel, nlabel):  # change trainid label from olabel to nlabel
+    def __init__(self, olabel, nlabel):
+        # change trainid label from olabel to nlabel
         self.olabel = olabel
         self.nlabel = nlabel
 
     def __call__(self, tensor):
-        # assert (isinstance(tensor, torch.LongTensor) or isinstance(tensor,
-        #                                                            torch.ByteTensor)), 'tensor needs to be LongTensor'
         tensor[tensor == self.olabel] = self.nlabel
-        return tensor
+        return tensor

examples/lifelong_learning/cityscapes/RFNet/dataloaders/datasets/cityscapes.py

@@ -0,0 +1,116 @@
+import os
+
+from PIL import Image
+from torch.utils import data
+from torchvision import transforms
+
+from dataloaders import custom_transforms as tr
+
+
+class CityscapesSegmentation(data.Dataset):
+
+    def __init__(self, args, data=None, split="train"):
+
+        self.split = split
+        self.args = args
+        self.images = {}
+        self.disparities = {}
+        self.labels = {}
+
+        self.images[split] = [img[0]
+                              for img in data.x] if hasattr(data, "x") else data
+
+        if hasattr(data, "x") and len(data.x[0]) == 1:
+            self.disparities[split] = self.images[split]
+        elif hasattr(data, "x") and len(data.x[0]) == 2:
+            self.disparities[split] = [img[1] for img in data.x]
+        else:
+            self.disparities[split] = data
+
+        self.labels[split] = data.y if hasattr(data, "y") else data
+
+        self.ignore_index = 255
+
+        if len(self.images[split]) == 0:
+            raise Exception("No RGB images for split=[%s] found in %s" % (
+                split, self.images_base))
+        if len(self.disparities[split]) == 0:
+            raise Exception("No depth images for split=[%s] found in %s" % (
+                split, self.disparities_base))
+
+        print("Found %d %s RGB images" % (len(self.images[split]), split))
+        print("Found %d %s disparity images" %
+              (len(self.disparities[split]), split))
+
+    def __len__(self):
+        return len(self.images[self.split])
+
+    def __getitem__(self, index):
+        img_path = self.images[self.split][index].rstrip()
+        disp_path = self.disparities[self.split][index].rstrip()
+        try:
+            lbl_path = self.labels[self.split][index].rstrip()
+            _img = Image.open(img_path).convert('RGB').resize(
+                self.args.image_size, Image.BILINEAR)
+            _depth = Image.open(disp_path).resize(
+                self.args.image_size, Image.BILINEAR)
+            _target = Image.open(lbl_path).resize(
+                self.args.image_size, Image.BILINEAR)
+
+            sample = {'image': _img, 'depth': _depth, 'label': _target}
+        except:
+            _img = Image.open(img_path).convert('RGB').resize(
+                self.args.image_size, Image.BILINEAR)
+            _depth = Image.open(disp_path).resize(
+                self.args.image_size, Image.BILINEAR)
+           
+            sample = {'image': _img, 'depth': _depth, 'label': _img}
+
+        if self.split == 'train':
+            return self.transform_tr(sample)
+        elif self.split == 'val':
+            return self.transform_val(sample), img_path
+        elif self.split == 'test':
+            return self.transform_ts(sample), img_path
+        elif self.split == 'custom_resize':
+            return self.transform_ts(sample), img_path
+
+    def recursive_glob(self, rootdir='.', suffix=''):
+        """Performs recursive glob with given suffix and rootdir
+            :param rootdir is the root directory
+            :param suffix is the suffix to be searched
+        """
+        return [os.path.join(looproot, filename)
+                for looproot, _, filenames in os.walk(rootdir)
+                for filename in filenames if filename.endswith(suffix)]
+
+    def transform_tr(self, sample):
+        composed_transforms = transforms.Compose([
+            tr.CropBlackArea(),
+            tr.RandomHorizontalFlip(),
+            tr.RandomScaleCrop(base_size=self.args.base_size,
+                               crop_size=self.args.crop_size, fill=255),
+            tr.Normalize(mean=(0.485, 0.456, 0.406),
+                         std=(0.229, 0.224, 0.225)),
+            tr.ToTensor()])
+
+        return composed_transforms(sample)
+
+    def transform_val(self, sample):
+
+        composed_transforms = transforms.Compose([
+            tr.CropBlackArea(),
+            tr.Normalize(mean=(0.485, 0.456, 0.406),
+                         std=(0.229, 0.224, 0.225)),
+            tr.ToTensor()])
+
+        return composed_transforms(sample)
+
+    def transform_ts(self, sample):
+
+        composed_transforms = transforms.Compose([
+            tr.Normalize(mean=(0.485, 0.456, 0.406),
+                         std=(0.229, 0.224, 0.225)),
+            tr.ToTensor()])
+
+        return composed_transforms(sample)

examples/lifelong_learning/robot_dog_delivery/RFNet/estimators/eval.py → examples/lifelong_learning/cityscapes/RFNet/estimators/eval.py

@@ -102,7 +102,7 @@ class Validator(object):
                     self.args.merge_label_save_path, img_name)
                 os.makedirs(os.path.dirname(merge_label_name), exist_ok=True)
                 pre_color_image = ToPILImage()(
-                    pre_colors[i])  # pre_colors.dtype = float64
+                    pre_colors[i])
                 image_merge(image[i], pre_color_image, merge_label_name)
 
                 if not self.args.save_predicted_image:
@@ -113,8 +113,6 @@ class Validator(object):
                 os.makedirs(os.path.dirname(color_label_name), exist_ok=True)
                 os.makedirs(os.path.dirname(label_name), exist_ok=True)
 
-                # color = paint_trapezoid(np.array(pre_color_image))
-                # cv2.imwrite(color_label_name, color)
                 pre_color_image.save(color_label_name)
 
                 pre_label_image = ToPILImage()(pre_labels[i])

examples/lifelong_learning/robot_dog_delivery/RFNet/estimators/train.py → examples/lifelong_learning/cityscapes/RFNet/estimators/train.py

@@ -218,3 +218,5 @@ class Trainer(object):
                 'optimizer': self.optimizer.state_dict(),
                 'best_pred': self.best_pred,
             }, is_best)
+        
+        return new_pred

examples/lifelong_learning/robot_dog_delivery/RFNet/evaluate.py → examples/lifelong_learning/cityscapes/RFNet/evaluate.py

@@ -1,22 +1,25 @@
-import os
-os.environ["TEST_DATASET_URL"] = "/home/lsq/RFNet/data_index/test.txt"
-os.environ["MODEL_URLS"] = "s3://kubeedge/sedna-robo/kb/index.pkl"
-os.environ["OUTPUT_URL"] = "s3://kubeedge/sedna-robo/kb_next/"
-
-os.environ["KB_SERVER"] = "http://0.0.0.0:9020"
-os.environ["operator"] = "<"
-os.environ["model_threshold"] = "0.01"
+# Copyright 2023 The KubeEdge Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
-os.environ["S3_ENDPOINT_URL"] = "https://obs.cn-north-1.myhuaweicloud.com"
-os.environ["SECRET_ACCESS_KEY"] = "OYPxi4uD9k5E90z0Od3Ug99symbJZ0AfyB4oveQc"
-os.environ["ACCESS_KEY_ID"] = "EMPTKHQUGPO2CDUFD2YR"
+import os
 
 from sedna.core.lifelong_learning import LifelongLearning
 from sedna.datasources import TxtDataParse
 from sedna.common.config import Context
 
 from accuracy import accuracy
-from basemodel import Model
+from interface import Estimator
 
 
 def _load_txt_dataset(dataset_url):
@@ -31,13 +34,13 @@ def _load_txt_dataset(dataset_url):
 
 
 def eval():
-    estimator = Model(num_class=31)
+    estimator = Estimator(num_class=Context.get_parameters("num_class", 24))
     eval_dataset_url = Context.get_parameters("test_dataset_url")
     eval_data = TxtDataParse(data_type="eval", func=_load_txt_dataset)
     eval_data.parse(eval_dataset_url, use_raw=False)
 
     task_allocation = {
-        "method": "TaskAllocationSimple"
+        "method": "TaskAllocationByOrigin"
     }
 
     ll_job = LifelongLearning(estimator,

examples/lifelong_learning/robot_dog_delivery/RFNet/basemodel.py → examples/lifelong_learning/cityscapes/RFNet/interface.py

@@ -1,3 +1,17 @@
+# Copyright 2023 The KubeEdge Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import os
 
 import cv2
@@ -8,7 +22,6 @@ from torchvision import transforms
 from torch.utils.data import DataLoader
 from torchvision import transforms
 from sedna.common.config import Context
-from sedna.datasources import TxtDataParse
 from sedna.common.file_ops import FileOps
 from sedna.common.log import LOGGER
 from sedna.common.config import BaseConfig
@@ -17,9 +30,7 @@ from dataloaders import custom_transforms as tr
 from utils.args import TrainingArguments, EvaluationArguments
 from estimators.train import Trainer
 from estimators.eval import Validator, load_my_state_dict
-from accuracy import robo_accuracy
-
-os.environ["BACKEND_TYPE"] = ''
+from accuracy import accuracy
 
 
 def preprocess_url(image_urls):
@@ -67,18 +78,7 @@ def preprocess_frames(frames):
     return trainsformed_frames
 
 
-def _load_txt_dataset(dataset_url):
-    # use original dataset url
-    original_dataset_url = Context.get_parameters('original_dataset_url', "")
-    dataset_urls = dataset_url.split()
-    dataset_urls = [
-        os.path.join(
-            os.path.dirname(original_dataset_url),
-            dataset_url) for dataset_url in dataset_urls]
-    return dataset_urls[:-1], dataset_urls[-1]
-
-
-class Model:
+class Estimator:
     def __init__(self, **kwargs):
         self.train_args = TrainingArguments(**kwargs)
         self.val_args = EvaluationArguments(**kwargs)
@@ -101,7 +101,8 @@ class Model:
         self.validator = Validator(self.val_args)
 
     def train(self, train_data, valid_data=None, **kwargs):
-        self.trainer = Trainer(self.train_args, train_data=train_data)
+        self.trainer = Trainer(
+            self.train_args, train_data=train_data, valid_data=valid_data)
         LOGGER.info("Total epoches: {}".format(self.trainer.args.epochs))
         for epoch in range(
                 self.trainer.args.start_epoch,
@@ -114,7 +115,8 @@ class Model:
                 (epoch % self.trainer.args.eval_interval ==
                     (self.trainer.args.eval_interval - 1) or
                  epoch == self.trainer.args.epochs - 1):
-                # save checkpoint when it meets eval_interval or the training finishes
+                # save checkpoint when it meets eval_interval
+                # or the training finishes
                 is_best = False
                 train_model_url = self.trainer.saver.save_checkpoint({
                     'epoch': epoch + 1,
@@ -124,12 +126,12 @@ class Model:
                 }, is_best)
 
         self.trainer.writer.close()
-
         self.train_model_url = train_model_url
-        return self.train_model_url
+
+        return {"mIoU": 0 if not valid_data
+                else self.trainer.validation(epoch)}
 
     def predict(self, data, **kwargs):
-        prediction = kwargs.get('prediction')
         if isinstance(data[0], dict):
             data = preprocess_frames(data)
 
@@ -142,20 +144,18 @@ class Model:
             shuffle=False,
             pin_memory=False)
 
-        if not prediction:
-            return self.validator.validate()
-        else:
-            return prediction
+        return self.validator.validate()
 
     def evaluate(self, data, **kwargs):
         predictions = self.predict(data.x)
-        return robo_accuracy(data.y, predictions)
+        return accuracy(data.y, predictions)
 
     def load(self, model_url, **kwargs):
         if model_url:
             self.validator.new_state_dict = torch.load(model_url)
             self.validator.model = load_my_state_dict(
-                self.validator.model, self.validator.new_state_dict['state_dict'])
+                self.validator.model,
+                self.validator.new_state_dict['state_dict'])
 
             self.train_args.resume = model_url
         else:
@@ -167,14 +167,3 @@ class Model:
             return self.train_model_url
 
         return FileOps.upload(self.train_model_url, model_path)
-
-
-if __name__ == '__main__':
-    model = Model(num_class=31)
-    txt = "/home/lsq/RFNet/data_index/train.txt"
-    model.load("/home/lsq/RFNet/models/best_all_epoch_142_mean-iu_0.94952.pth")
-
-    data = TxtDataParse(data_type="eval", func=_load_txt_dataset)
-    data.parse(txt, use_raw=False)
-    model.evaluate(data)
-    # model.save("./models/e1_2f.pth")

examples/lifelong_learning/robot_dog_delivery/RFNet/models/replicate.py → examples/lifelong_learning/cityscapes/RFNet/models/replicate.py

@@ -1,13 +1,3 @@
-# -*- coding: utf-8 -*-
-# File   : replicate.py
-# Author : Jiayuan Mao
-# Email  : maojiayuan@gmail.com
-# Date   : 27/01/2018
-#
-# This file is part of Synchronized-BatchNorm-PyTorch.
-# https://github.com/vacancy/Synchronized-BatchNorm-PyTorch
-# Distributed under MIT License.
-
 import functools
 
 from torch.nn.parallel.data_parallel import DataParallel
@@ -57,7 +47,8 @@ class DataParallelWithCallback(DataParallel):
     """
 
     def replicate(self, module, device_ids):
-        modules = super(DataParallelWithCallback, self).replicate(module, device_ids)
+        modules = super(DataParallelWithCallback,
+                        self).replicate(module, device_ids)
         execute_replication_callbacks(modules)
         return modules
 
@@ -85,4 +76,4 @@ def patch_replication_callback(data_parallel):
         execute_replication_callbacks(modules)
         return modules
 
-    data_parallel.replicate = new_replicate
+    data_parallel.replicate = new_replicate

examples/lifelong_learning/robot_dog_delivery/RFNet/models/rfnet.py → examples/lifelong_learning/cityscapes/RFNet/models/rfnet.py

@@ -1,16 +1,18 @@
 import torch.nn as nn
-from itertools import chain # 串联多个迭代对象
+from itertools import chain
 
 from .util import _BNReluConv, upsample
 
+
 class RFNet(nn.Module):
     def __init__(self, backbone, num_classes, use_bn=True):
         super(RFNet, self).__init__()
         self.backbone = backbone
         self.num_classes = num_classes
-        self.logits = _BNReluConv(self.backbone.num_features, self.num_classes, batch_norm=use_bn)
+        self.logits = _BNReluConv(
+            self.backbone.num_features, self.num_classes, batch_norm=use_bn)
 
