CarProject.ipynb

{
  "nbformat": 4,
  "nbformat_minor": 0,
  "metadata": {
    "colab": {
      "name": "CarProject.ipynb",
      "provenance": [],
      "collapsed_sections": [],
      "authorship_tag": "ABX9TyPNt2FXoMy9C4DVT7e1pHRQ",
      "include_colab_link": true
    },
    "kernelspec": {
      "name": "python3",
      "display_name": "Python 3"
    },
    "accelerator": "GPU"
  },
  "cells": [
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "view-in-github",
        "colab_type": "text"
      },
      "source": [
        "<a href=\"https://colab.research.google.com/github/Marshelix/autopilot/blob/master/CarProject.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "HRvtXMX3PYr2",
        "colab_type": "code",
        "outputId": "087de204-77f9-4629-dad6-18420ec1c450",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 166
        }
      },
      "source": [
        "import tensorflow as tf\n",
        "from tensorflow.keras import Sequential\n",
        "from tensorflow.keras.layers import BatchNormalization, Flatten, Dense, Conv2D\n",
        "from tensorflow.keras.optimizers import Adam\n",
        "from tensorflow.keras.models import load_model\n",
        "import tensorflow.keras.preprocessing.image as imgprep\n",
        "\n",
        "# Data loading\n",
        "import cv2\n",
        "import glob\n",
        "import numpy as np\n",
        "import matplotlib.pyplot as plt\n",
        "import matplotlib.image as pltimg\n",
        "\n",
        "import random\n",
        "import os\n",
        "\n",
        "# sklearn\n",
        "from sklearn.utils import shuffle\n",
        "from sklearn.model_selection import train_test_split\n",
        "from sklearn.metrics import mean_squared_error, r2_score\n",
        "\n",
        "#Adam stuff\n",
        "import pandas as pd\n",
        "import logging\n",
        "import sys\n",
        "\n",
        "logging.basicConfig(level=logging.DEBUG,\n",
        "    format=\"%(asctime)s [%(levelname)s] %(message)s\",\n",
        "    handlers=[\n",
        "        logging.FileHandler(\"car_log.txt\"),\n",
        "        logging.StreamHandler(sys.stdout)\n",
        "    ])\n",
        "logger = logging.getLogger(\"CarAi\")\n",
        "logger.debug(\"File created. Starting Log.\")\n",
        "from google.colab import drive\n",
        "drive.mount('/content/gdrive')"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "2020-05-02 07:15:58,906 [DEBUG] File created. Starting Log.\n",
            "Go to this URL in a browser: https://accounts.google.com/o/oauth2/auth?client_id=947318989803-6bn6qk8qdgf4n4g3pfee6491hc0brc4i.apps.googleusercontent.com&redirect_uri=urn%3aietf%3awg%3aoauth%3a2.0%3aoob&response_type=code&scope=email%20https%3a%2f%2fwww.googleapis.com%2fauth%2fdocs.test%20https%3a%2f%2fwww.googleapis.com%2fauth%2fdrive%20https%3a%2f%2fwww.googleapis.com%2fauth%2fdrive.photos.readonly%20https%3a%2f%2fwww.googleapis.com%2fauth%2fpeopleapi.readonly\n",
            "\n",
            "Enter your authorization code:\n",
            "··········\n",
            "Mounted at /content/gdrive\n",
            "2020-05-02 07:16:19,025 [DEBUG] Loaded backend module://ipykernel.pylab.backend_inline version unknown.\n"
          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "u9DPKbLfPkpy",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        "\n",
        "root_folder = 'gdrive/My Drive/Colab Notebooks'\n",
        "\n",
        "model_output_dir = root_folder + \"/models/\"\n",
        "\n",
        "\n",
        "mode = \"**\"\n",
        "\n",
        "results = {}"
      ],
      "execution_count": 0,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "80_8qlYePtiY",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        "def load_test_dataset(resize_percent = 60):\n",
        "    dirname = root_folder+\"/test_data/test_data/**.png\"\n",
        "    fnames_full = glob.glob(dirname, recursive = True)\n",
        "    logger.debug(str(len(fnames_full)) + \" names found.\")\n",
        "    images = [[] for i in range(len(fnames_full))]  #override image according to name\n",
        "    k = 1\n",
        "    for fname in fnames_full:\n",
        "        logger.debug(\"Loading {}. Image {}/{}\".format(fname,k,len(fnames_full)))\n",
        "        img = pltimg.imread(fname)\n",
        "        width = int(img.shape[1] * resize_percent / 100)\n",
        "        height = int(img.shape[0] * resize_percent / 100)\n",
        "        dim = (width, height)\n",
        "        resized = cv2.resize(img,dim,interpolation = cv2.INTER_AREA)\n",
        "        name_idx = int(fname.split(\"/\")[-1].split(\".\")[0])-1\n",
        "        images[name_idx] = resized\n",
        "        k += 1\n",
        "    return np.asarray([images])\n",
        "\n",
        "def load_adam_dataset(resize_percent = 60):\n",
        "    train_df = pd.read_csv(root_folder+\"/training_norm.csv\")\n",
        "    train_df.index = train_df[\"image_id\"]\n",
        "    angles = train_df.angle\n",
        "    speed = train_df.speed\n",
        "    targets = []\n",
        "    images = []\n",
        "    dirname = root_folder+\"/training_data/**/*.png\"\n",
        "    logger.info(\"Loading data from \"+dirname)\n",
        "    fnames_full = glob.glob(dirname,recursive = True)\n",
        "    logger.info(str(len(fnames_full)) + \" names found\")\n",
        "    for fname in fnames_full:\n",
        "        fname_split = fname.split(\"/\")\n",
        "        logger.debug(\"Loading {}\".format(fname))\n",
        "        name = fname_split[-1]\n",
        "        img = pltimg.imread(fname)\n",
        "        width = int(img.shape[1] * resize_percent / 100)\n",
        "        height = int(img.shape[0] * resize_percent / 100)\n",
        "        dim = (width, height)\n",
        "        resized = cv2.resize(img, dim, interpolation = cv2.INTER_AREA)\n",
        "        images.append(resized)\n",
