Added docs

Config.py

@@ -1,17 +1,18 @@
 import json
-from Parameters import ARGS
+from Parameters import parse
 
 class Config(dict):
-    def __init__(self, init_dict=None, ARGS=ARGS, config_file_name=None):
+    def __init__(self, init_dict=None, parser=parse, config_file_name=None):
         """
         Takes in command-line arguments as well as the configuration file and parses them.
 
         Parameters
         -----------------
         :param init_dict: <dict>: a dictionary of configuration settings to use
-        :param ARGS: <key-val>: the command-line arguments to take, structured like a dictionary
         :param config_file_name: <str>: relative filepath to config file
         """
+
+        ARGS = parse()
         if init_dict:
             self.load_config(init_dict)
         config_file_name = './configs/' + (config_file_name or (ARGS and ARGS.config) or '')
@@ -49,5 +50,3 @@ def load_config(self, kv, ARGS=None):
                     self[key] = Config(init_dict=kv[key], ARGS=ARGS, config_file_name=None)
             else:
              self[key] = kv[key]
-
-config = Config()

Parameters.py

@@ -2,66 +2,69 @@
 import argparse  # default python library for command line argument parsing
 import os
 
-parser = argparse.ArgumentParser(  # pylint: disable=invalid-name
-    description='Train DNNs on model car data.',
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+def parse():
+    parser = argparse.ArgumentParser(  # pylint: disable=invalid-name
+        description='Train DNNs on model car data.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
-parser.add_argument('--gpu', default=-1, type=int, help='Cuda GPU ID')
-parser.add_argument('--epoch', default=0, type=int, help='Cuda GPU ID')
-parser.add_argument('--batch-size', default=100, type=int)
-parser.add_argument('--display', dest='display', action='store_true')
-parser.add_argument('--no-display', dest='display', action='store_false')
-parser.set_defaults(display=True)
+    parser.add_argument('--gpu', default=-1, type=int, help='Cuda GPU ID')
+    parser.add_argument('--epoch', default=0, type=int, help='Cuda GPU ID')
+    parser.add_argument('--batch-size', default=100, type=int)
+    parser.add_argument('--display', dest='display', action='store_true')
+    parser.add_argument('--no-display', dest='display', action='store_false')
+    parser.set_defaults(display=True)
 
-parser.add_argument('--verbose', default=True, type=bool, help='Debugging mode')
-parser.add_argument('--aruco', default=True, type=bool, help='Use Aruco data')
-parser.add_argument('--data-path', default='/hostroot/home/dataset/' +
-                    'bair_car_data', type=str)
-parser.add_argument('--resume-path', default=None, type=str, help='Path to' +
-                    ' resume file containing network state dictionary')
-parser.add_argument('--bkup', default=None, type=str, help='Path to' +
-                    ' resume file containing network state dictionary')
-parser.add_argument('--save-path', default='save', type=str, help='Path to' +
-                    ' folder to save net state dictionaries.')
+    parser.add_argument('--verbose', default=True, type=bool, help='Debugging mode')
+    parser.add_argument('--aruco', default=True, type=bool, help='Use Aruco data')
+    parser.add_argument('--data-path', default='/hostroot/home/dataset/' +
+                        'bair_car_data', type=str)
+    parser.add_argument('--resume-path', default=None, type=str, help='Path to' +
+                        ' resume file containing network state dictionary')
+    parser.add_argument('--bkup', default=None, type=str, help='Path to' +
+                        ' resume file containing network state dictionary')
+    parser.add_argument('--save-path', default='save', type=str, help='Path to' +
+                        ' folder to save net state dictionaries.')
 
 # nargs='+' allows for multiple arguments and stores arguments in a list
-parser.add_argument(
-    '--ignore',
-    default=(
-        'reject_run',
-        'left',
-        'out1_in2',
-        'play',
-        'Smyth',
-        'racing'),
-    type=str,
-    nargs='+',
-    help='Skips these labels in data.')
+    parser.add_argument(
+        '--ignore',
+        default=(
+            'reject_run',
+            'left',
+            'out1_in2',
+            'play',
+            'Smyth',
+            'racing'),
+        type=str,
+        nargs='+',
+        help='Skips these labels in data.')
 