-    def forward(self, rgb_inputs, depth_inputs = None):
+    def forward(self, rgb_inputs, depth_inputs=None):
         x, additional = self.backbone(rgb_inputs, depth_inputs)
         logits = self.logits.forward(x)
         logits_upsample = upsample(logits, rgb_inputs.shape[2:])
@@ -21,4 +23,3 @@ class RFNet(nn.Module):
 
     def fine_tune_params(self):
         return self.backbone.fine_tune_params()
-

examples/lifelong_learning/cityscapes/RFNet/models/util.py

@@ -0,0 +1,144 @@
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+def upsample(x, size): return F.interpolate(
+    x, size, mode='bilinear', align_corners=False)
+
+
+batchnorm_momentum = 0.01 / 2
+
+
+def get_n_params(parameters):
+    pp = 0
+    for p in parameters:
+        nn = 1
+        for s in list(p.size()):
+            nn = nn * s
+        pp += nn
+    return pp
+
+
+class _BNReluConv(nn.Sequential):
+    def __init__(self,
+                 num_maps_in,
+                 num_maps_out,
+                 k=3,
+                 batch_norm=True,
+                 bn_momentum=0.1,
+                 bias=False,
+                 dilation=1):
+        super(_BNReluConv, self).__init__()
+        if batch_norm:
+            self.add_module('norm', nn.BatchNorm2d(
+                num_maps_in, momentum=bn_momentum))
+        self.add_module('relu', nn.ReLU(inplace=batch_norm is True))
+        padding = k // 2
+        self.add_module('conv',
+                        nn.Conv2d(num_maps_in,
+                                  num_maps_out,
+                                  kernel_size=k,
+                                  padding=padding,
+                                  bias=bias,
+                                  dilation=dilation))
+
+
+class _Upsample(nn.Module):
+    def __init__(self,
+                 num_maps_in,
+                 skip_maps_in,
+                 num_maps_out,
+                 use_bn=True,
+                 k=3):
+        super(_Upsample, self).__init__()
+        self.bottleneck = _BNReluConv(
+            skip_maps_in, num_maps_in, k=1, batch_norm=use_bn)
+        self.blend_conv = _BNReluConv(
+            num_maps_in, num_maps_out, k=k, batch_norm=use_bn)
+
+    def forward(self, x, skip):
+        skip = self.bottleneck.forward(skip)
+        skip_size = skip.size()[2:4]
+        x = upsample(x, skip_size)
+        x = x + skip
+        x = self.blend_conv.forward(x)
+        return x
+
+
+class SpatialPyramidPooling(nn.Module):
+    def __init__(self,
+                 num_maps_in,
+                 num_levels,
+                 bt_size=512,
+                 level_size=128,
+                 out_size=128,
+                 grids=(6, 3, 2, 1),
+                 square_grid=False,
+                 bn_momentum=0.1,
+                 use_bn=True):
+        super(SpatialPyramidPooling, self).__init__()
+        self.grids = grids
+        self.square_grid = square_grid
+        self.spp = nn.Sequential()
+        self.spp.add_module('spp_bn',
+                            _BNReluConv(num_maps_in,
+                                        bt_size,
+                                        k=1,
+                                        bn_momentum=bn_momentum,
+                                        batch_norm=use_bn))
+        num_features = bt_size
+        final_size = num_features
+        for i in range(num_levels):
+            final_size += level_size
+            self.spp.add_module('spp' + str(i),
+                                _BNReluConv(num_features,
+                                level_size,
+                                k=1,
+                                bn_momentum=bn_momentum,
+                                batch_norm=use_bn))
+        self.spp.add_module('spp_fuse',
+                            _BNReluConv(final_size,
+                                        out_size,
+                                        k=1,
+                                        bn_momentum=bn_momentum,
+                                        batch_norm=use_bn))
+
+    def forward(self, x):
+        levels = []
+        target_size = x.size()[2:4]
+
+        ar = target_size[1] / target_size[0]
+
+        x = self.spp[0].forward(x)
+        levels.append(x)
+        num = len(self.spp) - 1
+
+        for i in range(1, num):
+            if not self.square_grid:
+                grid_size = (self.grids[i - 1],
+                             max(1, round(ar * self.grids[i - 1])))
+                x_pooled = F.adaptive_avg_pool2d(x, grid_size)
+            else:
+                x_pooled = F.adaptive_avg_pool2d(x, self.grids[i - 1])
+            level = self.spp[i].forward(x_pooled)
+
+            level = upsample(level, target_size)
+            levels.append(level)
+        x = torch.cat(levels, 1)
+        x = self.spp[-1].forward(x)
+        return x
+
+
+class _UpsampleBlend(nn.Module):
+    def __init__(self, num_features, use_bn=True):
+        super(_UpsampleBlend, self).__init__()
+        self.blend_conv = _BNReluConv(
+            num_features, num_features, k=3, batch_norm=use_bn)
+
+    def forward(self, x, skip):
+        skip_size = skip.size()[2:4]
+        x = upsample(x, skip_size)
+        x = x + skip
+        x = self.blend_conv.forward(x)
+        return x

examples/lifelong_learning/cityscapes/RFNet/predict.py

@@ -0,0 +1,105 @@
+# Copyright 2023 The KubeEdge Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import time
+
+from PIL import Image
+from sedna.datasources import BaseDataSource
+from sedna.common.config import Context
+from sedna.common.log import LOGGER
+from sedna.common.file_ops import FileOps
+from sedna.core.lifelong_learning import LifelongLearning
+
+from interface import Estimator
+
+
+def unseen_sample_postprocess(sample, save_url):
+    if isinstance(sample, dict):
+        img = sample.get("image")
+        image_name = "{}.png".format(str(time.time()))
+        image_url = FileOps.join_path(save_url, image_name)
+        img.save(image_url)
+    else:
+        image_name = os.path.basename(sample[0])
+        image_url = FileOps.join_path(save_url, image_name)
+        FileOps.upload(sample[0], image_url, clean=False)
+
+
+def preprocess(samples):
+    data = BaseDataSource(data_type="test")
+    data.x = [samples]
+    return data
+
+
+def init_ll_job():
+    estimator = Estimator(num_class=Context.get_parameters("num_class", 24),
+                          save_predicted_image=True,
+                          merge=True)
+
+    task_allocation = {
+        "method": "TaskAllocationStream"
+    }
+    unseen_task_allocation = {
+        "method": "UnseenTaskAllocationDefault"
+    }
+
+    ll_job = LifelongLearning(
+        estimator,
+        unseen_estimator=unseen_task_processing,
+        task_definition=None,
+        task_relationship_discovery=None,
+        task_allocation=task_allocation,
+        task_remodeling=None,
+        inference_integrate=None,
+        task_update_decision=None,
+        unseen_task_allocation=unseen_task_allocation,
+        unseen_sample_recognition=None,
+        unseen_sample_re_recognition=None)
+    return ll_job
+
+
+def unseen_task_processing():
+    return "Warning: unseen sample detected."
+
+
+def predict():
+    ll_job = init_ll_job()
+    test_data_dir = Context.get_parameters("test_data")
+    test_data = os.listdir(test_data_dir)
+    test_data_num = len(test_data)
+    count = 0
+
+    # Simulate a permenant inference service
+    while True:
+        for i, data in enumerate(test_data):
+            LOGGER.info(f"Start to inference image {i + count + 1}")
+
+            test_data_url = os.path.join(test_data_dir, data)
+            img_rgb = Image.open(test_data_url).convert("RGB")
+            sample = {'image': img_rgb, "depth": img_rgb, "label": img_rgb}
+            predict_data = preprocess(sample)
+            prediction, is_unseen, _ = ll_job.inference(
+                predict_data, 
+                unseen_sample_postprocess=unseen_sample_postprocess)
+            LOGGER.info(f"Image {i + count + 1} is unseen task: {is_unseen}")
+            LOGGER.info(
+                f"Image {i + count + 1} prediction result: {prediction}")
+            time.sleep(1.0)
+
+        count += test_data_num
+
+
+if __name__ == '__main__':
+    predict()

examples/lifelong_learning/robot_dog_delivery/RFNet/train.py → examples/lifelong_learning/cityscapes/RFNet/train.py

@@ -1,10 +1,24 @@
+# Copyright 2023 The KubeEdge Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import os
 
 from sedna.core.lifelong_learning import LifelongLearning
 from sedna.common.config import Context, BaseConfig
 from sedna.datasources import TxtDataParse
 
-from basemodel import Model
+from interface import Estimator
 
 
 def _load_txt_dataset(dataset_url):
@@ -20,11 +34,15 @@ def _load_txt_dataset(dataset_url):
 
 def train(estimator, train_data):
     task_definition = {
-        "method": "TaskDefinitionSimple"
+        "method": "TaskDefinitionByOrigin",
+        "param": {
+            "attribute": Context.get_parameters("attribute"),
+            "city": Context.get_parameters("city")
+        }
     }
 
     task_allocation = {
-        "method": "TaskAllocationSimple"
+        "method": "TaskAllocationByOrigin"
     }
 
     ll_job = LifelongLearning(estimator,
@@ -42,24 +60,9 @@ def train(estimator, train_data):
     ll_job.train(train_data)
 
 
-def update(estimator, train_data):
-    ll_job = LifelongLearning(estimator,
-                              task_definition=None,
-                              task_relationship_discovery=None,
-                              task_allocation=None,
-                              task_remodeling=None,
-                              inference_integrate=None,
-                              task_update_decision=None,
-                              unseen_task_allocation=None,
-                              unseen_sample_recognition=None,
-                              unseen_sample_re_recognition=None
-                              )
-
-    ll_job.update(train_data)
-
-
 def run():
-    estimator = Model(num_class=31, epochs=1)
+    estimator = Estimator(num_class=int(Context.get_parameters("num_class", 24)),
+                          epochs=int(Context.get_parameters("epoches", 1)))
     train_dataset_url = BaseConfig.train_dataset_url
     train_data = TxtDataParse(data_type="train", func=_load_txt_dataset)
     train_data.parse(train_dataset_url, use_raw=False)

examples/lifelong_learning/robot_dog_delivery/RFNet/utils/args.py → examples/lifelong_learning/cityscapes/RFNet/utils/args.py

@@ -19,7 +19,7 @@ class Arguments:
         self.image_size = kwargs.get(
             "image_size", (2048, 1024))  # output image shape
         # input batch size for training
-        self.batch_size = kwargs.get("batch_size")
+        self.batch_size = int(kwargs.get("batch_size", 4))
         self.val_batch_size = int(kwargs.get(
             "val_batch_size", 1))  # input batch size for validation
         self.test_batch_size = int(kwargs.get(

examples/lifelong_learning/robot_dog_delivery/RFNet/utils/metrics.py → examples/lifelong_learning/cityscapes/RFNet/utils/metrics.py

@@ -110,11 +110,6 @@ class Evaluator(object):
                     np.diag(self.confusion_matrix))
 
         FWIoU = (freq[freq > 0] * iu[freq > 0]).sum()
-        CFWIoU = freq[freq > 0] * iu[freq > 0]
-        print('-----------FWIoU of each classes-----------')
-        print("road         : %.6f" % (CFWIoU[0] * 100.0), "%\t")
-        print("sidewalk     : %.6f" % (CFWIoU[1] * 100.0), "%\t")
-       
         return FWIoU
 
     def Frequency_Weighted_Intersection_over_Union_Curb(self):

examples/lifelong_learning/cityscapes/yaml/dataset.yaml

@@ -0,0 +1,8 @@
+apiVersion: sedna.io/v1alpha1
+kind: Dataset
+metadata:
+  name: lifelong-robo-dataset
+spec:
+  url: "$data_url"
+  format: "txt"
+  nodeName: "$DATA_NODE"

examples/lifelong_learning/cityscapes/yaml/robot-dog-delivery.yaml

@@ -0,0 +1,119 @@
+apiVersion: sedna.io/v1alpha1
+kind: LifelongLearningJob
+metadata:
+  name: $job_name
+spec:
+  dataset:
+    name: "lifelong-robo-dataset"
+    trainProb: 0.8
+  trainSpec:
+    template:
+      spec:
+        nodeName: $TRAIN_NODE
+        dnsPolicy: ClusterFirstWithHostNet
+        containers:
+          - image: $cloud_image
+            name:  train-worker
+            imagePullPolicy: IfNotPresent         
+            args: ["train.py"]
+            env:
+              - name: "num_class"
+                value: "24"
+              - name: "epoches"
+                value: "1"
+            resources:
+              limits:
+                cpu: 6
+                memory: 12Gi
+              requests:
+                cpu: 4
+                memory: 10Gi
+            volumeMounts:
+            - mountPath: /dev/shm
+              name: cache-volume
+        volumes:
+        - emptyDir:
+            medium: Memory
+            sizeLimit: 256Mi
+          name: cache-volume
+    trigger:
+      checkPeriodSeconds: 30
+      timer:
+        start: 00:00
+        end: 24:00
+      condition:
+        operator: ">"
+        threshold: 100
+        metric: num_of_samples
+  evalSpec:
+    template:
+      spec:
+        nodeName: $EVAL_NODE
+        dnsPolicy: ClusterFirstWithHostNet
+        containers:
+          - image: $cloud_image
+            name:  eval-worker
+            imagePullPolicy: IfNotPresent
+            args: ["evaluate.py"]
+            env:
+              - name: "operator"
+                value: "<"
+              - name: "model_threshold"
+                value: "0"
+              - name: "num_class"
+                value: "24"
+            resources:
+              limits:
+                cpu: 6
+                memory: 6Gi
+              requests:
+                cpu: 4
+                memory: 5Gi
+  deploySpec:
+    template:
+      spec:
+        nodeName: $INFER_NODE
+        dnsPolicy: ClusterFirstWithHostNet
+        hostNetwork: true
+        containers:
+        - image: $edge_image
+          name:  infer-worker
+          imagePullPolicy: IfNotPresent
+          args: ["predict.py"]
+          env:
+            - name: "test_data"
+              value: "/data/test_data"
+            - name: "num_class"
+              value: "24"
+            - name: "unseen_save_url"
+              value: "/data/unseen_samples"
+            - name: "INFERENCE_RESULT_DIR"
+              value: "/data/infer_results"
+          volumeMounts:
+          - name: unseenurl
+            mountPath: /data/unseen_samples
+          - name: inferdata
+            mountPath: /data/infer_results
+          - name: testdata
+            mountPath: /data/test_data
+          resources:
+            limits:
+              cpu: 6
+              memory: 6Gi
+            requests:
+              cpu: 4
+              memory: 3Gi
+        volumes:
+          - name: unseenurl
+            hostPath:
+              path: /data/unseen_samples
+              type: DirectoryOrCreate
+          - name: inferdata
+            hostPath:
+              path: /data/infer_results
+              type: DirectoryOrCreate
+          - name: testdata
+            hostPath:
+              path: /data/test_data
+              type: DirectoryOrCreate
+  outputDir: $OUTPUT/$job_name

examples/lifelong_learning/robot_dog_delivery/README.md

@@ -1,201 +0,0 @@
-# Using Lifelong Learning in Campus Robot Delivery Scenario
-
-## Introduction
-This example introduces how to use Sedna lifelong learning to implement the lifelong learning delivery task of the robot in the campus.
-
-This demo mainly shows:
-1. Lifelong learning unseen task recognition algorithm (prediction) can identify and collect unseen task samples.
-2. Lifelong learning unseen task recognition algorithm (detection) can trigger alarms to remind robot admin that emergency response is required.
-3. Lifelong learning unseen task training algorithm improves the inference accuracy of known categories and the ability to identify new categories.
-
-## System Architecture
-
-### Install Sedna
-Follow the [Sedna installation document](/docs/setup/install.md) to install Sedna.
-
-### Prepare Dataset 
-Step1: download [data.txt](https://kubeedge.obs.cn-north-1.myhuaweicloud.com:443/sedna-robo/data.txt?AWSAccessKeyId=EMPTKHQUGPO2CDUFD2YR&Expires=1697698966&Signature=s42sKZVewIP/kgLc4dEzjNCRXfk%3D)
-and upload it to a specfied s3 directory. In this example, the directory is s3://kubeedge/sedna-robo/sedna_data.
-
-Step2: download and decompress [sedna_data.zip](https://kubeedge.obs.cn-north-1.myhuaweicloud.com:443/sedna-robo/sedna_data.zip?AWSAccessKeyId=EMPTKHQUGPO2CDUFD2YR&Expires=1697700463&Signature=9OlCC8qBcQr8LfX1ptbsr7nhU5s%3D), 
-then upload the training images in it to the s3 directory where data.txt is stored.
-
-### Prepare Images
-This example uses these images:
-
-1. training worker:  swr.cn-south-1.myhuaweicloud.com/sedna/sedna-robo:v0.1.1
-2. evaluate worker:  swr.cn-south-1.myhuaweicloud.com/sedna/sedna-robo:v0.1.1
-3. inference worker: swr.cn-south-1.myhuaweicloud.com/sedna/sedna-robo-infer:v0.1.1
-
-These images are generated by the script [build_images.sh](/examples/build_image.sh).
-
-### Create Lifelong Learning Job
-
-#### Preparations
-Before this, user must provide an s3 directory for storage which is denoted as "s3_prefix" in this example, by setting environment variable s3_prefix.
-```
-s3_prefix=$s3_prefix
-cloud_image=swr.cn-south-1.myhuaweicloud.com/sedna/sedna-robo:v0.1.1
-edge_image=swr.cn-south-1.myhuaweicloud.com/sedna/sedna-robo-infer:v0.1.1
-data_url=$s3_prefix/sedna_data/data.txt
-
-DATA_NODE=sedna-mini-control-plane 
-TRAIN_NODE=sedna-mini-control-plane
-EVAL_NODE=sedna-mini-control-plane
-INFER_NODE=sedna-mini-control-plane
-OUTPUT=$s3_prefix/lifelonglearningjob/output
-job_name=robo-demo
-```
-#### Create s3 storage resources
-Before this, users must generate the S3_ENDPOINT, ACCESS_KEY_ID and SECRET_ACCESS_KEY of their own s3 accounts and set environment
- variables S3_ENDPOINT, ACCESS_KEY_ID and SECRET_ACCESS_KEY.
-```
-action=${1:-create}
-
-kubectl $action -f - <<EOF
-apiVersion: v1
-stringData:
-  ACCESS_KEY_ID: $ACCESS_KEY_ID
-  SECRET_ACCESS_KEY: $SECRET_ACCESS_KEY
-kind: Secret
-metadata:
-  name: my
-  annotations:
-    s3-endpoint: $S3_ENDPOINT
-type: Opaque
-EOF
-```
-
-#### Create Initial Dataset Resource 
-```
-kubectl $action -f - <<EOF
-apiVersion: sedna.io/v1alpha1
-kind: Dataset
-metadata:
-  name: lifelong-dataset-robo
-spec:
-  url: "$data_url"
-  format: "txt"
-  nodeName: "$DATA_NODE"
-  credentialName: my
-EOF
-```
-
-#### Create robot-dog-delivery Lifelong Learning Job
-```
-action=${1:-create}
-
-kubectl $action -f - <<EOF
-apiVersion: sedna.io/v1alpha1
-kind: LifelongLearningJob
-metadata:
-  name: $job_name
-spec:
-  dataset:
-    name: "lifelong-dataset-robo"
-    trainProb: 0.8
-  trainSpec:
-    template:
-      spec:
-        nodeName: $TRAIN_NODE
-        dnsPolicy: ClusterFirstWithHostNet
-        containers:
-          - image: $cloud_image
-            name:  train-worker
-            imagePullPolicy: IfNotPresent
-            args: ["sedna_train.py"]
-            env:
-              - name: "train_ratio"
-                value: "0.9"
-              - name: "BACKEND_TYPE"
-                value: "PYTORCH"
-            resources:
-              limits:
-                cpu: 6
-                memory: 6Gi
-              requests:
-                cpu: 3
-                memory: 3Gi
-            volumeMounts:
-            - mountPath: /dev/shm
-              name: cache-volume
-        volumes:
-        - emptyDir:
-            medium: Memory
-            sizeLimit: 128Mi
-          name: cache-volume
-    trigger:
-      checkPeriodSeconds: 30
-      timer:
-        start: 00:00
-        end: 24:00
-      condition:
-        operator: ">"
-        threshold: 100
-        metric: num_of_samples
-  evalSpec:
-    template:
-      spec:
-        nodeName: $EVAL_NODE
-        dnsPolicy: ClusterFirstWithHostNet
-        containers:
-          - image: $cloud_image
-            name:  eval-worker
-            imagePullPolicy: IfNotPresent
-            args: ["sedna_evaluate.py"]
-            env:
-              - name: "operator"
-                value: "<"
-              - name: "model_threshold"  # Threshold for filtering deploy models
-                value: "0"
-              - name: "BACKEND_TYPE"
-                value: "PYTORCH"
-            resources:
-              limits:
-                cpu: 6
-                memory: 6Gi
-              requests:
-                cpu: 3
-                memory: 3Gi
-  deploySpec:
-    template:
-      spec:
-        nodeName: $INFER_NODE
-        dnsPolicy: ClusterFirstWithHostNet
-        hostNetwork: true
-        containers:
-        - image: $edge_image
-          name:  infer-worker
-          imagePullPolicy: IfNotPresent
-          env:
-            - name: "BIG_MODEL_IP"
-              value: "http://94.74.91.114"
-            - name: "BIG_MODEL_PORT"
-              value: "30001"
-            - name: "RUN_FILE"
-              value: "integration_main.py"
-          resources:  # user defined resources
-            limits:
-              cpu: 6
-              memory: 6Gi
-            requests:
-              cpu: 3
-              memory: 3Gi
-
-  credentialName: my
-  outputDir: $OUTPUT/$job_name
-EOF
-```
-
-### Check Lifelong Learning Status
-
-```
-kubectl get lifelonglearningjob
-```
-
-### Effect Display
-
-
-
-
-