        "        targets.append([float(train_df.angle[int(name.split(\".\")[0])]),float(train_df.speed[int(name.split(\".\")[0])])])\n",
        "    return images,targets"
      ],
      "execution_count": 0,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "wSLQvvVwP7_T",
        "colab_type": "code",
        "outputId": "cd0ad4f7-075b-4c13-f600-f224b63e1694",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 1000
        }
      },
      "source": [
        "adam_images,adam_targets = load_adam_dataset()\n"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "2020-05-02 07:16:30,652 [INFO] Loading data from gdrive/My Drive/Colab Notebooks/training_data/**/*.png\n",
            "2020-05-02 07:16:34,108 [INFO] 454 names found\n",
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          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "b1rwG5sSe4IC",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        "# Construct checkpoints\n",
        "class PredictionCallback(tf.keras.callbacks.Callback):\n",
        "    \"\"\"On an improved epoch, make predictions for the assessment data\n",
        "    \n",
        "    Arguments:\n",
        "        test_images: the assessment data you want predictions for every\n",
        "        time the model improves.\n",
        "        global_best: the best MSE loss score across all your models.\n",
        "    \"\"\"\n",
        "\n",
        "    def __init__(self, test_images, global_best=np.Inf,save_path = \"./prediction_intermediate.csv\"):\n",
        "        super(PredictionCallback, self).__init__()\n",
        "\n",
        "        self.test_images = test_images\n",
        "        self.global_best = global_best\n",
        "        if save_path is not None:\n",
        "          self.save = save_path\n",
        "        else:\n",
        "          self.save = \"./prediction_intermediate.csv\"\n",
        "\n",
        "    def on_epoch_end(self, epoch, logs=None):\n",
        "        current = logs.get('val_loss')\n",
        "        if np.less(current, self.global_best):\n",
        "            print(\"Epoch improved on best global score - making predictions on hold-out dataset\")\n",
        "            self.global_best = current\n",
        "            self.make_prediction()\n",
        "\n",
        "    def make_prediction(self):\n",
        "        colnames = [\"angle\",\"speed\"]\n",
        "        prediction = model.predict(test_images[0])\n",
        "        df = pd.DataFrame(prediction, columns = colnames)\n",
        "        df[\"image_id\"] = range(1, len(test_images[0])+1)\n",
        "        df = df.reindex(columns = [\"image_id\",\"angle\",\"speed\"])\n",
        "        df.index = df[\"image_id\"]\n",
        "        df = df[[\"angle\",\"speed\"]]\n",
        "        #write\n",
        "        df.to_csv(self.save)"
      ],
      "execution_count": 0,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "t0lQXNrzQPXc",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        "def load_dataset(resize_percent =  60,res_speed = [0.0,1.0]):\n",
        "  '''\n",
        "  Load dataset. Restriction possible in speed, as adam_data speed hist != own speed dist\n",
        "  '''\n",
        "  images = []\n",
        "  targets = []\n",
        "  dirname = root_folder+\"/data/**/*.png\"\n",
        "  logger.info(\"Loading data from \"+dirname)\n",
        "  fnames_full = glob.glob(dirname,recursive = True)\n",
        "  logger.info(str(len(fnames_full)) + \" names found\")\n",
        "  i = 1\n",
        "  for fname in fnames_full:\n",
        "      fname_split = fname.split(\"/\")\n",
        "        \n",
        "      name = fname_split[-1]\n",
        "      logger.debug(\"Loading {}. File {}/{}\".format(fname,i,len(fnames_full)))\n",
        "      speed = (float(name.split(\".\")[0].split(\"_\")[2]))/35.0\n",
        "      angle = (float(name.split(\".\")[0].split(\"_\")[1])-50.0)/80.0\n",
        "      img = pltimg.imread(fname)\n",
        "      width = int(img.shape[1] * resize_percent / 100)\n",
        "      height = int(img.shape[0] * resize_percent / 100)\n",
        "      dim = (width, height)\n",
        "      resized = cv2.resize(img, dim, interpolation = cv2.INTER_AREA) \n",
        "      i+=1\n",
        "      if res_speed is None:\n",
        "        images.append(resized)\n",
        "        targets.append([float(angle),float(speed)])\n",
        "      elif float(speed) in res_speed:\n",
        "        images.append(resized)\n",
        "        targets.append([float(angle),float(speed)])\n",
        "        \n",
        "  return images, targets"
      ],
      "execution_count": 0,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "gPtinRwVZh3F",
        "colab_type": "code",
        "outputId": "1e185dbc-8707-4c23-cb72-70029ebb8b0d",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 1000
        }
      },
      "source": [
        "imgs, targets = load_dataset()\n"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
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          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "VaFno2wLZlvP",
        "colab_type": "code",
        "outputId": "12124c35-b733-44c1-e66e-e62dcd9e6c8a",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 54
        }
      },
      "source": [
        "imgs = imgs + adam_images\n",
        "targets = targets + adam_targets\n",
        "in_shape = imgs[0].shape\n",
        "X_train, X_valid, y_train, y_valid = train_test_split( imgs, targets, test_size=0.2)\n",
        "logger.info(\"Training data: %d\\nValidation data: %d\" % (len(X_train), len(X_valid)))"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "2020-05-02 07:35:40,016 [INFO] Training data: 2262\n",
            "Validation data: 566\n"
          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "lwvpncIMcvHT",
        "colab_type": "code",