examples/lifelong_learning/robot_dog_delivery/RFNet/accuracy.py

@@ -1,71 +0,0 @@
-from tqdm import tqdm
-from sedna.common.class_factory import ClassType, ClassFactory
-
-from utils.args import EvaluationArguments
-from utils.metrics import Evaluator
-from dataloaders import make_data_loader
-
-__all__ = ('accuracy', 'robo_accuracy')
-
-
-@ClassFactory.register(ClassType.GENERAL)
-def accuracy(y_true, y_pred, **kwargs):
-    args = EvaluationArguments()
-    _, _, test_loader = make_data_loader(args, test_data=y_true)
-    evaluator = Evaluator(args.num_class)
-
-    tbar = tqdm(test_loader, desc='\r')
-    for i, (sample, img_path) in enumerate(tbar):
-        if args.depth:
-            image, depth, target = sample['image'], sample['depth'], sample['label']
-        else:
-            image, target = sample['image'], sample['label']
-        if args.cuda:
-            image, target = image.cuda(), target.cuda()
-            if args.depth:
-                depth = depth.cuda()
-
-        target[target > evaluator.num_class - 1] = 255
-        target = target.cpu().numpy()
-        # Add batch sample into evaluator
-        evaluator.add_batch(target, y_pred[i])
-
-    # Test during the training
-    CPA = evaluator.Pixel_Accuracy_Class()
-    mIoU = evaluator.Mean_Intersection_over_Union()
-    FWIoU = evaluator.Frequency_Weighted_Intersection_over_Union()
-
-    print("CPA:{}, mIoU:{}, fwIoU: {}".format(CPA, mIoU, FWIoU))
-    return CPA
-
-
-@ClassFactory.register(ClassType.GENERAL)
-def robo_accuracy(y_true, y_pred, **kwargs):
-    y_pred = y_pred[0]
-    args = EvaluationArguments()
-    _, _, test_loader = make_data_loader(args, test_data=y_true)
-    evaluator = Evaluator(args.num_class)
-
-    tbar = tqdm(test_loader, desc='\r')
-    for i, (sample, img_path) in enumerate(tbar):
-        if args.depth:
-            image, depth, target = sample['image'], sample['depth'], sample['label']
-        else:
-            image, target = sample['image'], sample['label']
-        if args.cuda:
-            image, target = image.cuda(), target.cuda()
-            if args.depth:
-                depth = depth.cuda()
-
-        target[target > evaluator.num_class - 1] = 255
-        target = target.cpu().numpy()
-        # Add batch sample into evaluator
-        evaluator.add_batch(target, y_pred[i])
-
-    # Test during the training
-    CPA = evaluator.Pixel_Accuracy_Class()
-    mIoU = evaluator.Mean_Intersection_over_Union()
-    FWIoU = evaluator.Frequency_Weighted_Intersection_over_Union()
-
-    print("CPA:{}, mIoU:{}, fwIoU: {}".format(CPA, mIoU, FWIoU))
-    return CPA

examples/lifelong_learning/robot_dog_delivery/RFNet/dataloaders/datasets/cityscapes.py

@@ -1,148 +0,0 @@
-import os
-import numpy as np
-from PIL import Image
-from torch.utils import data
-from torchvision import transforms
-from dataloaders import custom_transforms as tr
-
-class CityscapesSegmentation(data.Dataset):
-
-    def __init__(self, args, data=None, split="train"):
-
-        self.split = split
-        self.args = args
-        self.images = {}
-        self.disparities = {}
-        self.labels = {}
-
-        self.images[split] = [img[0] for img in data.x] if hasattr(data, "x") else data
-
-        if hasattr(data, "x") and len(data.x[0]) == 1:
-            self.disparities[split] = self.images[split]
-        elif hasattr(data, "x") and len(data.x[0]) == 2:
-            self.disparities[split] = [img[1] for img in data.x]
-        else:
-            self.disparities[split] = data
-
-        self.labels[split] = data.y if hasattr(data, "y") else data
-
-        self.ignore_index = 255
-
-        if len(self.images[split]) == 0:
-            raise Exception("No RGB images for split=[%s] found in %s" % (split, self.images_base))
-        if len(self.disparities[split]) == 0:
-            raise Exception("No depth images for split=[%s] found in %s" % (split, self.disparities_base))
-
-        print("Found %d %s RGB images" % (len(self.images[split]), split))
-        print("Found %d %s disparity images" % (len(self.disparities[split]), split))
-
-
-    def __len__(self):
-        return len(self.images[self.split])
-
-    def __getitem__(self, index):
-        img_path = self.images[self.split][index].rstrip()
-        disp_path = self.disparities[self.split][index].rstrip()
-        try:
-            lbl_path = self.labels[self.split][index].rstrip()
-            _img = Image.open(img_path).convert('RGB').resize(self.args.image_size, Image.BILINEAR)
-            _depth = Image.open(disp_path).resize(self.args.image_size, Image.BILINEAR)
-            _target = Image.open(lbl_path).resize(self.args.image_size, Image.BILINEAR)
-            # _img = Image.open(img_path).convert('RGB')
-            # _depth = Image.open(disp_path)
-            # _target = Image.open(lbl_path)
-            sample = {'image': _img,'depth':_depth, 'label': _target}
-        except:
-            _img = Image.open(img_path).convert('RGB').resize(self.args.image_size, Image.BILINEAR)
-            _depth = Image.open(disp_path).resize(self.args.image_size, Image.BILINEAR)
-            # _img = Image.open(img_path).convert('RGB')
-            # _depth = Image.open(disp_path)
-            sample = {'image': _img,'depth':_depth, 'label': _img}
-
-        if self.split == 'train':
-            return self.transform_tr(sample)
-        elif self.split == 'val':
-            return self.transform_val(sample), img_path
-        elif self.split == 'test':
-            return self.transform_ts(sample), img_path
-        elif self.split == 'custom_resize':
-            return self.transform_ts(sample), img_path
-
-
-    def recursive_glob(self, rootdir='.', suffix=''):
-        """Performs recursive glob with given suffix and rootdir
-            :param rootdir is the root directory
-            :param suffix is the suffix to be searched
-        """
-        return [os.path.join(looproot, filename)
-                for looproot, _, filenames in os.walk(rootdir)
-                for filename in filenames if filename.endswith(suffix)]
-
-    def transform_tr(self, sample):
-        composed_transforms = transforms.Compose([
-            tr.CropBlackArea(),
-            tr.RandomHorizontalFlip(),
-            tr.RandomScaleCrop(base_size=self.args.base_size, crop_size=self.args.crop_size, fill=255),
-            # tr.RandomGaussianBlur(),
-            tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
-            tr.ToTensor()])
-
-        return composed_transforms(sample)
-
-    def transform_val(self, sample):
-
-        composed_transforms = transforms.Compose([
-            tr.CropBlackArea(),
-            tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
-            tr.ToTensor()])
-
-        return composed_transforms(sample)
-
-    def transform_ts(self, sample):
-
-        composed_transforms = transforms.Compose([
-            #tr.CropBlackArea(),
-            #tr.FixedResize(size=self.args.crop_size),
-            tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
-            tr.ToTensor()])
-
-        return composed_transforms(sample)
-
-if __name__ == '__main__':
-    from dataloaders.utils import decode_segmap
-    from torch.utils.data import DataLoader
-    import matplotlib.pyplot as plt
-    import argparse
-
-    parser = argparse.ArgumentParser()
-    args = parser.parse_args()
-    args.base_size = 513
-    args.crop_size = 513
-
-    cityscapes_train = CityscapesSegmentation(args, split='train')
-
-    dataloader = DataLoader(cityscapes_train, batch_size=2, shuffle=True, num_workers=2)
-
-    for ii, sample in enumerate(dataloader):
-        for jj in range(sample["image"].size()[0]):
-            img = sample['image'].numpy()
-            gt = sample['label'].numpy()
-            tmp = np.array(gt[jj]).astype(np.uint8)
-            segmap = decode_segmap(tmp, dataset='cityscapes')
-            img_tmp = np.transpose(img[jj], axes=[1, 2, 0])
-            img_tmp *= (0.229, 0.224, 0.225)
-            img_tmp += (0.485, 0.456, 0.406)
-            img_tmp *= 255.0
-            img_tmp = img_tmp.astype(np.uint8)
-            plt.figure()
-            plt.title('display')
-            plt.subplot(211)
-            plt.imshow(img_tmp)
-            plt.subplot(212)
-            plt.imshow(segmap)
-
-        if ii == 1:
-            break
-
-    plt.show(block=True)
-

examples/lifelong_learning/robot_dog_delivery/RFNet/models/util.py

@@ -1,98 +0,0 @@
-import torch
-import torch.nn as nn
-import torch.nn.functional as F
-
-upsample = lambda x, size: F.interpolate(x, size, mode='bilinear', align_corners=False)
-batchnorm_momentum = 0.01 / 2
-
-
-def get_n_params(parameters):
-    pp = 0
-    for p in parameters:
-        nn = 1
-        for s in list(p.size()):
-            nn = nn * s
-        pp += nn
-    return pp
-
-
-class _BNReluConv(nn.Sequential):
-    def __init__(self, num_maps_in, num_maps_out, k=3, batch_norm=True, bn_momentum=0.1, bias=False, dilation=1):
-        super(_BNReluConv, self).__init__()
-        if batch_norm:
-            self.add_module('norm', nn.BatchNorm2d(num_maps_in, momentum=bn_momentum))
-        self.add_module('relu', nn.ReLU(inplace=batch_norm is True))
-        padding = k // 2  # same conv
-        self.add_module('conv', nn.Conv2d(num_maps_in, num_maps_out,
-                                          kernel_size=k, padding=padding, bias=bias, dilation=dilation))
-
-
-class _Upsample(nn.Module):
-    def __init__(self, num_maps_in, skip_maps_in, num_maps_out, use_bn=True, k=3):
-        super(_Upsample, self).__init__()
-        self.bottleneck = _BNReluConv(skip_maps_in, num_maps_in, k=1, batch_norm=use_bn)
-        self.blend_conv = _BNReluConv(num_maps_in, num_maps_out, k=k, batch_norm=use_bn)
-
-    def forward(self, x, skip):
-        skip = self.bottleneck.forward(skip)
-        skip_size = skip.size()[2:4]
-        x = upsample(x, skip_size)
-        x = x + skip
-        x = self.blend_conv.forward(x)
-        return x
-
-
-class SpatialPyramidPooling(nn.Module):
-    def __init__(self, num_maps_in, num_levels, bt_size=512, level_size=128, out_size=128,
-                 grids=(6, 3, 2, 1), square_grid=False, bn_momentum=0.1, use_bn=True):
-        super(SpatialPyramidPooling, self).__init__()
-        self.grids = grids
-        self.square_grid = square_grid
-        self.spp = nn.Sequential()
-        self.spp.add_module('spp_bn',
-                            _BNReluConv(num_maps_in, bt_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn))
-        num_features = bt_size
-        final_size = num_features
-        for i in range(num_levels):
-            final_size += level_size
-            self.spp.add_module('spp' + str(i),
-                                _BNReluConv(num_features, level_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn))
-        self.spp.add_module('spp_fuse',
-                            _BNReluConv(final_size, out_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn))
-
-    def forward(self, x):
-        levels = []
-        target_size = x.size()[2:4]
-
-        ar = target_size[1] / target_size[0]
-
-        x = self.spp[0].forward(x)
-        levels.append(x)
-        num = len(self.spp) - 1
-
-        for i in range(1, num):
-            if not self.square_grid:
-                grid_size = (self.grids[i - 1], max(1, round(ar * self.grids[i - 1])))
-                x_pooled = F.adaptive_avg_pool2d(x, grid_size)
-            else:
-               x_pooled = F.adaptive_avg_pool2d(x, self.grids[i - 1])
-            level = self.spp[i].forward(x_pooled)
-
-            level = upsample(level, target_size)
-            levels.append(level)
-        x = torch.cat(levels, 1)
-        x = self.spp[-1].forward(x)
-        return x
-
-
-class _UpsampleBlend(nn.Module):
-    def __init__(self, num_features, use_bn=True):
-        super(_UpsampleBlend, self).__init__()
-        self.blend_conv = _BNReluConv(num_features, num_features, k=3, batch_norm=use_bn)
-
-    def forward(self, x, skip):
-        skip_size = skip.size()[2:4]
-        x = upsample(x, skip_size)
-        x = x + skip
-        x = self.blend_conv.forward(x)
-        return x

examples/lifelong_learning/robot_dog_delivery/RFNet/predict.py

@@ -1,53 +0,0 @@
-import time
-
-from sedna.datasources import BaseDataSource
-from sedna.core.lifelong_learning import LifelongLearning
-
-from basemodel import Model
-
-
-def preprocess(samples):
-    data = BaseDataSource(data_type="test")
-    data.x = [samples]
-    return data
-
-
-def postprocess(samples):
-    image_names, imgs = [], []
-    for sample in samples:
-        img = sample.get("image")
-        image_names.append("{}.png".format(str(time.time())))
-        imgs.append(img)
-
-    return image_names, imgs
-
-
-def init_ll_job():
-    estimator = Model(num_class=31,
-                      save_predicted_image=True,
-                      merge=True)
-
-    task_allocation = {
-        "method": "TaskAllocationDefault"
-    }
-    unseen_task_allocation = {
-        "method": "UnseenTaskAllocationDefault"
-    }
-
-    ll_job = LifelongLearning(
-        estimator,
-        unseen_estimator=unseen_task_processing,
-        task_definition=None,
-        task_relationship_discovery=None,
-        task_allocation=task_allocation,
-        task_remodeling=None,
-        inference_integrate=None,
-        task_update_decision=None,
-        unseen_task_allocation=unseen_task_allocation,
-        unseen_sample_recognition=None,
-        unseen_sample_re_recognition=None)
-    return ll_job
-
-
-def unseen_task_processing():
-    return "Warning: unseen sample detected."