        "outputId": "8b218727-460e-4617-c4e4-2469d5e06ae2",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 550
        }
      },
      "source": [
        "#Define Model:\n",
        "def Model():\n",
        "    model = Sequential()\n",
        "    model.add(BatchNormalization(input_shape = in_shape))\n",
        "    model.add(Conv2D(12,(5,5),strides = (2,2),input_shape = in_shape,activation = \"elu\"))\n",
        "    model.add(Conv2D(30,(3,3),strides = (2,2), activation = \"elu\"))\n",
        "    model.add(Conv2D(40,(5,5),strides = (2,2), activation = \"elu\"))\n",
        "    model.add(Conv2D(64,(5,5),strides = (2,2), activation = \"elu\"))\n",
        "    \n",
        "    #fully connected output\n",
        "    model.add(Flatten())\n",
        "    model.add(Dense(100, activation = \"elu\"))\n",
        "    model.add(Dense(50, activation = \"elu\"))\n",
        "    model.add(Dense(20, activation = \"elu\"))\n",
        "    model.add(Dense(2,activation = \"elu\"))\n",
        "    \n",
        "    optimizer = Adam(lr = 1e-3)\n",
        "    model.compile(loss = \"mse\", optimizer = optimizer)\n",
        "    return model\n",
        "\n",
        "model = Model()\n",
        "logger.info(model.summary())\n"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "Model: \"sequential\"\n",
            "_________________________________________________________________\n",
            "Layer (type)                 Output Shape              Param #   \n",
            "=================================================================\n",
            "batch_normalization (BatchNo (None, 144, 192, 3)       12        \n",
            "_________________________________________________________________\n",
            "conv2d (Conv2D)              (None, 70, 94, 12)        912       \n",
            "_________________________________________________________________\n",
            "conv2d_1 (Conv2D)            (None, 34, 46, 30)        3270      \n",
            "_________________________________________________________________\n",
            "conv2d_2 (Conv2D)            (None, 15, 21, 40)        30040     \n",
            "_________________________________________________________________\n",
            "conv2d_3 (Conv2D)            (None, 6, 9, 64)          64064     \n",
            "_________________________________________________________________\n",
            "flatten (Flatten)            (None, 3456)              0         \n",
            "_________________________________________________________________\n",
            "dense (Dense)                (None, 100)               345700    \n",
            "_________________________________________________________________\n",
            "dense_1 (Dense)              (None, 50)                5050      \n",
            "_________________________________________________________________\n",
            "dense_2 (Dense)              (None, 20)                1020      \n",
            "_________________________________________________________________\n",
            "dense_3 (Dense)              (None, 2)                 42        \n",
            "=================================================================\n",
            "Total params: 450,110\n",
            "Trainable params: 450,104\n",
            "Non-trainable params: 6\n",
            "_________________________________________________________________\n",
            "2020-05-02 07:35:48,286 [INFO] None\n"
          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "m1xXOJzbcxa2",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        "def image_data_gen(imgs, targets,batch_size):\n",
        "    while True:\n",
        "        batch_images = []\n",
        "        batch_targets = []\n",
        "        for i in range(batch_size):\n",
        "            random_index = random.randint(0,len(imgs)-1)\n",
        "            img = imgs[random_index]\n",
        "            target = targets[random_index]\n",
        "            batch_images.append(img)\n",
        "            batch_targets.append(target)\n",
        "        yield(np.asarray(batch_images), np.asarray(batch_targets))\n",
        "\n",
        "aug = imgprep.ImageDataGenerator(rotation_range=20, zoom_range=0.15,\n",
        "\twidth_shift_range=0.2, height_shift_range=0.2, shear_range=0.15,\n",
        "\thorizontal_flip=False, fill_mode=\"nearest\")\n"
      ],
      "execution_count": 0,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "SK4tu4khXNkD",
        "colab_type": "code",
        "outputId": "561ddcb6-a84c-441e-eba1-a9048d7781ab",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 1000
        }
      },
      "source": [
        "#create prediction\n",
        "colnames = [\"angle\",\"speed\"]\n",
        "test_images = load_test_dataset()\n",
        "best_loss = 0.02821311727166176;"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "2020-05-02 07:35:53,549 [DEBUG] 927 names found.\n",
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          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "hKVcE0XKczuT",
        "colab_type": "code",
        "outputId": "f5532f9b-fe54-4728-c86e-36382896f63f",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 1000
        }
      },
      "source": [
        "csvlogger = tf.keras.callbacks.CSVLogger('training.log')\n",
        "prediction_callback = PredictionCallback(test_images,best_loss,root_folder+\"/prediction_intermediate.csv\")\n",
        "checkpoint_callback = tf.keras.callbacks.ModelCheckpoint(filepath=os.path.join(model_output_dir,'AI_driver_check_all.h5'), verbose=1, save_best_only=True)\n",
        "es_callback = tf.keras.callbacks.EarlyStopping(monitor='val_loss', min_delta=0, patience=10, verbose=1, mode='auto', baseline=None, restore_best_weights=True)\n",
        "history = model.fit_generator(aug.flow(np.array(X_train),y_train,batch_size = 100),\n",
        "                              steps_per_epoch=300,\n",
        "                              epochs=100,\n",
        "                              validation_data = image_data_gen(X_valid,y_valid,100),\n",
        "                              validation_steps=200,\n",
        "                              verbose=1,\n",
        "                              shuffle=1,\n",
        "                              callbacks=[checkpoint_callback,es_callback,csvlogger,prediction_callback])"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "WARNING:tensorflow:From <ipython-input-12-fe8ccea0a552>:12: Model.fit_generator (from tensorflow.python.keras.engine.training) is deprecated and will be removed in a future version.\n",
            "Instructions for updating:\n",
            "Please use Model.fit, which supports generators.\n",
            "2020-05-02 07:41:14,617 [WARNING] From <ipython-input-12-fe8ccea0a552>:12: Model.fit_generator (from tensorflow.python.keras.engine.training) is deprecated and will be removed in a future version.\n",
            "Instructions for updating:\n",
            "Please use Model.fit, which supports generators.\n",
            "Epoch 1/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.1050\n",
            "Epoch 00001: val_loss improved from inf to 0.08497, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 167s 558ms/step - loss: 0.1050 - val_loss: 0.0850\n",
            "Epoch 2/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0790\n",
            "Epoch 00002: val_loss improved from 0.08497 to 0.07478, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 168s 560ms/step - loss: 0.0790 - val_loss: 0.0748\n",
            "Epoch 3/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0715\n",
            "Epoch 00003: val_loss improved from 0.07478 to 0.06358, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 165s 550ms/step - loss: 0.0715 - val_loss: 0.0636\n",
            "Epoch 4/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0630\n",
            "Epoch 00004: val_loss improved from 0.06358 to 0.06204, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 165s 549ms/step - loss: 0.0630 - val_loss: 0.0620\n",
            "Epoch 5/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0602\n",
            "Epoch 00005: val_loss improved from 0.06204 to 0.05845, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 164s 546ms/step - loss: 0.0602 - val_loss: 0.0585\n",
            "Epoch 6/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0550\n",
            "Epoch 00006: val_loss improved from 0.05845 to 0.05740, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 163s 543ms/step - loss: 0.0550 - val_loss: 0.0574\n",
            "Epoch 7/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0530\n",
            "Epoch 00007: val_loss improved from 0.05740 to 0.05522, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 157s 524ms/step - loss: 0.0530 - val_loss: 0.0552\n",
            "Epoch 8/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0514\n",
            "Epoch 00008: val_loss improved from 0.05522 to 0.05307, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 156s 521ms/step - loss: 0.0514 - val_loss: 0.0531\n",
            "Epoch 9/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0492\n",
            "Epoch 00009: val_loss improved from 0.05307 to 0.05302, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 156s 519ms/step - loss: 0.0492 - val_loss: 0.0530\n",
            "Epoch 10/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0472\n",
            "Epoch 00010: val_loss improved from 0.05302 to 0.05119, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 156s 519ms/step - loss: 0.0472 - val_loss: 0.0512\n",
            "Epoch 11/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0462\n",
            "Epoch 00011: val_loss improved from 0.05119 to 0.04845, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0462 - val_loss: 0.0484\n",
            "Epoch 12/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0445\n",
            "Epoch 00012: val_loss improved from 0.04845 to 0.04833, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 156s 521ms/step - loss: 0.0445 - val_loss: 0.0483\n",
            "Epoch 13/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0436\n",
            "Epoch 00013: val_loss improved from 0.04833 to 0.04517, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 156s 519ms/step - loss: 0.0436 - val_loss: 0.0452\n",
            "Epoch 14/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0421\n",
            "Epoch 00014: val_loss did not improve from 0.04517\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0421 - val_loss: 0.0517\n",
            "Epoch 15/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0421\n",
            "Epoch 00015: val_loss did not improve from 0.04517\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0421 - val_loss: 0.0474\n",
            "Epoch 16/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0407\n",
            "Epoch 00016: val_loss did not improve from 0.04517\n",
            "300/300 [==============================] - 156s 520ms/step - loss: 0.0407 - val_loss: 0.0480\n",
            "Epoch 17/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0397\n",
            "Epoch 00017: val_loss did not improve from 0.04517\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0397 - val_loss: 0.0453\n",
            "Epoch 18/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0389\n",
            "Epoch 00018: val_loss improved from 0.04517 to 0.04403, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 157s 522ms/step - loss: 0.0389 - val_loss: 0.0440\n",
            "Epoch 19/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0374\n",
            "Epoch 00019: val_loss improved from 0.04403 to 0.04136, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0374 - val_loss: 0.0414\n",
            "Epoch 20/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0370\n",