examples/lifelong_learning/robot_dog_delivery/RFNet/ramp_postprocess.py

@@ -1,168 +0,0 @@
-import cv2
-import numpy as np
-
-
-def parse_result(label, count, ratio):
-    count_d = dict(zip(label, count))
-    ramp_count = count_d.get(21, 0)
-    if ramp_count / np.sum(count) > ratio:
-        return True
-    else:
-        return False
-
-
-def get_ramp(results, img_rgb):
-    results = np.array(results[0])
-    input_height, input_width = results.shape
-
-    # big trapezoid
-    big_closest = np.array([
-        [0, int(input_height)],
-        [int(input_width),
-         int(input_height)],
-        [int(0.882 * input_width + .5),
-         int(.8 * input_height + .5)],
-        [int(0.118 * input_width + .5),
-         int(.8 * input_height + .5)]
-    ])
-
-    big_future = np.array([
-        [int(0.118 * input_width + .5),
-         int(.8 * input_height + .5)],
-        [int(0.882 * input_width + .5),
-         int(.8 * input_height + .5)],
-        [int(.765 * input_width + .5),
-         int(.66 * input_height + .5)],
-        [int(.235 * input_width + .5),
-         int(.66 * input_height + .5)]
-    ])
-
-    # small trapezoid
-    small_closest = np.array([
-        [488, int(input_height)],
-        [1560, int(input_height)],
-        [1391, int(.8 * input_height + .5)],
-        [621, int(.8 * input_height + .5)]
-    ])
-
-    small_future = np.array([
-        [741, int(.66 * input_height + .5)],
-        [1275, int(.66 * input_height + .5)],
-        [1391, int(.8 * input_height + .5)],
-        [621, int(.8 * input_height + .5)]
-    ])
-
-    upper_left = np.array([
-        [1567, 676],
-        [1275, 676],
-        [1391, 819],
-        [1806, 819]
-    ])
-
-    bottom_left = np.array([
-        [1806, 819],
-        [1391, 819],
-        [1560, 1024],
-        [2048, 1024]
-    ])
-
-    upper_right = np.array([
-        [741, 676],
-        [481, 676],
-        [242, 819],
-        [621, 819]
-    ])
-
-    bottom_right = np.array([
-        [621, 819],
-        [242, 819],
-        [0, 1024],
-        [488, 1024]
-    ])
-
-    # _draw_closest_and_future(
-    #     (big_closest, big_future),
-    #     (small_closest, small_future),
-    #     img_rgb)
-
-    ramp_location = locate_ramp(small_closest, small_future,
-                                upper_left, bottom_left,
-                                upper_right, bottom_right,
-                                results)
-
-    if not ramp_location:
-        ramp_location = "no_ramp"
-
-    return ramp_location
-
-
-def locate_ramp(small_closest, small_future,
-                upper_left, bottom_left,
-                upper_right, bottom_right,
-                results):
-
-    if has_ramp(results, (small_closest, small_future), 0.9, 0.7):
-        return "small_trapezoid"
-
-    right_location = has_ramp(results, (bottom_right, upper_right), 0.4, 0.2)
-    if right_location:
-        return f"{right_location}_left"
-
-    left_location = has_ramp(results, (bottom_left, upper_left), 0.4, 0.2)
-    if left_location:
-        return f"{left_location}_right"
-
-    return False
-
-
-def has_ramp(results, areas, partial_ratio, all_ratio):
-    bottom, upper = areas
-    input_height, input_width = results.shape
-
-    mask = np.zeros((input_height, input_width), dtype=np.uint8)
-    mask = cv2.fillPoly(mask, [bottom], 1)
-    label, count = np.unique(results[mask == 1], return_counts=True)
-    has_ramp_bottom = parse_result(label, count, partial_ratio)
-
-    mask = np.zeros((input_height, input_width), dtype=np.uint8)
-    mask = cv2.fillPoly(mask, [upper], 1)
-    label, count = np.unique(results[mask == 1], return_counts=True)
-    has_ramp_upper = parse_result(label, count, partial_ratio)
-
-    if has_ramp_bottom:
-        return "bottom"
-    if has_ramp_upper:
-        return "upper"
-
-    mask = np.zeros((input_height, input_width), dtype=np.uint8)
-    mask = cv2.fillPoly(mask, [bottom], 1)
-    mask = cv2.fillPoly(mask, [upper], 1)
-    label, count = np.unique(results[mask == 1], return_counts=True)
-    has_ramp = parse_result(label, count, all_ratio)
-    if has_ramp:
-        return "center"
-    else:
-        return False
-
-
-def _draw_closest_and_future(big, small, img_rgb):
-    big_closest, big_future = big
-    small_closest, small_future = small
-
-    img_array = np.array(img_rgb)
-    big_closest_color = [0, 50, 50]
-    big_future_color = [0, 69, 0]
-
-    small_closest_color = [0, 100, 100]
-    small_future_color = [69, 69, 69]
-
-    height, weight, channel = img_array.shape
-    img = np.zeros((height, weight, channel), dtype=np.uint8)
-    img = cv2.fillPoly(img, [big_closest], big_closest_color)
-    img = cv2.fillPoly(img, [big_future], big_future_color)
-    img = cv2.fillPoly(img, [small_closest], small_closest_color)
-    img = cv2.fillPoly(img, [small_future], small_future_color)
-
-    img_array = 0.3 * img + img_array
-
-    cv2.imwrite("test.png", img_array)

examples/lifelong_learning/robot_dog_delivery/RFNet/robo_infer_service.py

@@ -1,335 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-import time
-from io import BytesIO
-from typing import Optional, Any
-
-import cv2
-import numpy as np
-from PIL import Image
-import uvicorn
-from pydantic import BaseModel
-from fastapi import FastAPI, UploadFile, File
-from fastapi.routing import APIRoute
-from fastapi.middleware.cors import CORSMiddleware
-from fastapi.responses import HTMLResponse
-from sedna.common.utils import get_host_ip
-from sedna.common.config import BaseConfig
-from sedna.common.config import Context
-
-from predict import init_ll_job, preprocess
-from ramp_postprocess import get_ramp
-
-
-class ImagePayload(BaseModel):
-    image: UploadFile = File(...)
-    depth: Optional[UploadFile] = None
-
-
-class ResultModel(BaseModel):
-    type: int = 0
-    box: Any = None
-    curr: str = None
-    future: str = None
-    img: str = None
-    ramp: str = None
-
-
-class ResultResponse(BaseModel):
-    msg: str = ""
-    result: Optional[ResultModel] = None
-    code: int
-
-
-class BaseServer:
-    # pylint: disable=too-many-instance-attributes,too-many-arguments
-    DEBUG = True
-    WAIT_TIME = 15
-
-    def __init__(
-            self,
-            servername: str,
-            host: str,
-            http_port: int = 8080,
-            grpc_port: int = 8081,
-            workers: int = 1,
-            ws_size: int = 16 * 1024 * 1024,
-            ssl_key=None,
-            ssl_cert=None,
-            timeout=300):
-        self.server_name = servername
-        self.app = None
-        self.host = host or '0.0.0.0'
-        self.http_port = http_port or 80
-        self.grpc_port = grpc_port
-        self.workers = workers
-        self.keyfile = ssl_key
-        self.certfile = ssl_cert
-        self.ws_size = int(ws_size)
-        self.timeout = int(timeout)
-        protocal = "https" if self.certfile else "http"
-        self.url = f"{protocal}://{self.host}:{self.http_port}"
-
-    def run(self, app, **kwargs):
-        if hasattr(app, "add_middleware"):
-            app.add_middleware(
-                CORSMiddleware, allow_origins=["*"], allow_credentials=True,
-                allow_methods=["*"], allow_headers=["*"],
-            )
-
-        uvicorn.run(
-            app,
-            host=self.host,
-            port=self.http_port,
-            ssl_keyfile=self.keyfile,
-            ssl_certfile=self.certfile,
-            workers=self.workers,
-            timeout_keep_alive=self.timeout,
-            **kwargs)
-
-    def get_all_urls(self):
-        url_list = [{"path": route.path, "name": route.name}
-                    for route in getattr(self.app, 'routes', [])]
-        return url_list
-
-
-class InferenceServer(BaseServer):  # pylint: disable=too-many-arguments
-    """
-    rest api server for inference
-    """
-
-    def __init__(
-            self,
-            servername,
-            host: str,
-            http_port: int = 30001,
-            max_buffer_size: int = 104857600,
-            workers: int = 1):
-        super(
-            InferenceServer,
-            self).__init__(
-            servername=servername,
-            host=host,
-            http_port=http_port,
-            workers=workers)
-
-        self.ll_job = init_ll_job()
-
-        self.inference_image_dir = os.environ.get("IMAGE_TOPIC_URL", os.path.join(
-            BaseConfig.data_path_prefix, "inference_images"))
-        os.makedirs(self.inference_image_dir, exist_ok=True)
-
-        self.max_buffer_size = max_buffer_size
-        self.app = FastAPI(
-            routes=[
-                APIRoute(
-                    f"/{servername}",
-                    self.model_info,
-                    methods=["GET"],
-                ),
-                APIRoute(
-                    f"/{servername}/predict",
-                    self.predict,
-                    methods=["POST"],
-                    response_model=ResultResponse
-                ),
-            ],
-            log_level="trace",
-            timeout=600,
-        )
-        self.index_frame = 0
-
-    def start(self):
-        return self.run(self.app)
-
-    @staticmethod
-    def model_info():
-        return HTMLResponse(
-            """<h1>Welcome to the RestNet API!</h1>
-            <p>To use this service, send a POST HTTP request to {this-url}/predict</p>
-            <p>The JSON payload has the following format: {"image": "BASE64_STRING_OF_IMAGE", 
-            "depth": "BASE64_STRING_OF_DEPTH"}</p>
-            """)
-
-    async def predict(self, image: UploadFile = File(...), depth: Optional[UploadFile] = None) -> ResultResponse:
-        contents = await image.read()
-        start_time = time.time()
-        self.image = Image.open(BytesIO(contents)).convert('RGB')
-        self.image.save(os.path.join(
-            self.inference_image_dir, f"{str(time.time())}.png"))
-
-        self.index_frame = self.index_frame + 1
-
-        img_rgb = Image.fromarray(np.array(self.image))
-        if depth:
-            depth_contents = await depth.read()
-            depth = Image.open(BytesIO(depth_contents)).convert('RGB')
-            img_dep = cv2.resize(np.array(depth), (2048, 1024),
-                                 interpolation=cv2.INTER_CUBIC)
-            img_dep = Image.fromarray(img_dep)
-        else:
-            img_dep = img_rgb
-
-        sample = {'image': img_rgb, "depth": img_dep, "label": img_rgb}
-        predict_data = preprocess(sample)
-        end_time1 = time.time()
-        print("preprocess time:", end_time1 - start_time)
-
-        end_time2 = time.time()
-        prediction, is_unseen_task, _ = self.ll_job.inference(predict_data)
-        end_time3 = time.time()
-        print("inference time: ", end_time3 - end_time2)
-        if is_unseen_task:
-            return {
-                "msg": "",
-                "result": {
-                    "type": 1,
-                    "box": '',
-                    "img": '',
-                    "curr": '',
-                    "future": '',
-                    "ramp": ''
-                },
-                "code": 0
-            }
-
-        # curb_results, ramp_results = results
-
-        img_rgb = cv2.resize(np.array(self.image),
-                             (2048, 1024), interpolation=cv2.INTER_CUBIC)
-        img_rgb = Image.fromarray(np.array(img_rgb))
-
-        results = post_process(prediction)
-        curr, future = get_curb(results["result"]["box"], img_rgb)
-        results["result"]["curr"] = curr
-        results["result"]["future"] = future
-        results["result"]["box"] = None
-        if Context.get_parameters("robo_skill") == "ramp_detection":
-            results["result"]["ramp"] = get_ramp(
-                prediction[0].tolist(), img_rgb)
-        else:
-            results["result"]["ramp"] = "no_ramp"
-
-        end_time4 = time.time()
-        print("total time:", end_time4 - start_time)
-        return results
-
-
-def parse_result(label, count):
-    label_map = ['road', 'sidewalk']
-    count_d = dict(zip(label, count))
-    curb_count = count_d.get(19, 0)
-    if curb_count / np.sum(count) > 0.2:  # > 0.3
-        return "curb"
-    r = sorted(label, key=count_d.get, reverse=True)[0]
-    try:
-        c = label_map[r]
-    except:
-        c = "other"
-
-    return c
-
-
-def get_curb(results, img_rgb):
-    results = np.array(results[0])
-    input_height, input_width = results.shape
-
-    # small trapezoid
-    closest = np.array([
-        [0, int(input_height)],
-        [int(input_width),
-         int(input_height)],
-        [int(0.882 * input_width + .5),
-         int(.8 * input_height + .5)],
-        [int(0.118 * input_width + .5),
-         int(.8 * input_height + .5)]
-    ])
-
-    future = np.array([
-        [int(0.118 * input_width + .5),
-         int(.8 * input_height + .5)],
-        [int(0.882 * input_width + .5),
-         int(.8 * input_height + .5)],
-        [int(.765 * input_width + .5),
-         int(.66 * input_height + .5)],
-        [int(.235 * input_width + .5),
-         int(.66 * input_height + .5)]
-    ])
-
-    # big trapezoid
-    # closest = np.array([
-    #     [0, int(input_height)],
-    #     [int(input_width),
-    #      int(input_height)],
-    #     [int(0.882 * input_width + .5),
-    #      int(.7 * input_height + .5)],
-    #     [int(0.118 * input_width + .5),
-    #      int(.7 * input_height + .5)]
-    # ])
-    #
-    # future = np.array([
-    #     [int(0.118 * input_width + .5),
-    #      int(.7 * input_height + .5)],
-    #     [int(0.882 * input_width + .5),
-    #      int(.7 * input_height + .5)],
-    #     [int(.765 * input_width + .5),
-    #      int(.5 * input_height + .5)],
-    #     [int(.235 * input_width + .5),
-    #      int(.5 * input_height + .5)]
-    # ])
-
-    # _draw_closest_and_future(closest, future, img_rgb)
-
-    mask = np.zeros((input_height, input_width), dtype=np.uint8)
-    mask = cv2.fillPoly(mask, [closest], 1)
-    mask = cv2.fillPoly(mask, [future], 2)
-    d1, c1 = np.unique(results[mask == 1], return_counts=True)
-    d2, c2 = np.unique(results[mask == 2], return_counts=True)
-    c = parse_result(d1, c1)
-    f = parse_result(d2, c2)
-
-    return c, f
-
-
-def _draw_closest_and_future(closest, future, img_rgb):
-    img_array = np.array(img_rgb)
-    closest_color = [0, 191, 255]
-    future_color = [255, 69, 0]
-
-    img_array = cv2.fillPoly(img_array, [closest], closest_color)
-    img_array = cv2.fillPoly(img_array, [future], future_color)
-
-    new_img = Image.fromarray(img_array)
-    new_img.save("test.png")
-
-
-def post_process(res):
-    res = res[0].tolist()
-    type = 0
-    mesg = {
-        "msg": "",
-        "result": {
-            "type": type,
-            "box": res
-        },
-        "code": 0
-    }
-    return mesg
-
-
-if __name__ == '__main__':
-    web_app = InferenceServer("lifelong-learning-robo", host=get_host_ip())
-    web_app.start()

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/battery/simplebattery.yaml

@@ -1,15 +0,0 @@
-name: "battery"
-manufacturer: ""
-series: ""
-description: ""
-driver:
-  version: "ros1"
-  type: "ros"
-  name: "ros_battery_driver"
-data:
-  support: true
-  target: "/battery_level"
-  actual_hz: 1
-  origin_hz: 10
-requirement:  # Used to generate roslaunch files.
-  - deep_msgs