            "Epoch 00020: val_loss did not improve from 0.04136\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0370 - val_loss: 0.0435\n",
            "Epoch 21/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0360\n",
            "Epoch 00021: val_loss did not improve from 0.04136\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0360 - val_loss: 0.0466\n",
            "Epoch 22/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0349\n",
            "Epoch 00022: val_loss did not improve from 0.04136\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0349 - val_loss: 0.0428\n",
            "Epoch 23/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0346\n",
            "Epoch 00023: val_loss did not improve from 0.04136\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0346 - val_loss: 0.0459\n",
            "Epoch 24/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0340\n",
            "Epoch 00024: val_loss improved from 0.04136 to 0.04025, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0340 - val_loss: 0.0402\n",
            "Epoch 25/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0334\n",
            "Epoch 00025: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0334 - val_loss: 0.0483\n",
            "Epoch 26/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0377\n",
            "Epoch 00026: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0377 - val_loss: 0.0427\n",
            "Epoch 27/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0333\n",
            "Epoch 00027: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 515ms/step - loss: 0.0333 - val_loss: 0.0445\n",
            "Epoch 28/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0315\n",
            "Epoch 00028: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0315 - val_loss: 0.0434\n",
            "Epoch 29/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0312\n",
            "Epoch 00029: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 515ms/step - loss: 0.0312 - val_loss: 0.0456\n",
            "Epoch 30/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0302\n",
            "Epoch 00030: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0302 - val_loss: 0.0403\n",
            "Epoch 31/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0294\n",
            "Epoch 00031: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 154s 514ms/step - loss: 0.0294 - val_loss: 0.0444\n",
            "Epoch 32/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0345\n",
            "Epoch 00032: val_loss did not improve from 0.04025\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0345 - val_loss: 0.0405\n",
            "Epoch 33/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0302\n",
            "Epoch 00033: val_loss improved from 0.04025 to 0.03996, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0302 - val_loss: 0.0400\n",
            "Epoch 34/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0291\n",
            "Epoch 00034: val_loss did not improve from 0.03996\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0291 - val_loss: 0.0414\n",
            "Epoch 35/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0277\n",
            "Epoch 00035: val_loss improved from 0.03996 to 0.03912, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0277 - val_loss: 0.0391\n",
            "Epoch 36/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0389\n",
            "Epoch 00036: val_loss did not improve from 0.03912\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0389 - val_loss: 0.0548\n",
            "Epoch 37/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0396\n",
            "Epoch 00037: val_loss did not improve from 0.03912\n",
            "300/300 [==============================] - 155s 515ms/step - loss: 0.0396 - val_loss: 0.0409\n",
            "Epoch 38/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0299\n",
            "Epoch 00038: val_loss did not improve from 0.03912\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0299 - val_loss: 0.0403\n",
            "Epoch 39/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0275\n",
            "Epoch 00039: val_loss did not improve from 0.03912\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0275 - val_loss: 0.0443\n",
            "Epoch 40/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0266\n",
            "Epoch 00040: val_loss did not improve from 0.03912\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0266 - val_loss: 0.0410\n",
            "Epoch 41/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0267\n",
            "Epoch 00041: val_loss improved from 0.03912 to 0.03912, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0267 - val_loss: 0.0391\n",
            "Epoch 42/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0267\n",
            "Epoch 00042: val_loss improved from 0.03912 to 0.03891, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 156s 519ms/step - loss: 0.0267 - val_loss: 0.0389\n",
            "Epoch 43/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0259\n",
            "Epoch 00043: val_loss did not improve from 0.03891\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0259 - val_loss: 0.0412\n",
            "Epoch 44/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0248\n",
            "Epoch 00044: val_loss improved from 0.03891 to 0.03630, saving model to gdrive/My Drive/Colab Notebooks/models/AI_driver_check_all.h5\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0248 - val_loss: 0.0363\n",
            "Epoch 45/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0247\n",
            "Epoch 00045: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 516ms/step - loss: 0.0247 - val_loss: 0.0434\n",
            "Epoch 46/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0247\n",
            "Epoch 00046: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0247 - val_loss: 0.0383\n",