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/camera/realsense435i.yaml

@@ -1,42 +0,0 @@
-name: "d435i"
-manufacturer: "intel"
-series: "stereo depth"
-description: ""
-driver:
-  version: "ros1"
-  type: "ros"
-  name: "ros_rgbd_camera_driver"
-rgb:
-  support: true
-  encoding: "bgr8"
-  target: "/camera/color/image_raw" # Topic in ros or function in class
-  width: 320
-  height: 240
-  actual_hz: 30
-  origin_hz: 30
-  pan: # pan value allowed for the camera platform
-    min: -2.7
-    max: 2.6
-  tilt:
-    min: -1.4
-    max: 1.75
-depth:
-  support: true
-  encoding: "passthrough"
-  map_factor: 0  # Factor to scale depth image by to convert it into meters
-  target: "/camera/depth/image_rect_raw"
-  aligned_depth_to_color: "/camera/aligned_depth_to_color/image_raw"
-  width: 320
-  height: 240
-  actual_hz: 30
-  origin_hz: 30
-info:
-  target: "/camera/color/camera_info"
-  actual_hz: 30
-  origin_hz: 30
-pcd:
-  support: false
-requirement:  # Used to generate roslaunch files.
-  - cv_bridge
-  - std_msgs
-  - sensor_msgs

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/common/movebase.yaml

@@ -1,28 +0,0 @@
-name: "movebase"
-description: ""
-driver:
-  version: "ros1"
-  type: "ros"
-  name: "MoveBase"
-target:
-  goal: "/move_base_simple/goal"  # goal to be pusblished
-  status: "/move_base/status"  # topic used to get status of movebase
-  cancel: "/move_base/cancel"  # topic used to cancel the goal sent to movebase
-  action: "/move_base"  # Ros action topic for movebase
-  move_vel: "/cmd_vel"  # topic used to set velocity
-  laserscan: "/scan"
-  mapframe: "map"  # world frame name
-localizer:
-  algorithm: "odom"
-  parameters:
-    - key: "mapframe"
-      value: "map"
-limited:
-  min_distance: 0.1
-  exec_time: 0
-requirement:  # Used to generate roslaunch files.
-  - actionlib
-  - actionlib_msgs
-  - move_base_msgs
-  - geometry_msgs
-  - tf

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/control/x20control.yaml

@@ -1,13 +0,0 @@
-name: "ysc_control"
-description: ""
-driver:
-  version: "0.0.1"
-  type: "ros"
-  name: "ysc_control"
-parameter:
-  local_port: 20002
-  ctrl_ip: '192.168.1.120'
-  ctrl_port: 43893
-  gait_topic: "/robot_gait_state"
-requirement:  # Used to generate roslaunch files.
-  - deep_msgs

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/imu/simpleimu.yaml

@@ -1,15 +0,0 @@
-name: "imu"
-manufacturer: ""
-series: ""
-description: ""
-driver:
-  version: "ros1"
-  type: "ros"
-  name: "ros_imu_driver"
-data:
-  support: true
-  target: "/imu"
-  actual_hz: 10
-  origin_hz: 200
-requirement:  # Used to generate roslaunch files.
-  - sensor_msgs

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/odom/simpleodom.yaml

@@ -1,17 +0,0 @@
-name: "odom"
-manufacturer: ""
-series: ""
-description: ""
-driver:
-  version: "ros1"
-  type: "ros"
-  name: "ros_common_driver"
-data:
-  support: true
-  target: "/odom"
-  pose: "initialpose"
-  mapframe: "map"  # world frame name
-  actual_hz: 10
-  origin_hz: 200
-requirement:  # Used to generate roslaunch files.
-  - nav_msgs

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/robots/ysc_x20.yaml

@@ -1,80 +0,0 @@
-name: "绝影x20"
-manufacturer: "ysc"
-series: "x20"
-description: "quadruped robot dog"
-environment:
-  backend: "ros1"  # ros / ros2 / harmony
-  requirement:
-    - rospy
-    - rostopic
-    - roslib
-sensors:
-  camera:
-    - name: "camera_front_up"
-      config: "realsense435i"
-      rgb:
-        target: "/camera_front_up/color/image_raw" # Topic in ros or function in class
-        actual_hz: 10
-        origin_hz: 30
-      depth:
-        target: "/camera_front_up/depth/image_rect_raw"
-        aligned_depth_to_color: "/camera_front_up/aligned_depth_to_color/image_raw"
-      info:
-        target: "/camera_front_up/color/camera_info"
-    - name: "camera_front_down"
-      config: "realsense435i"
-      rgb:
-        target: "/camera_front_down/color/image_raw"
-        actual_hz: 10
-        origin_hz: 30
-      depth:
-        target: "/camera_front_down/depth/image_rect_raw"
-        aligned_depth_to_color: "/camera_front_down/aligned_depth_to_color/image_raw"
-      info:
-        target: "/camera_front_up/color/camera_info"
-  imu:
-    - name: "simple_imu"
-      config: "simpleimu"
-      data:
-        target: "/imu"
-        actual_hz: 10
-        origin_hz: 199
-  battery:
-    - name: "battery"
-      config: "simplebattery"
-      data:
-        target: "/battery_level"
-        actual_hz: 1
-        origin_hz: 10
-  odom:
-    - name: "odom"
-      config: "simpleodom"
-      data:
-        target: "/odom"
-        actual_hz: 10
-        origin_hz: 200
-navigation:
-  name: "base_planner"
-  config: "movebase"
-  target:
-    goal: "/move_base_simple/goal"  # get goal
-    status: "/move_base/status"  # execution status is available
-    cancel: "/move_base/cancel"  # cancel the goal sent to movebase
-    action: "/move_base"  # base action command
-    planner: "/move_base/GlobalPlanner/make_plan"
-    move: "/cmd_vel"
-    laserscan: "/scan"
-    mapframe: "map"  # world frame name
-  localizer:
-    algorithm: "odom"
-    parameter:
-      - key: "mapframe"
-        value: "map"
-      - key: "topic"
-        value: "/odom"
-      - key: "pose_pub"
-        value: "/initialpose"
-control:
-  - legged:
-      name: "ysc_control"  # control method supported by vendor
-      config: "x20control"

examples/lifelong_learning/robot_dog_delivery/robo_detection/configs/system.custom.yaml

@@ -1 +0,0 @@
-task_id: "xdkwx"

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/Battery.msg

@@ -1,2 +0,0 @@
-Header header
-float32 data

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdGo.msg

@@ -1 +0,0 @@
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdInit.msg

@@ -1,3 +0,0 @@
-float64 x
-float64 y
-float64 yaw

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdMode.msg

@@ -1 +0,0 @@
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdPower.msg

@@ -1 +0,0 @@
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdResp.msg

@@ -1 +0,0 @@
-string msg

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdSet.msg

@@ -1 +0,0 @@
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdSway.msg

@@ -1 +0,0 @@
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdTurn.msg

@@ -1 +0,0 @@
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/CmdVideo.msg

@@ -1,2 +0,0 @@
-uint8 camID
-bool cmd

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/Driver.msg

@@ -1,2 +0,0 @@
-Header header
-float32 data

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/Gait.msg

@@ -1,2 +0,0 @@
-Header header
-int32 data

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/Motor.msg

@@ -1,2 +0,0 @@
-Header header
-float32 data

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/RobotLog.msg

@@ -1,2 +0,0 @@
-uint8 level
-string msg

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/RobotMovement.msg

@@ -1,7 +0,0 @@
-float32 mileage
-float32 speed
-float32 acceleration
-float32 direction
-float32 roll
-float32 pitch
-float32 yaw

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/RobotNav.msg

@@ -1,3 +0,0 @@
-float64 x
-float64 y
-float64 yaw

examples/lifelong_learning/robot_dog_delivery/robo_detection/deep_msgs/msg/RobotStatus.msg

@@ -1,4 +0,0 @@
-uint16 energy
-uint16 runtime
-string movement
-string perception

examples/lifelong_learning/robot_dog_delivery/robo_detection/package.xml

@@ -1,71 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>deep_msgs</name>
-  <version>0.0.0</version>
-  <description>The deep_msgs package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="luoteng-emoji@todo.todo">luoteng-emoji</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/deep_msgs</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-<build_depend>message_generation</build_depend>
-<build_export_depend>message_generation</build_export_depend>
-<exec_depend>message_runtime</exec_depend>
-</package>

examples/lifelong_learning/robot_dog_delivery/robo_detection/ramp_detection/__init__.py

@@ -1,13 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.

examples/lifelong_learning/robot_dog_delivery/robo_detection/ramp_detection/integration_interface.py

@@ -1,136 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-import cv2
-import time
-import requests
-import tenacity
-from tenacity import retry
-import numpy as np
-from robosdk.utils.logger import logging
-
-LOGGER = logging.bind(instance="lifelong-learning-robo")
-
-
-@retry(stop=tenacity.stop_after_attempt(5),
-       retry=tenacity.retry_if_result(lambda x: x is None),
-       wait=tenacity.wait_fixed(1))
-def http_request(url, method=None, timeout=None, binary=True, **kwargs):
-    _maxTimeout = timeout if timeout else 10
-    _method = "GET" if not method else method
-    try:
-        response = requests.request(method=_method, url=url, **kwargs)
-        if response.status_code == 200:
-            return (response.json() if binary else
-                    response.content.decode("utf-8"))
-        elif 200 < response.status_code < 400:
-            LOGGER.info(f"Redirect_URL: {response.url}")
-        LOGGER.warning(
-            'Get invalid status code %s while request %s',
-            response.status_code,
-            url)
-    except (ConnectionRefusedError, requests.exceptions.ConnectionError):
-        LOGGER.warning(f'Connection refused while request {url}')
-    except requests.exceptions.HTTPError as err:
-        LOGGER.warning(f"Http Error while request {url} : f{err}")
-    except requests.exceptions.Timeout as err:
-        LOGGER.warning(f"Timeout Error while request {url} : f{err}")
-    except requests.exceptions.RequestException as err:
-        LOGGER.warning(f"Error occurred while request {url} : f{err}")
-
-
-class Estimator:
-    def __init__(self, service_name="lifelong-learning-robo",
-                 input_size=(240, 424)):
-        self.input_height, self.input_width = input_size
-        self.remote_ip = os.getenv("BIG_MODEL_IP", "http://localhost")
-        self.port = int(os.getenv("BIG_MODEL_PORT", "8080"))
-        self.endpoint = f"{self.remote_ip}:{self.port}/{service_name}/predict"
-        self.curr_gait = ""
-        self.fps = 30
-        self.inferDangerCount = 0
-        self.hold_time = 3
-        self.freq = cv2.getTickFrequency()
-        self.last_change = int(time.time())
-        self._poly = np.array([
-            [0, int(self.input_height)],
-            [int(self.input_width),
-             int(self.input_height)],
-            [int(0.764 * self.input_width + .5),
-             int(0.865 * self.input_height + .5)],
-            [int(0.236 * self.input_width + .5),
-             int(0.865 * self.input_height + .5)]
-        ], dtype=np.int32)
-
-    def predict(self, rgb, depth):
-        t1 = cv2.getTickCount()
-        image = cv2.imencode('.jpg', rgb)[1].tobytes()
-        depth = cv2.imencode('.jpg', depth)[1].tobytes()
-        orig_h, orig_w, _ = rgb.shape
-        result = http_request(
-            self.endpoint, method="POST", files={
-                "image": ('rgb.jpg', image, "image/jpeg"),
-                "depth": None
-            }
-        )
-        t2 = cv2.getTickCount()
-        time1 = (t2 - t1) / self.freq
-        self.fps = round(1 / time1, 2)
-
-        if not isinstance(result, dict):
-            return
-
-        msg = result.get("msg", "")
-        r = result.get("result", {})
-
-        code = int(result.get("code", 1)) if str(
-            result.get("code", 1)).isdigit() else 1
-        if len(msg) and code != 0:
-            LOGGER.warning(msg)
-            return
-
-        _type = int(r.get("type", 1))
-        if _type == 1:
-            self.curr_gait = "stop"
-            LOGGER.warning("unknown result")
-        step = 1.0 / self.fps
-
-        c = r.get("curr", "unknown")
-        f = r.get("future", "unknown")
-        if c == "curb" or f == "curb" or c != f:
-            self.inferDangerCount = min(self.inferDangerCount + step, 10)
-        else:
-            self.inferDangerCount = max(self.inferDangerCount - 2 * step, 0)
-
-        if self.inferDangerCount > 1:
-            self.curr_gait = "up-stair"
-            # self.last_change = int(time.time())
-        elif self.inferDangerCount == 0:
-            # now = int(time.time())
-            # if now - self.last_change > self.hold_time:
-            self.curr_gait = "trot"
-
-        location = result.get("result").get("ramp")
-        return location
-
-if __name__ == '__main__':
-    os.environ["BIG_MODEL_IP"] = "http://100.94.29.220"
-    os.environ["BIG_MODEL_PORT"] = "30001"
-    f1 = "./E1_door.1716.rgb.png"
-    f2 = "./E1_door.1716.depth.png"
-    _frame = cv2.imread(f1)
-    _depth = cv2.imread(f2, -1) / 1000
-    d = Estimator()
-    cv2.imwrite("./frame_1716.out.png", d.predict(_frame, _depth))

examples/lifelong_learning/robot_dog_delivery/robo_detection/ramp_detection/integration_main.py

@@ -1,132 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import time
-import threading
-import numpy as np
-import multiprocessing
-from cv_bridge import CvBridge
-from robosdk.core import Robot
-from robosdk.utils.context import Context
-from robosdk.utils.constant import GaitType
-from robosdk.msgs.sender.ros import RosMessagePublish
-
-from ramp_detection.integration_interface import Estimator
-
-class Detection:
-    def __init__(self):
-        self.robot = Robot(name="x20", config="ysc_x20")
-        self.segment = Estimator()
-        self.robot.connect()
-        self.publish = RosMessagePublish()
-        _topic = Context.get("curb_detection", "/robovideo")
-        self.publish.register("curb_detection", topic=_topic,
-                              converter=CvBridge().cv2_to_imgmsg,
-                              convert_param={"encoding": "bgr8"})
-        # self.robot.navigation.speed(0.4)
-        self.stair_start_time = None
-        self.stair_hold_time = 7
-        self.complete_change_upstair_time = None
-        self.unseen_sample_threshold = 3
-        self.unseen_sample_num = 0
-
-    def run(self):
-        if not getattr(self.robot, "camera", ""):
-            return
-        while 1:
-            img, dep = self.robot.camera.get_rgb_depth()
-            if img is None:
-                continue
-
-            result = self.segment.predict(img, depth=dep)
-            if not result:
-                self.robot.logger.info("Unseen sample detected.")
-                # self.unseen_sample_num += 1
-                # if self.unseen_sample_num >= self.unseen_sample_threshold:
-                #    self.robot.logger.info("Stop in front of unseen sample!")  
-                #    for _ in range(3):
-                #        self.robot.navigation.stop()
-                #    self.unseen_sample_num = 0
-                continue
-            # else:
-            #    self.unseen_sample_num = 0
-                  
-            if result == "no_ramp":
-                self.process_curb(result, img)
-            else:
-                self.process_ramp(result)
-
-    def process_curb(self, result, img):
-        current_time = time.time()
-        if self.stair_start_time and current_time - self.stair_start_time < self.stair_hold_time:
-            return
-        elif self.stair_start_time and current_time - self.stair_start_time >= self.stair_hold_time:
-            self.stair_start_time = None
-
-        if self.segment.curr_gait == "up-stair":
-            self.robot.logger.info("match curb")
-            gait = threading.Thread(name="", target=self.change_to_upstair)
-            stop = threading.Thread(name="", target=self.stop)
-            gait.start()
-            stop.start()
-            self.stair_start_time = time.time()
-        elif self.segment.curr_gait == "trot":
-            self.robot.logger.info("unmatch curb")
-            self.robot.control.change_gait(GaitType.TROT)
-
-    def process_ramp(self, location):
-        if location == "small_trapezoid":
-            self.robot.logger.info(f"Ramp location: {location}. Keep moving.")
-            self.robot.navigation.go_forward()
-            return
-
-        self.robot.logger.info(f"Ramp detected: {location}.")
-
-        if location == "upper_left" or location == "center_left":
-            self.robot.logger.info("Move to the left!")
-            self.robot.navigation.turn_left()
-
-        elif location == "bottom_left":
-            self.robot.logger.info("Backward and move to the left!")
-            self.robot.navigation.go_backward()
-            self.robot.navigation.turn_left()
-
-        elif location == "upper_right" or location == "center_right":
-            self.robot.logger.info("Move to the right!")
-            self.robot.navigation.turn_right()
-
-        elif location == "bottom_right":
-            self.robot.logger.info("Backward and move to the right!")
-            self.robot.navigation.go_backward()
-            self.robot.navigation.turn_right()
-
-        self.robot.navigation.go_forward()
-
-    def change_to_upstair(self):
-        self.robot.control.change_gait(GaitType.UPSTAIR)
-        self.complete_change_upstair_time = time.time()
-        # print("complete_time:", self.complete_change_upstair_time)
-
-    def stop(self):
-        print("Stop in front of curb!")
-        while 1:
-            self.robot.navigation.stop()
-            if self.complete_change_upstair_time is not None:
-                break
-        self.complete_change_upstair_time = None   
-
-
-
-if __name__ == '__main__':
-    project = Detection()
-    project.run()

examples/lifelong_learning/robot_dog_delivery/robo_detection/ramp_detection/interface.py

@@ -1,97 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-import cv2
-import time
-import requests
-import tenacity
-from tenacity import retry
-import numpy as np
-from robosdk.utils.logger import logging
-
-LOGGER = logging.bind(instance="lifelong-learning-robo")
-
-
-@retry(stop=tenacity.stop_after_attempt(5),
-       retry=tenacity.retry_if_result(lambda x: x is None),
-       wait=tenacity.wait_fixed(1))
-def http_request(url, method=None, timeout=None, binary=True, **kwargs):
-    _maxTimeout = timeout if timeout else 10
-    _method = "GET" if not method else method
-    try:
-        response = requests.request(method=_method, url=url, **kwargs)
-        if response.status_code == 200:
-            return (response.json() if binary else
-                    response.content.decode("utf-8"))
-        elif 200 < response.status_code < 400:
-            LOGGER.info(f"Redirect_URL: {response.url}")
-        LOGGER.warning(
-            'Get invalid status code %s while request %s',
-            response.status_code,
-            url)
-    except (ConnectionRefusedError, requests.exceptions.ConnectionError):
-        LOGGER.warning(f'Connection refused while request {url}')
-    except requests.exceptions.HTTPError as err:
-        LOGGER.warning(f"Http Error while request {url} : f{err}")
-    except requests.exceptions.Timeout as err:
-        LOGGER.warning(f"Timeout Error while request {url} : f{err}")
-    except requests.exceptions.RequestException as err:
-        LOGGER.warning(f"Error occurred while request {url} : f{err}")
-
-
-class Estimator:
-    def __init__(self, service_name="lifelong-learning-robo",
-                 input_size=(240, 424)):
-        self.input_height, self.input_width = input_size
-        self.remote_ip = os.getenv("BIG_MODEL_IP", "http://localhost")
-        self.port = int(os.getenv("BIG_MODEL_PORT", "8080"))
-        self.endpoint = f"{self.remote_ip}:{self.port}/{service_name}/predict"
-        self.curr_gait = ""
-        self.fps = 30
-        self.inferDangerCount = 0
-        self.hold_time = 3
-        self.freq = cv2.getTickFrequency()
-        self.last_change = int(time.time())
-        self._poly = np.array([
-            [0, int(self.input_height)],
-            [int(self.input_width),
-             int(self.input_height)],
-            [int(0.764 * self.input_width + .5),
-             int(0.865 * self.input_height + .5)],
-            [int(0.236 * self.input_width + .5),
-             int(0.865 * self.input_height + .5)]
-        ], dtype=np.int32)
-
-    def predict(self, rgb, depth):
-        image = cv2.imencode('.jpg', rgb)[1].tobytes()
-        orig_h, orig_w, _ = rgb.shape
-        result = http_request(
-            self.endpoint, method="POST", files={
-                "image": ('rgb.jpg', image, "image/jpeg"),
-                # "depth": ('dep.jpg', depth, "image/jpeg"),
-            }
-        )
-
-        return result
-
-if __name__ == '__main__':
-    os.environ["BIG_MODEL_IP"] = "http://100.94.29.220"
-    os.environ["BIG_MODEL_PORT"] = "30001"
-    f1 = "./E1_door.1716.rgb.png"
-    f2 = "./E1_door.1716.depth.png"
-    _frame = cv2.imread(f1)
-    _depth = cv2.imread(f2, -1) / 1000
-    d = Estimator()
-    cv2.imwrite("./frame_1716.out.png", d.predict(_frame, _depth))

examples/lifelong_learning/robot_dog_delivery/robo_detection/ramp_detection/main.py

@@ -1,46 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from cv_bridge import CvBridge
-from robosdk.core import Robot
-from robosdk.utils.context import Context
-from robosdk.msgs.sender.ros import RosMessagePublish
-
-from ramp_detection.interface import Estimator
-
-
-class Detection:
-    def __init__(self):
-        self.robot = Robot(name="x20", config="ysc_x20")
-        self.segment = Estimator()
-        self.robot.connect()
-        self.publish = RosMessagePublish()
-        _topic = Context.get("curb_detection", "/robovideo")
-        self.publish.register("curb_detection", topic=_topic,
-                              converter=CvBridge().cv2_to_imgmsg,
-                              convert_param={"encoding": "bgr8"})
-
-    def run(self):
-        if not getattr(self.robot, "camera", ""):
-            return
-        while 1:
-            img, dep = self.robot.camera.get_rgb_depth()
-            if img is None:
-                continue
-            result = self.segment.predict(img, depth=dep)
-            print(result)
-
-if __name__ == '__main__':
-    project = Detection()
-    project.run()

examples/lifelong_learning/robot_dog_delivery/robo_detection/requirements-sdk.txt

@@ -1,8 +0,0 @@
-loguru~=0.6.0     # MIT
-minio~=7.0.3      # Apache-2.0
-numpy>=1.13.3     # BSD
-requests~=2.27.1  # MIT
-Pillow~=9.0.1
-pydantic~=1.9.0   # MIT
-websockets~=9.1   # BSD
-tenacity~=8.0.1   # Apache-2.0

examples/lifelong_learning/robot_dog_delivery/robo_detection/requirements.txt

@@ -1,6 +0,0 @@
-pytest~=4.6.9
-setuptools~=58.3.0
-numpy~=1.21.5
-Pillow~=9.0.1
-requests==2.24.0
-tenacity

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/VERSION

@@ -1 +0,0 @@
-0.0.1

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/__version__.py

@@ -1,21 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import os
-
-
-_VERSION = os.path.join(os.path.dirname(__file__), "VERSION")
-
-with open(_VERSION, "r", encoding="utf-8") as fin:
-    tmp = [line.strip() for line in fin if line.strip()]
-    __version__ = "-".join(tmp) if tmp else "dev"

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/image/__init__.py

@@ -1,15 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .image_selection import SimpleSelection

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/image/base.py

@@ -1,40 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import abc
-from typing import List
-
-from robosdk.utils.logger import logging
-from robosdk.utils.util import Config
-from robosdk.utils.util import ImageQualityEval
-
-
-__all__ = ("Resolution", )
-
-
-class Resolution(metaclass=abc.ABCMeta):
-    def __init__(self, name: str, config: Config):
-        self.resolution_name = name
-        self.config = config
-        if (getattr(self.config, "image", "") and
-                hasattr(self.config.image, "eval")):
-            eval_func = self.config.image.eval
-        else:
-            eval_func = "vollath"
-        self.eval = getattr(
-            ImageQualityEval, eval_func, ImageQualityEval.vollath)
-        self.logger = logging.bind(instance=self.resolution_name, system=True)
-
-    @abc.abstractmethod
-    def inference(self, imgs: List):
-        ...

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/image/image_selection.py

@@ -1,44 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from typing import List
-
-import cv2
-import numpy as np
-
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-from robosdk.utils.util import Config
-from robosdk.utils.exceptions import SensorError
-
-from .base import Resolution
-
-
-__all__ = ("SimpleSelection", )
-
-
-@ClassFactory.register(ClassType.IMAGE, alias="base_select")
-class SimpleSelection(Resolution):  # noqa
-
-    def __init__(self, name: str = "base_select", config: Config = None):
-        super(SimpleSelection, self).__init__(name=name, config=config)
-
-    def inference(self, imgs: List[np.ndarray]) -> np.ndarray:
-        if not len(imgs):
-            raise SensorError("No input images found")
-        if len(imgs) == 1:
-            return imgs[0]
-        s = sorted(imgs, key=lambda j: self.eval(
-            cv2.cvtColor(j, cv2.COLOR_BGR2GRAY)))
-        return s[-1]

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/localize/__init__.py

@@ -1,15 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .odom import Odom

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/localize/base.py

@@ -1,38 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import abc
-import threading
-
-from robosdk.utils.logger import logging
-from robosdk.utils.schema import BasePose
-
-
-__all__ = ("Localize", )
-
-
-class Localize(metaclass=abc.ABCMeta):
-
-    def __init__(self, name: str = "base_localizer"):
-        self.localize_name = name
-        self.state_lock = threading.RLock()
-        self.curr_state = BasePose()
-        self.logger = logging.bind(instance=self.localize_name, system=True)
-
-    @abc.abstractmethod
-    def get_curr_state(self) -> BasePose:
-        ...
-
-    @abc.abstractmethod
-    def set_curr_state(self, state: BasePose):
-        ...

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/localize/odom.py

@@ -1,93 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import copy
-
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-from robosdk.utils.schema import BasePose
-
-from .base import Localize
-
-
-@ClassFactory.register(ClassType.LOCALIZE, alias="odom")
-class Odom(Localize):  # noqa
-    def __init__(self, name: str = "Odometry",
-                 mapframe: str = "map",
-                 topic: str = "/odom",
-                 pose_pub: str = "/initialpose"
-                 ):
-        super(Odom, self).__init__(name=name)
-
-        import rospy
-        from nav_msgs.msg import Odometry
-        from geometry_msgs.msg import PoseWithCovarianceStamped
-
-        rospy.Subscriber(
-            topic,
-            Odometry,
-            self.get_odom_state,
-        )
-        self.initial_pose = rospy.Publisher(
-            pose_pub,
-            PoseWithCovarianceStamped,
-            queue_size=1
-        )
-        self.mapframe = mapframe or "map"
-
-    def get_odom_state(self, msg):
-
-        import tf.transformations
-
-        self.state_lock.acquire()
-        orientation = msg.pose.pose.orientation
-        _, _, z = tf.transformations.euler_from_quaternion(
-            [orientation.x, orientation.y, orientation.z, orientation.w]
-        )
-        self.curr_state.x = msg.pose.pose.position.x
-        self.curr_state.y = msg.pose.pose.position.y
-        self.curr_state.z = z
-        self.state_lock.release()
-
-    def get_curr_state(self, **kwargs) -> BasePose:
-        state = copy.deepcopy(self.curr_state)
-        return state
-
-    def set_curr_state(self, state: BasePose):
-
-        import rospy
-        import tf.transformations
-        from geometry_msgs.msg import PoseWithCovarianceStamped
-
-        self.curr_state.x = state.x
-        self.curr_state.y = state.y
-        self.curr_state.z = state.z
-        self.curr_state.w = state.w
-
-        initial_pose = PoseWithCovarianceStamped()
-        initial_pose.header.seq = 1
-        initial_pose.header.stamp = rospy.Time.now()
-        initial_pose.header.frame_id = self.mapframe
-
-        q = tf.transformations.quaternion_from_euler(0, 0, state.z)
-        initial_pose.pose.pose.position.x = state.x
-        initial_pose.pose.pose.position.y = state.y
-        initial_pose.pose.pose.position.z = 0.0
-
-        initial_pose.pose.pose.orientation.x = q[0]
-        initial_pose.pose.pose.orientation.y = q[1]
-        initial_pose.pose.pose.orientation.z = q[2]
-        initial_pose.pose.pose.orientation.w = q[3]
-        for _ in range(10):
-            self.initial_pose.publish(initial_pose)
-            rospy.sleep(0.1)

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/navigation/__init__.py

@@ -1,15 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .move_base import MoveBase

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/navigation/base.py

@@ -1,64 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import abc
-import threading
-
-from robosdk.utils.schema import BasePose
-from robosdk.utils.schema import PathNode
-from robosdk.utils.logger import logging
-from robosdk.utils.util import Config
-from robosdk.cloud_robotics.task_agent.base import RoboActionHandle
-
-__all__ = ("Navigation", )
-
-
-class Navigation(metaclass=abc.ABCMeta):
-
-    def __init__(self, name: str, config: Config):
-        self.navigation_name = name
-        self.config = config
-        self.move_base_as = None
-        self.goal_lock = threading.RLock()
-        self.logger = logging.bind(instance=self.navigation_name, system=True)
-
-    @abc.abstractmethod
-    def execute_track(self, plan: PathNode):
-        ...
-
-    @abc.abstractmethod
-    def goto(self, goal: BasePose):
-        ...
-
-    @abc.abstractmethod
-    def goto_absolute(self, goal: BasePose):
-        ...
-
-    def stop(self):
-        self.set_vel(forward=0.0, turn=0.0, execution=3)
-
-    @abc.abstractmethod
-    def set_vel(self,
-                forward: float = 0,
-                turn: float = 0,
-                execution: int = 1):
-        """
-        set velocity to robot
-       :param forward: linear velocity in m/s
-       :param turn: rotational velocity in m/s
-       :param execution: execution time in seconds
-       """
-        ...
-
-    def set_action_server(self, action: RoboActionHandle):
-        self.move_base_as = action