            "Epoch 47/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0236\n",
            "Epoch 00047: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0236 - val_loss: 0.0386\n",
            "Epoch 48/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0247\n",
            "Epoch 00048: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0247 - val_loss: 0.0383\n",
            "Epoch 49/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0243\n",
            "Epoch 00049: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 518ms/step - loss: 0.0243 - val_loss: 0.0381\n",
            "Epoch 50/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0241\n",
            "Epoch 00050: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0241 - val_loss: 0.0440\n",
            "Epoch 51/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0228\n",
            "Epoch 00051: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0228 - val_loss: 0.0419\n",
            "Epoch 52/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0231\n",
            "Epoch 00052: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0231 - val_loss: 0.0391\n",
            "Epoch 53/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0224\n",
            "Epoch 00053: val_loss did not improve from 0.03630\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0224 - val_loss: 0.0424\n",
            "Epoch 54/100\n",
            "300/300 [==============================] - ETA: 0s - loss: 0.0250\n",
            "Epoch 00054: val_loss did not improve from 0.03630\n",
            "Restoring model weights from the end of the best epoch.\n",
            "300/300 [==============================] - 155s 517ms/step - loss: 0.0250 - val_loss: 0.0433\n",
            "Epoch 00054: early stopping\n"
          ],
          "name": "stdout"
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "fqRduNWjc3uq",
        "colab_type": "code",
        "outputId": "f4e69376-4cb6-4d82-8c49-f76923423535",
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 1000
        }
      },
      "source": [
        "name = os.path.join(model_output_dir,'AI_driver_all.h5')\n",
        "\n",
        "\n",
        "plt.figure()\n",
        "plt.plot(history.history['loss'],color='blue')\n",
        "plt.legend([\"training loss\"])\n",
        "plt.title(str(np.min(history.history[\"loss\"])))\n",
        "if np.min(history.history[\"val_loss\"]) < best_loss:\n",
        "    plt.savefig(root_folder+\"/training_loss.png\")\n",
        "plt.figure()\n",
        "plt.plot(history.history['val_loss'],color='red')\n",
        "plt.legend([ \"validation loss\"])\n",
        "plt.title(str(np.min(history.history[\"val_loss\"])))\n",
        "if np.min(history.history[\"val_loss\"]) < best_loss:  \n",
        "    plt.savefig(root_folder+\"/valid_loss.png\");\n",
        "results[mode] = [history.history['loss'][-1],history.history['val_loss'][-1]]\n",
        "\n",
        "\n"
      ],
      "execution_count": 0,
      "outputs": [
        {
          "output_type": "stream",
          "text": [
            "2020-05-02 10:02:06,335 [DEBUG] findfont: Matching sans\\-serif:style=normal:variant=normal:weight=normal:stretch=normal:size=12.0.\n",
            "2020-05-02 10:02:06,337 [DEBUG] findfont: score(<Font 'cmss10' (cmss10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,338 [DEBUG] findfont: score(<Font 'DejaVu Sans Display' (DejaVuSansDisplay.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,340 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUniIta.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,340 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono-BoldOblique.ttf) oblique normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,341 [DEBUG] findfont: score(<Font 'STIXSizeTwoSym' (STIXSizTwoSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,342 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans-Oblique.ttf) oblique normal 400 normal>) = 1.05\n",
            "2020-05-02 10:02:06,343 [DEBUG] findfont: score(<Font 'STIXSizeFourSym' (STIXSizFourSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,344 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans-BoldOblique.ttf) oblique normal 700 normal>) = 1.335\n",
            "2020-05-02 10:02:06,344 [DEBUG] findfont: score(<Font 'STIXSizeFourSym' (STIXSizFourSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,345 [DEBUG] findfont: score(<Font 'STIXSizeOneSym' (STIXSizOneSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,346 [DEBUG] findfont: score(<Font 'STIXSizeTwoSym' (STIXSizTwoSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,347 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans-Bold.ttf) normal normal 700 normal>) = 0.33499999999999996\n",
            "2020-05-02 10:02:06,348 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,349 [DEBUG] findfont: score(<Font 'STIXSizeThreeSym' (STIXSizThreeSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,349 [DEBUG] findfont: score(<Font 'cmtt10' (cmtt10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,350 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneralItalic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,351 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans.ttf) normal normal 400 normal>) = 0.05\n",
            "2020-05-02 10:02:06,352 [DEBUG] findfont: score(<Font 'cmmi10' (cmmi10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,352 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,353 [DEBUG] findfont: score(<Font 'cmex10' (cmex10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,354 [DEBUG] findfont: score(<Font 'DejaVu Serif Display' (DejaVuSerifDisplay.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,354 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneralBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,355 [DEBUG] findfont: score(<Font 'STIXSizeOneSym' (STIXSizOneSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,356 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUni.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,357 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,357 [DEBUG] findfont: score(<Font 'cmb10' (cmb10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,358 [DEBUG] findfont: score(<Font 'cmsy10' (cmsy10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,359 [DEBUG] findfont: score(<Font 'STIXSizeThreeSym' (STIXSizThreeSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,360 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneral.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,361 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,361 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,362 [DEBUG] findfont: score(<Font 'STIXSizeFiveSym' (STIXSizFiveSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,363 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,364 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUniBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,364 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneralBolIta.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,365 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUniBolIta.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,366 [DEBUG] findfont: score(<Font 'cmr10' (cmr10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,367 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono-Oblique.ttf) oblique normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,367 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-Regular.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,368 [DEBUG] findfont: score(<Font 'Humor Sans' (Humor-Sans.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,369 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,370 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,370 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-Regular.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,371 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-Regular.ttf) normal normal 400 condensed>) = 10.25\n",
            "2020-05-02 10:02:06,372 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,373 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,373 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,374 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-Regular.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,375 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,376 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-BoldItalic.ttf) italic normal 700 condensed>) = 11.535\n",
            "2020-05-02 10:02:06,377 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,377 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-Italic.ttf) italic normal 400 condensed>) = 11.25\n",
            "2020-05-02 10:02:06,378 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,379 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-Bold.ttf) normal normal 700 condensed>) = 10.535\n",
            "2020-05-02 10:02:06,379 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,380 [DEBUG] findfont: Matching sans\\-serif:style=normal:variant=normal:weight=normal:stretch=normal:size=12.0 to DejaVu Sans ('/usr/local/lib/python3.6/dist-packages/matplotlib/mpl-data/fonts/ttf/DejaVuSans.ttf') with score of 0.050000.\n",
            "2020-05-02 10:02:06,415 [DEBUG] findfont: Matching sans\\-serif:style=normal:variant=normal:weight=normal:stretch=normal:size=10.0.\n",
            "2020-05-02 10:02:06,417 [DEBUG] findfont: score(<Font 'cmss10' (cmss10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,418 [DEBUG] findfont: score(<Font 'DejaVu Sans Display' (DejaVuSansDisplay.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,419 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUniIta.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,420 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono-BoldOblique.ttf) oblique normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,422 [DEBUG] findfont: score(<Font 'STIXSizeTwoSym' (STIXSizTwoSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,423 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans-Oblique.ttf) oblique normal 400 normal>) = 1.05\n",
            "2020-05-02 10:02:06,424 [DEBUG] findfont: score(<Font 'STIXSizeFourSym' (STIXSizFourSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,425 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans-BoldOblique.ttf) oblique normal 700 normal>) = 1.335\n",
            "2020-05-02 10:02:06,427 [DEBUG] findfont: score(<Font 'STIXSizeFourSym' (STIXSizFourSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,428 [DEBUG] findfont: score(<Font 'STIXSizeOneSym' (STIXSizOneSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,429 [DEBUG] findfont: score(<Font 'STIXSizeTwoSym' (STIXSizTwoSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,430 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans-Bold.ttf) normal normal 700 normal>) = 0.33499999999999996\n",
            "2020-05-02 10:02:06,431 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,432 [DEBUG] findfont: score(<Font 'STIXSizeThreeSym' (STIXSizThreeSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,433 [DEBUG] findfont: score(<Font 'cmtt10' (cmtt10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,434 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneralItalic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,436 [DEBUG] findfont: score(<Font 'DejaVu Sans' (DejaVuSans.ttf) normal normal 400 normal>) = 0.05\n",