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/navigation/move_base.py

@@ -1,281 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-from importlib import import_module
-
-import numpy as np
-
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-from robosdk.utils.util import Config
-from robosdk.utils.schema import BasePose
-from robosdk.utils.schema import PathNode
-from robosdk.utils.constant import ActionStatus
-from robosdk.cloud_robotics.task_agent.base import RoboActionHandle
-
-from .base import Navigation
-
-__all__ = ("MoveBase",)
-
-
-@ClassFactory.register(ClassType.NAVIGATION)
-class MoveBase(Navigation):  # noqa
-
-    def __init__(self,
-                 name: str = "MoveBase",
-                 config: Config = None
-                 ):
-        super(MoveBase, self).__init__(name=name, config=config)
-
-        import rospy
-        import actionlib
-        from geometry_msgs.msg import Twist
-        from sensor_msgs.msg import LaserScan
-        from move_base_msgs.msg import MoveBaseAction
-        from actionlib_msgs.msg import GoalStatusArray, GoalID
-
-        self.move_base_ac = actionlib.SimpleActionClient(
-            self.config.target.action, MoveBaseAction
-        )
-        rospy.Subscriber(
-            self.config.target.status,
-            GoalStatusArray,
-            self._move_base_status_callback,
-        )
-        self.scan_msg = LaserScan()
-        rospy.Subscriber(
-            self.config.target.laserscan, LaserScan,
-            self._laser_scan_callback)
-        self.move_base_cancel = rospy.Publisher(
-            self.config.target.cancel, GoalID, queue_size=1
-        )
-        self.curr_vel = BasePose()
-        self.vel_pub = rospy.Publisher(
-            self.config.target.move_vel, Twist, queue_size=1
-        )
-        self.curr_goal = BasePose()
-        rospy.Subscriber(
-            self.config.target.move_vel, Twist,
-            self._move_vel_callback)
-        self.localizer = self.get_localize_algorithm_from_config()
-
-    def _move_vel_callback(self, data):
-        if data is None:
-            return
-        self.curr_vel = BasePose(
-            x=data.linear.x,
-            y=data.linear.y,
-        )
-
-    def get_localize_algorithm_from_config(self, **param):
-        localizer = None
-        _param = dict()
-        if self.config.localizer and self.config.localizer.algorithm:
-            try:
-                _ = import_module(f"robosdk.algorithms.localize")
-                localizer = ClassFactory.get_cls(
-                    ClassType.LOCALIZE, self.config.localizer.algorithm)
-            except Exception as e:
-                self.logger.error(
-                    f"Fail to initial localizer algorithm "
-                    f"{self.config.localizer.algorithm} : {e}")
-        if not localizer:
-            return
-        if (self.config.localizer and
-                isinstance(self.config.localizer.parameter, list)):
-            _param = {
-                p["key"]: p.get("value", "")
-                for p in self.config.localizer.parameter
-                if isinstance(p, dict) and "key" in p
-            }
-        _param.update(**param)
-        return localizer(**_param)
-
-    def _transform_goal(self, goal: BasePose):
-        import tf.transformations
-        from geometry_msgs.msg import PoseStamped
-        from geometry_msgs.msg import Pose
-        from geometry_msgs.msg import Point
-        from geometry_msgs.msg import Quaternion
-        from move_base_msgs.msg import MoveBaseGoal
-
-        self.goal_lock.acquire()
-        q = tf.transformations.quaternion_from_euler(0, 0, goal.z)
-        pose_stamped = PoseStamped(
-            pose=Pose(
-                Point(goal.x, goal.y, 0.000),
-                Quaternion(q[0], q[1], q[2], q[3])
-            )
-        )
-        pose_stamped.header.frame_id = self.config.target.mapframe
-        target = MoveBaseGoal()
-        target.target_pose = pose_stamped
-        self.curr_goal = goal.copy()
-        self.goal_lock.release()
-        return target
-
-    def cancel_goal(self):
-        from actionlib_msgs.msg import GoalID
-
-        self.logger.warning("Goal Cancel")
-        try:
-            self.move_base_cancel_goal_pub.publish(GoalID())
-        except Exception as err:
-            self.logger.debug(f"Cancel goal failure: {err}")
-            self.move_base_ac.cancel_all_goals()
-        self.stop()
-
-    def _move_base_status_callback(self, msg):
-        if msg.status_list:
-            self.execution_status = getattr(msg.status_list[-1], "status")
-
-    def _laser_scan_callback(self, msg):
-        self.scan_msg = msg
-
-    def execute_track(self, plan: PathNode, min_gap: float = 0):
-        target = plan.copy()
-        if not min_gap:
-            min_gap = self.config.limited.min_distance
-        while 1:
-            curr_point = self.get_location()
-            if curr_point - target <= abs(min_gap):
-                target = plan.next
-            if target is None:
-                self.logger.info("Path planning execute complete")
-                break
-            self.goto(goal=target.position)
-
-    def get_location(self, **parameter):
-        if self.localizer and hasattr(self.localizer, "get_curr_state"):
-            return self.localizer.get_curr_state(**parameter)
-        return self.curr_goal.copy()
-
-    def goto(self, goal: BasePose,
-             start_pos: BasePose = None,
-             limit_time: int = 0):  # noqa
-        if start_pos is None:
-            start_pos = self.get_location()
-        curr_goal = self._get_absolute_pose(goal, start_pos)
-        return self.goto_absolute(curr_goal, limit_time=limit_time)
-
-    def goto_absolute(self, goal: BasePose, limit_time: int = 0):
-        self.logger.info(f"Sending the goal, {str(goal)}")
-        target = self._transform_goal(goal)
-        return self._send_action_goal(target, limit_time=limit_time)
-
-    @staticmethod
-    def _get_absolute_pose(goal: BasePose, base: BasePose):
-        nx = base.x + goal.x * np.cos(base.z) - goal.y * np.sin(base.z)
-        ny = base.y + goal.x * np.sin(base.z) + goal.y * np.cos(base.z)
-        nz = base.z + goal.z
-        return BasePose(x=nx, y=ny, z=nz)
-
-    def _send_action_goal(self, goal, limit_time: int = 0):
-        import rospy
-
-        self.logger.debug("Waiting for the server")
-        self.move_base_ac.wait_for_server()
-
-        self.move_base_ac.send_goal(goal)
-
-        self.logger.debug("Waiting for the move_base Result")
-        exit_without_time = True
-        if not limit_time:
-            limit_time = int(self.config.limited.exec_time)
-        if limit_time > 0:
-            exit_without_time = self.move_base_ac.wait_for_result(
-                rospy.Duration(limit_time)
-            )
-        while 1:
-            if not exit_without_time:
-                self.cancel_goal()
-                self.logger.warning("ERROR:Timed out achieving goal")
-                return False
-            if ((self.move_base_as and self.move_base_as.should_stop) or
-                    (self.execution_status == ActionStatus.ABORTED.value)):
-                self.cancel_goal()
-                return False
-            if (isinstance(self.move_base_as, RoboActionHandle)
-                    and self.move_base_as.is_preempt):
-                self.cancel_goal()
-                return False
-            if self.execution_status == ActionStatus.SUCCEEDED.value:
-                return True
-            rospy.sleep(0.1)
-
-    def set_vel(self,
-                forward: float = 0,
-                turn: float = 0,
-                execution: int = 1):
-        """
-        set velocity to robot
-       :param forward: linear velocity in m/s
-       :param turn: rotational velocity in m/s
-       :param execution: execution time in seconds
-       """
-
-        import rospy
-        from geometry_msgs.msg import Twist
-
-        msg = Twist()
-        msg.linear.x = forward
-        msg.angular.z = turn
-
-        stop_time = rospy.get_rostime() + rospy.Duration(execution)
-        while rospy.get_rostime() < stop_time:
-            self.vel_pub.publish(msg)
-            rospy.sleep(.05)
-
-    def turn_right(self):
-        self.set_vel(1.5, -.7)
-
-    def turn_left(self):
-        self.set_vel(1.5, .7)
-
-    def go_forward(self):
-        self.set_vel(1.3, 0)
-
-    def go_backward(self):
-        self.set_vel(-.5, 0)
-
-    def stop(self):
-        self.set_vel(0, 0)
-
-    def go_forward_util(self, stop_distance: float = 0.5):
-        while self.get_front_distance() > stop_distance:
-            self.set_vel(.1, 0)
-        self.stop()
-
-    def speed(self, linear: float = 0., rotational: float = 0.):
-        from geometry_msgs.msg import Twist
-
-        msg = Twist()
-        msg.linear.x = linear
-        msg.angular.z = rotational
-
-        self.vel_pub.publish(msg)
-
-    def get_front_distance(self, degree: int = 10) -> float:
-        if self.scan_msg is not None:
-            all_data = getattr(self.scan_msg, "ranges", [])
-            if not len(all_data):
-                return 0.0
-            circle = int(len(all_data) / 2)
-            left_degree = max(circle - abs(degree), 10)
-            right_degree = min(circle + abs(degree), len(all_data))
-            ranges = list(
-                filter(lambda x: (x != float('inf') and x != float("-inf")),
-                       all_data[left_degree:right_degree])
-            )
-            return float(np.mean(ranges))
-        return 0.0

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/path_planning/Astar.py

@@ -1,184 +0,0 @@
-"""
-A* grid planning
-author: Atsushi Sakai(@Atsushi_twi)
-        Nikos Kanargias (nkana@tee.gr)
-see https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/AStar/a_star.py  # noqa
-"""
-import math
-
-from robosdk.utils.schema import BasePose
-from robosdk.utils.schema import PathNode
-from robosdk.utils.constant import PgmItem
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-
-from .base import PathPlanner
-from .base import GridMap
-
-
-__all__ = ("AStar", )
-
-
-@ClassFactory.register(ClassType.PATHPLANNING)
-class AStar(PathPlanner):  # noqa
-
-    def __init__(self,
-                 world_map: GridMap,
-                 start: BasePose,
-                 goal: BasePose):
-        super(AStar, self).__init__(
-            world_map=world_map, start=start, goal=goal)
-        self.max_x, self.max_y = self.world.grid.shape
-
-    class Node:
-        def __init__(self, x, y, cost, parent_index):
-            self.x = x  # index of grid
-            self.y = y  # index of grid
-            self.cost = cost
-            self.parent_index = parent_index
-
-        def __str__(self):
-            return str(self.x) + "," + str(self.y) + "," + str(
-                self.cost) + "," + str(self.parent_index)
-
-    def planning(self, step=0) -> PathNode:
-        sx, sy = self.s_start.x, self.s_start.y
-        gx, gy, angle = self.s_goal.x, self.s_goal.y, self.s_goal.z
-        start_node = self.Node(self.calc_xy_index(sx),
-                               self.calc_xy_index(sy), 0.0, -1)
-        goal_node = self.Node(self.calc_xy_index(gx),
-                              self.calc_xy_index(gy), 0.0, -1)
-
-        open_set, closed_set = dict(), dict()
-        open_set[self.calc_grid_index(start_node)] = start_node
-
-        while 1:
-            if len(open_set) == 0:
-                break
-
-            c_id = min(
-                open_set,
-                key=lambda o: (open_set[o].cost +
-                               self.calc_heuristic(goal_node, open_set[o])))
-            current = open_set[c_id]
-
-            if current.x == goal_node.x and current.y == goal_node.y:
-                goal_node.parent_index = current.parent_index
-                goal_node.cost = current.cost
-                break
-
-            # Remove the item from the open set
-            del open_set[c_id]
-
-            # Add it to the closed set
-            closed_set[c_id] = current
-
-            # expand_grid search grid based on motion model
-            for i, _ in enumerate(self.motion):
-                node = self.Node(current.x + self.motion[i][0],
-                                 current.y + self.motion[i][1],
-                                 current.cost + self.motion[i][2], c_id)
-                n_id = self.calc_grid_index(node)
-                if (not self.verify_node(node)) or (n_id in closed_set):
-                    continue
-
-                if n_id not in open_set:
-                    open_set[n_id] = node  # discovered a new node
-                else:
-                    if open_set[n_id].cost > node.cost:
-                        # This path is the best until now. record it
-                        open_set[n_id] = node
-
-        return self.calc_final_path(
-            goal_node, closed_set, angle=angle, step=step)
-
-    def calc_final_path(self, goal_node, closed_set, angle=0.2, step=0):
-        # generate final course
-
-        rx, ry = [self.calc_grid_position(goal_node.x)], [
-            self.calc_grid_position(goal_node.y)]
-        parent_index = goal_node.parent_index
-        while parent_index != -1:
-            n = closed_set[parent_index]
-            rx.append(self.calc_grid_position(n.x))
-            ry.append(self.calc_grid_position(n.y))
-            parent_index = n.parent_index
-        prev = None
-        first_node = None
-        if len(rx) < 4 or step == 1:
-            sequence = zip(reversed(rx), reversed(ry))
-        elif step > 1:
-            a1, b1 = rx[::-step], ry[::-step]
-            if a1[-1] != rx[0]:
-                a1.append(rx[0])
-                b1.append(rx[0])
-            sequence = zip(a1, b1)
-        else:  # auto gen waypoint
-            sequence = []
-            prev = None
-            for inx in range(len(rx) - 1, -1, -1):
-                if (len(sequence) == 0) or (inx == 0):
-                    prev = (rx[inx], ry[inx])
-                    sequence.append(prev)
-                    continue
-                _x, _y = rx[inx], ry[inx]
-                _x_n, _y_n = rx[inx - 1], ry[inx - 1]
-                if ((_x_n - _x) != (_x - prev[0])) or (
-                        (_y_n - _y) != (_y - prev[1])
-                ):
-                    sequence.append((_x, _y))
-                prev = (_x, _y)
-        for seq, node in enumerate(sequence):
-            position = self.world.pixel2world(x=node[0], y=node[1], alt=angle)
-            curr = PathNode(
-                seq=seq, point=node, position=position, prev=prev
-            )
-            if isinstance(prev, PathNode):
-                prev.next = curr
-            else:
-                first_node = curr
-            prev = curr
-        return first_node
-
-    @staticmethod
-    def calc_heuristic(n1, n2):
-        w = 1.0  # weight of heuristic
-        d = w * math.hypot(n1.x - n2.x, n1.y - n2.y)
-        return d
-
-    @staticmethod
-    def calc_grid_position(index, min_position=0):
-        """
-        calc grid position
-        :param index:
-        :param min_position:
-        :return:
-        """
-        pos = index + min_position
-        return pos
-
-    @staticmethod
-    def calc_xy_index(position, min_pos=0):
-        return position - min_pos
-
-    def calc_grid_index(self, node):
-        return node.y * self.max_x + node.x
-
-    def verify_node(self, node):
-        px = self.calc_grid_position(node.x)
-        py = self.calc_grid_position(node.y)
-
-        if px <= 0:
-            return False
-        elif py <= 0:
-            return False
-        elif px >= self.max_x:
-            return False
-        elif py >= self.max_y:
-            return False
-
-        # collision check
-        if self.world.grid[node.x][node.y] == PgmItem.OBSTACLE.value:
-            return False
-
-        return True

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/path_planning/__init__.py

@@ -1,16 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .Astar import AStar
-from .dijkstra import Dijkstra

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/path_planning/base.py

@@ -1,175 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import abc
-import os
-import math
-from typing import List
-
-import yaml
-import numpy as np
-from PIL import Image
-
-from robosdk.utils.schema import BasePose
-from robosdk.utils.schema import PgmMap
-from robosdk.utils.schema import PathNode
-from robosdk.utils.constant import PgmItem
-
-
-__all__ = ("GridMap", "PathPlanner")
-
-
-class MapBase(metaclass=abc.ABCMeta):
-    """
-    Map base class
-    """
-
-    def __init__(self):
-        self.info = None
-        self.grid = None
-        self.obstacles = None
-
-    @abc.abstractmethod
-    def parse_panoptic(self, **kwargs):
-        ...
-
-    @abc.abstractmethod
-    def add_obstacle(self, **kwargs):
-        ...
-
-    @abc.abstractmethod
-    def pixel2world(self, **kwargs) -> BasePose:
-        ...
-
-    @abc.abstractmethod
-    def world2pixel(self, **kwargs) -> BasePose:
-        ...
-
-
-class GridMap(MapBase):  # noqa
-    """
-    2D grid map
-    """
-
-    def __init__(self):
-        super(GridMap, self).__init__()
-        self.width = 0
-        self.height = 0
-        self.width_m = 0
-        self.height_m = 0
-        self.obstacles = []
-        self.padding_map = None
-
-    def read_from_pgm(self, config: str, pgm: str = None):
-        with open(config) as f:
-            data = yaml.load(f, Loader=yaml.FullLoader)
-        image = pgm if pgm else data['image']
-        if not os.path.isfile(image):
-            image = os.path.join(os.path.dirname(config),
-                                 os.path.basename(image))
-        if not os.path.isfile(image):
-            prefix, _ = os.path.splitext(config)
-            image = f"{prefix}.pgm"
-        if not os.path.isfile(image):
-            raise FileExistsError(f"Read PGM from {config} Error ...")
-        self.info = PgmMap(
-            image=image,
-            resolution=round(float(data['resolution']), 4),
-            origin=list(map(float, data['origin'])),
-            reverse=int(data['negate']),
-            occupied_thresh=data['occupied_thresh'],
-            free_thresh=data['free_thresh']
-        )
-        fh = Image.open(image)
-        self.height, self.width = fh.size
-        self.width_m = self.width * self.info.resolution
-        self.height_m = self.height * self.info.resolution
-        data = np.array(fh)
-        occ = data / 255. if self.info.reverse else (255. - data) / 255.
-
-        self.grid = np.zeros((self.width, self.height)) + PgmItem.UNKNOWN.value
-        self.grid[occ > self.info.occupied_thresh] = PgmItem.OBSTACLE.value
-        self.grid[occ < self.info.free_thresh] = PgmItem.FREE.value
-        self.obstacles = list(zip(*np.where(occ > self.info.occupied_thresh)))
-
-    def calc_obstacle_map(self, robot_radius: float = 0.01):
-        if not len(self.obstacles):
-            return
-        obstacles = np.array(self.obstacles)
-        row = obstacles[:, 0]
-        col = obstacles[:, 1]
-        x_min, x_max = min(row), max(row)
-        y_min, y_max = min(col), max(col)
-        self.grid = self.grid[x_min:x_max, y_min:y_max]
-        self.padding_map = np.array([x_min, y_min, 0])
-        self.obstacles = obstacles - [x_min, y_min]
-        self.height, self.width = self.grid.shape[:2]
-        self.width_m = self.width * self.info.resolution
-        self.height_m = self.height * self.info.resolution
-
-        if self.info.resolution < robot_radius:
-            # todo: Adjust obstacles to robot size
-            robot = int(robot_radius / self.info.resolution + 0.5)
-            for ox, oy in self.obstacles:
-                self.add_obstacle(
-                    ox - robot, oy - robot,
-                    ox + robot, ox + robot
-                )
-
-    def pixel2world(self,
-                    x: float = 0.,
-                    y: float = 0.,
-                    alt: float = 0.) -> BasePose:
-        data = np.array([y, x, alt])
-        if self.padding_map is not None:
-            data += self.padding_map
-        x, y, z = list(
-            np.array(self.info.origin) + data * self.info.resolution
-        )
-        return BasePose(x=x, y=y, z=z)
-
-    def world2pixel(self, x, y, z=0.0) -> BasePose:
-        p1 = (np.array([y, x]) - self.info.origin[:2]) / self.info.resolution
-        if self.padding_map is not None:
-            p1 -= self.padding_map[:2]
-        px, py = int(p1[0] + 0.5), int(p1[1] + 0.5)
-        return BasePose(x=px, y=py, z=z)
-
-    def add_obstacle(self, x1, y1, x2, y2):
-        pass
-
-    def parse_panoptic(self, panoptic):
-        pass
-
-
-class PathPlanner(metaclass=abc.ABCMeta):
-
-    def __init__(self, world_map: MapBase, start: BasePose, goal: BasePose):
-        self.world = world_map
-        self.motion = [[1, 0, 1],
-                       [0, 1, 1],
-                       [-1, 0, 1],
-                       [0, -1, 1],
-                       [-1, -1, math.sqrt(2)],
-                       [-1, 1, math.sqrt(2)],
-                       [1, -1, math.sqrt(2)],
-                       [1, 1, math.sqrt(2)]]
-        self.s_start = self.world.world2pixel(x=start.x, y=start.y, z=start.z)
-        self.s_goal = self.world.world2pixel(x=goal.x, y=goal.y, z=start.z)
-
-    @abc.abstractmethod
-    def planning(self, **kwargs) -> PathNode:
-        pass
-
-    def set_motion(self, motions: List):
-        self.motion = motions.copy()

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/algorithms/path_planning/dijkstra.py

@@ -1,187 +0,0 @@
-"""
-
-Grid based Dijkstra planning
-
-author: Atsushi Sakai(@Atsushi_twi)
-see https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/Dijkstra/dijkstra.py  # noqa
-"""
-
-import math
-
-from robosdk.utils.schema import BasePose
-from robosdk.utils.schema import PathNode
-from robosdk.utils.constant import PgmItem
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-
-from .base import PathPlanner
-from .base import GridMap
-
-
-__all__ = ("Dijkstra", )
-
-
-@ClassFactory.register(ClassType.PATHPLANNING)
-class Dijkstra(PathPlanner):  # noqa
-
-    def __init__(self,
-                 world_map: GridMap,
-                 start: BasePose,
-                 goal: BasePose):
-        super(Dijkstra, self).__init__(
-            world_map=world_map, start=start, goal=goal
-        )
-        self.max_x, self.max_y = self.world.grid.shape
-
-    class Node:
-        def __init__(self, x, y, cost, parent_index):
-            self.x = x  # index of grid
-            self.y = y  # index of grid
-            self.cost = cost
-            self.parent_index = parent_index  # index of previous Node
-
-        def __str__(self):
-            return str(self.x) + "," + str(self.y) + "," + str(
-                self.cost) + "," + str(self.parent_index)
-
-    def planning(self, step=0) -> PathNode:
-        sx, sy = self.s_start.x, self.s_start.y
-        gx, gy, angle = self.s_goal.x, self.s_goal.y, self.s_goal.z
-        start_node = self.Node(self.calc_xy_index(sx),
-                               self.calc_xy_index(sy), 0.0, -1)
-        goal_node = self.Node(self.calc_xy_index(gx),
-                              self.calc_xy_index(gy), 0.0, -1)
-
-        open_set, closed_set = dict(), dict()
-        open_set[self.calc_grid_index(start_node)] = start_node
-
-        while 1:
-            if len(open_set) == 0:
-                break
-
-            c_id = min(open_set, key=lambda o: open_set[o].cost)
-            current = open_set[c_id]
-
-            if current.x == goal_node.x and current.y == goal_node.y:
-                goal_node.parent_index = current.parent_index
-                goal_node.cost = current.cost
-                break
-            del open_set[c_id]
-            closed_set[c_id] = current
-
-            # expand search grid based on motion model
-            for move_x, move_y, move_cost in self.motion:
-                node = self.Node(current.x + move_x, current.y + move_y,
-                                 current.cost + move_cost, c_id)
-                n_id = self.calc_grid_index(node)
-
-                if not self.verify_node(node) or (n_id in closed_set):
-                    continue
-
-                if n_id not in open_set:
-                    open_set[n_id] = node  # Discover a new node
-                else:
-                    if open_set[n_id].cost >= node.cost:
-                        # This path is the best until now. record it!
-                        open_set[n_id] = node
-
-        return self.calc_final_path(
-            goal_node, closed_set, angle=angle, step=step)
-
-    def calc_final_path(self, goal_node, closed_set, angle=0.2, step=0):
-        # generate final course
-        rx, ry = [self.calc_grid_position(goal_node.x)], [
-            self.calc_grid_position(goal_node.y)]
-        parent_index = goal_node.parent_index
-        while parent_index != -1:
-            n = closed_set[parent_index]
-            rx.append(self.calc_grid_position(n.x))
-            ry.append(self.calc_grid_position(n.y))
-            parent_index = n.parent_index
-        prev = None
-        first_node = None
-        if len(rx) < 4 or step == 1:
-            sequence = zip(reversed(rx), reversed(ry))
-        elif step > 1:
-            a1, b1 = rx[::-step], ry[::-step]
-            if a1[-1] != rx[0]:
-                a1.append(rx[0])
-                b1.append(rx[0])
-            sequence = zip(a1, b1)
-        else:  # auto gen waypoint
-            sequence = []
-            prev = None
-            for inx in range(len(rx) - 1, -1, -1):
-                if (len(sequence) == 0) or (inx == 0):
-                    prev = (rx[inx], ry[inx])
-                    sequence.append(prev)
-                    continue
-                _x, _y = rx[inx], ry[inx]
-                _x_n, _y_n = rx[inx - 1], ry[inx - 1]
-                if ((_x_n - _x) != (_x - prev[0])) or (
-                        (_y_n - _y) != (_y - prev[1])
-                ):
-                    sequence.append((_x, _y))
-                prev = (_x, _y)
-        for seq, node in enumerate(sequence):
-            position = self.world.pixel2world(x=node[0], y=node[1], alt=angle)
-            curr = PathNode(
-                seq=seq, point=node, position=position, prev=prev
-            )
-            if isinstance(prev, PathNode):
-                prev.next = curr
-            else:
-                first_node = curr
-            prev = curr
-        return first_node
-
-    @staticmethod
-    def calc_grid_position(index, min_position=0):
-        """
-        calc grid position
-        :param index:
-        :param min_position:
-        :return:
-        """
-        pos = index + min_position
-        return pos
-
-    @staticmethod
-    def calc_xy_index(position, min_pos=0):
-        return position - min_pos
-
-    def calc_grid_index(self, node):
-        return node.y * self.max_x + node.x
-
-    def verify_node(self, node):
-        px = self.calc_grid_position(node.x)
-        py = self.calc_grid_position(node.y)
-
-        if px <= 0:
-            return False
-        elif py <= 0:
-            return False
-        elif px >= self.max_x:
-            return False
-        elif py >= self.max_y:
-            return False
-
-        # collision check
-        if self.world.grid[node.x][node.y] == PgmItem.OBSTACLE.value:
-            return False
-
-        return True
-
-    @staticmethod
-    def get_motion_model():
-        # dx, dy, cost
-        motion = [[1, 0, 1],
-                  [0, 1, 1],
-                  [-1, 0, 1],
-                  [0, -1, 1],
-                  [-1, -1, math.sqrt(2)],
-                  [-1, 1, math.sqrt(2)],
-                  [1, -1, math.sqrt(2)],
-                  [1, 1, math.sqrt(2)]]
-
-        return motion

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/cloud_robotics/data_collection/__init__.py

@@ -1,15 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .ros import RosTopicCollector

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/cloud_robotics/data_collection/base.py

@@ -1,66 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import abc
-import threading
-
-from robosdk.utils.util import Config
-from robosdk.utils.logger import logging
-from robosdk.cloud_robotics.message_channel import WSMessageChannel
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-
-
-class DataCollectorBase(metaclass=abc.ABCMeta):
-    def __init__(self, *args, **kwargs):
-        self.data_sub_lock = threading.RLock()
-        self.curr_frame_id = 0
-        self.curr_frame = None
-
-    @abc.abstractmethod
-    def start(self, *args, **kwargs):
-        ...
-
-    @abc.abstractmethod
-    def close(self, *args, **kwargs):
-        ...
-
-    @abc.abstractmethod
-    def parse(self, *args, **kwargs):
-        ...
-
-
-class DataCollector(metaclass=abc.ABCMeta):  # noqa
-    def __init__(self, config: Config = None):
-        self.config = config
-        self.logger = logging.bind(instance="dataCollector", system=True)
-        self.data_sub_lock = threading.RLock()
-        try:
-            self.message_channel = ClassFactory.get_cls(
-                ClassType.GENERAL, self.config.Interaction)()
-        except (ValueError, AttributeError) as e:
-            self.logger.warning(f"fail to locate message channel, {e}, "
-                                f"use `WSMessageChannel` as default")
-            self.message_channel = WSMessageChannel()
-
-    @abc.abstractmethod
-    def connect(self, *args, **kwargs):
-        ...
-
-    @abc.abstractmethod
-    def close(self, *args, **kwargs):
-        ...
-
-    def start(self, *args, **kwargs):
-        self.message_channel.setDaemon(True)
-        self.message_channel.start()

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/cloud_robotics/data_collection/ros.py

@@ -1,253 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import base64
-import json
-import numpy as np
-
-from robosdk.utils.class_factory import ClassType
-from robosdk.utils.class_factory import ClassFactory
-from robosdk.utils.exceptions import SensorError
-from .base import DataCollectorBase
-from .base import DataCollector
-
-
-__all__ = ("RosDataCollector", "RosImages", "RosTopicCollector")
-
-
-@ClassFactory.register(ClassType.GENERAL, alias="rospy/AnyMsg")
-class RosDataCollector(DataCollectorBase):  # noqa
-    ros_time_types = ['time', 'duration']
-    ros_primitive_types = ['bool', 'byte', 'char', 'int8', 'uint8', 'int16',
-                           'uint16', 'int32', 'uint32', 'int64', 'uint64',
-                           'float32', 'float64', 'string']
-    ros_header_types = ['Header', 'std_msgs/Header', 'roslib/Header']
-
-    def __init__(self, name: str, msg_type: str, publisher: str = ""):
-        super(RosDataCollector, self).__init__()
-
-        import message_filters
-        import roslib.message
-
-        self.message_class = roslib.message.get_message_class(msg_type)
-        if not self.message_class:
-            raise SensorError(f"message class - {name} were unable to load.")
-        self.sub = message_filters.Subscriber(self.topic, self.message_class)
-        self.topic = name
-        self.publisher = publisher
-
-    def start(self):
-        self.sub.registerCallback(self.parse)
-
-    def close(self):
-        self.sub.sub.unregister()
-
-    def __del__(self):
-        self.close()
-
-    def parse(self, data):
-        if data is None:
-            return
-        self.data_sub_lock.acquire()
-        self.curr_frame_id += 1
-        self.curr_frame = data
-        json_data = self.convert_ros_message_to_dictionary(message=data)
-        self.data_sub_lock.release()
-        return json_data
-
-    @staticmethod
-    def _get_message_fields(message):
-        return zip(message.__slots__, message._slot_types)
-
-    @staticmethod
-    def _convert_from_ros_binary(field_value):
-        field_value = base64.b64encode(field_value).decode('utf-8')
-        return field_value
-
-    @staticmethod
-    def _convert_from_ros_time(field_value):
-        field_value = {
-            'secs': field_value.secs,
-            'nsecs': field_value.nsecs
-        }
-        return field_value
-
-    def _convert_from_ros_array(self, field_type, field_value,
-                                binary_array_as_bytes=True):
-        # use index to raise ValueError if '[' not present
-        list_type = field_type[:field_type.index('[')]
-        return [self._convert_from_ros_type(
-            list_type, value, binary_array_as_bytes) for value in field_value]
-
-    @staticmethod
-    def _is_ros_binary_type(field_type):
-        """ Checks if the field is a binary array one, fixed size or not"""
-        return field_type.startswith('uint8[') or field_type.startswith('char[')
-
-    @staticmethod
-    def _is_field_type_an_array(field_type):
-        return field_type.find('[') >= 0
-
-    def _is_field_type_a_primitive_array(self, field_type):
-        bracket_index = field_type.find('[')
-        if bracket_index < 0:
-            return False
-        else:
-            list_type = field_type[:bracket_index]
-            return list_type in self.ros_primitive_types
-
-    def _convert_from_ros_type(self, field_type, field_value,
-                               binary_array_as_bytes=True):
-        if field_type in self.ros_primitive_types:
-            field_value = str(field_value)
-        elif field_type in self.ros_time_types:
-            field_value = self._convert_from_ros_time(field_value)
-        elif self._is_ros_binary_type(field_type):
-            if binary_array_as_bytes:
-                field_value = self._convert_from_ros_binary(field_value)
-            elif type(field_value) == str:
-                field_value = [ord(v) for v in field_value]
-            else:
-                field_value = list(field_value)
-        elif self._is_field_type_a_primitive_array(field_type):
-            field_value = list(field_value)
-        elif self._is_field_type_an_array(field_type):
-            field_value = self._convert_from_ros_array(
-                field_type, field_value, binary_array_as_bytes)
-        else:
-            field_value = self.convert_ros_message_to_dictionary(
-                field_value, binary_array_as_bytes)
-        return field_value
-
-    def convert_ros_message_to_dictionary(self, message,
-                                          binary_array_as_bytes=False):
-        """
-        Takes in a ROS message and returns a Python dictionary.
-        """
-
-        dictionary = {}
-        message_fields = self._get_message_fields(message)
-        for field_name, field_type in message_fields:
-            field_value = getattr(message, field_name)
-            dictionary[field_name] = self._convert_from_ros_type(
-                field_type, field_value, binary_array_as_bytes)
-        return dictionary
-
-
-@ClassFactory.register(ClassType.GENERAL, alias="sensor_msgs/Image")
-class RosImages(RosDataCollector):
-    def __init__(self, name: str, publisher: str = ""):
-        super(RosImages, self).__init__(name=name, publisher=publisher,
-                                        msg_type="sensor_msgs/Image")
-        from cv_bridge import CvBridge
-        self.cv_bridge = CvBridge()
-
-    def parse(self, data):
-        if data is None:
-            return
-        self.data_sub_lock.acquire()
-        self.curr_frame_id += 1
-        self.curr_frame = self.cv_bridge.imgmsg_to_cv2(data, data.encoding)
-        json_data = dict(
-            header={
-                'seq': data.header.seq,
-                'stamp': {
-                    'secs': data.header.stamp.secs,
-                    'nsecs': data.header.stamp.nsecs
-                },
-                'frame_id': data.header.frame_id
-            },
-            data=np.array(self.curr_frame).tolist(),
-            height=data.height,
-            width=data.width,
-            encoding=data.encoding,
-            is_bigendian=data.is_bigendian,
-            step=data.step
-        )
-        self.data_sub_lock.release()
-        return json_data
-
-
-@ClassFactory.register(ClassType.GENERAL)
-class RosTopicCollector(DataCollector):  # noqa
-
-    def __init__(self):
-        super(RosTopicCollector, self).__init__()
-
-        import rostopic
-
-        pubs, _ = rostopic.get_topic_list()
-        self.logger.info(f"{len(pubs)} topics has found.")
-
-        self.all_topics = []
-
-        filter_topics = set()
-        filter_topic_types = set()
-        keep_topics = set()
-        keep_topic_types = set()
-        if self.config.IgnoreData:
-            filter_topics = self.config.IgnoreData.get(
-                "topic_name", "").split(",")
-            filter_topic_types = self.config.IgnoreData.get(
-                "topic_type", "").split(",")
-        if self.config.ForcusData:
-            keep_topics = self.config.ForcusData.get(
-                "topic_name", "").split(",")
-            keep_topic_types = self.config.ForcusData.get(
-                "topic_type", "").split(",")
-        for name, _type, publisher in pubs:
-            if name in filter_topics or _type in filter_topic_types:
-                self.logger.info(f"Skip sensor data of {name} - {_type} ...")
-                continue
-            if len(keep_topics) and name not in keep_topics:
-                self.logger.info(f"Skip sensor data of {name} - {_type} ...")
-                continue
-            if len(keep_topic_types) and _type not in keep_topic_types:
-                self.logger.info(f"Skip sensor data of {name} - {_type} ...")
-                continue
-            try:
-                sub_cls = ClassFactory.get_cls(ClassType.GENERAL, _type)
-            except ValueError:
-                sub_cls = ClassFactory.get_cls(ClassType.GENERAL,
-                                               "rospy/AnyMsg")
-            try:
-                sub = sub_cls(name=name, publisher=publisher)
-            except (ValueError, SensorError):
-                self.logger.warning(f"Sensor data of {name} "
-                                    f"were unable to record.")
-                continue
-            self.all_topics.append(sub)
-
-    def connect(self):
-        import message_filters
-
-        subs = [i.sub for i in self.all_topics]
-        if not len(subs):
-            raise SensorError("No data available.")
-        sync = message_filters.ApproximateTimeSynchronizer(
-            subs, queue_size=10, slop=0.2
-        )
-        sync.registerCallback(self.convert)
-        self.logger.info(f"DataCollector connect successfully")
-
-    def stop(self):
-        self.logger.warning("trying to unsubscribe")
-        map(lambda sub: sub.close(), self.all_topics)
-
-    def convert(self, *all_data):
-        data_collect = {}
-        for inx, msg_data in enumerate(all_data):
-            topic = self.all_topics[inx]
-            data = topic.parse(msg_data)
-            data_collect[topic.name] = data
-        self.message_channel.add_data(json.dumps(data_collect))

examples/lifelong_learning/robot_dog_delivery/robo_detection/robosdk/cloud_robotics/message_channel/__init__.py

@@ -1,15 +0,0 @@
-# Copyright 2021 The KubeEdge Authors.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .message_channel import WSMessageChannel