            "2020-05-02 10:02:06,437 [DEBUG] findfont: score(<Font 'cmmi10' (cmmi10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,438 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,439 [DEBUG] findfont: score(<Font 'cmex10' (cmex10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,440 [DEBUG] findfont: score(<Font 'DejaVu Serif Display' (DejaVuSerifDisplay.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,440 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneralBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,442 [DEBUG] findfont: score(<Font 'STIXSizeOneSym' (STIXSizOneSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,443 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUni.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,443 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,444 [DEBUG] findfont: score(<Font 'cmb10' (cmb10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,445 [DEBUG] findfont: score(<Font 'cmsy10' (cmsy10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,446 [DEBUG] findfont: score(<Font 'STIXSizeThreeSym' (STIXSizThreeSymBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,447 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneral.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,448 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,449 [DEBUG] findfont: score(<Font 'DejaVu Serif' (DejaVuSerif.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,449 [DEBUG] findfont: score(<Font 'STIXSizeFiveSym' (STIXSizFiveSymReg.ttf) normal normal regular normal>) = 10.05\n",
            "2020-05-02 10:02:06,450 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,451 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUniBol.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,452 [DEBUG] findfont: score(<Font 'STIXGeneral' (STIXGeneralBolIta.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,453 [DEBUG] findfont: score(<Font 'STIXNonUnicode' (STIXNonUniBolIta.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,453 [DEBUG] findfont: score(<Font 'cmr10' (cmr10.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,454 [DEBUG] findfont: score(<Font 'DejaVu Sans Mono' (DejaVuSansMono-Oblique.ttf) oblique normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,455 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-Regular.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,456 [DEBUG] findfont: score(<Font 'Humor Sans' (Humor-Sans.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,457 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,458 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,458 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-Regular.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,459 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-Regular.ttf) normal normal 400 condensed>) = 10.25\n",
            "2020-05-02 10:02:06,460 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,461 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,462 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,463 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-Regular.ttf) normal normal 400 normal>) = 10.05\n",
            "2020-05-02 10:02:06,463 [DEBUG] findfont: score(<Font 'Liberation Mono' (LiberationMono-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,464 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-BoldItalic.ttf) italic normal 700 condensed>) = 11.535\n",
            "2020-05-02 10:02:06,465 [DEBUG] findfont: score(<Font 'Liberation Serif' (LiberationSerif-Italic.ttf) italic normal 400 normal>) = 11.05\n",
            "2020-05-02 10:02:06,466 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-Italic.ttf) italic normal 400 condensed>) = 11.25\n",
            "2020-05-02 10:02:06,467 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-BoldItalic.ttf) italic normal 700 normal>) = 11.335\n",
            "2020-05-02 10:02:06,468 [DEBUG] findfont: score(<Font 'Liberation Sans Narrow' (LiberationSansNarrow-Bold.ttf) normal normal 700 condensed>) = 10.535\n",
            "2020-05-02 10:02:06,468 [DEBUG] findfont: score(<Font 'Liberation Sans' (LiberationSans-Bold.ttf) normal normal 700 normal>) = 10.335\n",
            "2020-05-02 10:02:06,469 [DEBUG] findfont: Matching sans\\-serif:style=normal:variant=normal:weight=normal:stretch=normal:size=10.0 to DejaVu Sans ('/usr/local/lib/python3.6/dist-packages/matplotlib/mpl-data/fonts/ttf/DejaVuSans.ttf') with score of 0.050000.\n"
          ],
          "name": "stdout"
        },
        {
          "output_type": "display_data",
          "data": {
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\n",
            "text/plain": [
              "<Figure size 432x288 with 1 Axes>"
            ]
          },
          "metadata": {
            "tags": [],
            "needs_background": "light"
          }
        },
        {
          "output_type": "display_data",
          "data": {
            "image/png": 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\n",
            "text/plain": [
              "<Figure size 432x288 with 1 Axes>"
            ]
          },
          "metadata": {
            "tags": [],
            "needs_background": "light"
          }
        }
      ]
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "pkEawqMwZvhn",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        "prediction = model.predict(test_images[0])\n",
        "df = pd.DataFrame(prediction, columns = colnames)\n",
        "df[\"image_id\"] = range(1,928)\n",
        "df = df.reindex(columns = [\"image_id\",\"angle\",\"speed\"])\n",
        "df.index = df[\"image_id\"]\n",
        "df = df[[\"angle\",\"speed\"]]\n",
        "#write model and prediction to file if better than best loss.\n",
        "if np.min(history.history[\"val_loss\"]) < best_loss:\n",
        "    logging.info(\"New best loss: {}\".format(np.min(history.history[\"val_loss\"])))\n",
        "    model.save(name)\n",
        "    df.to_csv(root_folder+\"/prediction.csv\")"
      ],
      "execution_count": 0,
      "outputs": []
    },
    {
      "cell_type": "code",
      "metadata": {
        "id": "VuhX9hFjXONW",
        "colab_type": "code",
        "colab": {}
      },
      "source": [
        ""
      ],
      "execution_count": 0,
      "outputs": []
    }
  ]
}