-parser.add_argument('--require-one', default=(), type=str, nargs='+',
-                    help='Skips data without these labels in data.')
-parser.add_argument('--use-states', default=(1, 3, 5, 6, 7), type=str,
-                    nargs='+', help='Skips data outside of these states.')
+    parser.add_argument('--require-one', default=(), type=str, nargs='+',
+                        help='Skips data without these labels in data.')
+    parser.add_argument('--use-states', default=(1, 3, 5, 6, 7), type=str,
+                        nargs='+', help='Skips data outside of these states.')
 
-parser.add_argument('--nframes', default=8, type=int,
-                    help='# timesteps of camera input')
-parser.add_argument('--nsteps', default=10, type=int,
-                    help='# of steps of time to predict in the future')
-parser.add_argument('--stride', default=10, type=int,
-                    help="number of timesteps between network predictions")
-parser.add_argument('--log-interval', default=1, type=int,
-                    help="Number of batches in between logging")
+    parser.add_argument('--nframes', default=8, type=int,
+                        help='# timesteps of camera input')
+    parser.add_argument('--nsteps', default=10, type=int,
+                        help='# of steps of time to predict in the future')
+    parser.add_argument('--stride', default=10, type=int,
+                        help="number of timesteps between network predictions")
+    parser.add_argument('--log-interval', default=1, type=int,
+                        help="Number of batches in between logging")
 
-parser.add_argument('--print-moments', default=1000, type=int,
-                    help='# of moments between printing stats')
-parser.add_argument('--save-moments', default=400000, type=int,
-                    help='# of moments between printing stats')
+    parser.add_argument('--print-moments', default=1000, type=int,
+                        help='# of moments between printing stats')
+    parser.add_argument('--save-moments', default=400000, type=int,
+                        help='# of moments between printing stats')
 
-parser.add_argument('--config', default='default.json', type=str, help='Path of config file to use in ' +
-                                                                       'experiment from ./configs')
+    parser.add_argument('--config', default='default.json', type=str, help='Path of config file to use in ' +
+                                                                           'experiment from ./configs')
 
-ARGS = parser.parse_args()
+    ARGS = parser.parse_args()
 
 # Check for $DISPLAY being blank
-if 'DISPLAY' not in os.environ:
-    ARGS.display = False
+    if 'DISPLAY' not in os.environ:
+        ARGS.display = False
+
+    return ARGS

Train.py

@@ -6,19 +6,18 @@
 import os
 import importlib
 
-from Config import config
+from Config import Config
+
 from Dataset import Dataset
 
 import Utils
 
 from torch.autograd import Variable
 import torch.nn.utils as nnutils
 import torch
-Net = importlib.import_module(config['model']['py_path']).Net
 
 def iterate(net, loss_func, optimizer=None, input=None, truth=None, mask=None, train=True):
-    """
-    Encapsulates a training or validation iteration.
+    """Encapsulates a training or validation iteration.
 
     :param net: <nn.Module>: network to train
     :param optimizer: <torch.optim>: optimizer to use
@@ -52,6 +51,8 @@ def iterate(net, loss_func, optimizer=None, input=None, truth=None, mask=None, t
     return loss.cpu().data[0]
 
 def main():
+    """Main training loop"""
+
     # Configure logging
     logging.basicConfig(filename=config['logging']['path'], level=logging.DEBUG)
     logging.debug(config)
@@ -169,4 +170,6 @@ def main():
             sys.exit(1)
 
 if __name__ == '__main__':
+    config = Config()
+    Net = importlib.import_module(config['model']['py_path']).Net
     main()

Utils.py

@@ -2,7 +2,6 @@
 import os
 import operator
 import time
-from Parameters import ARGS
 import matplotlib.pyplot as plt
 import numpy as np
 import torch

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SPHINXPROJ    = BDDModelCarTraining
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/_build/html/.buildinfo

@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: e75c1114160e13dcb17c687f7c4ed2cf
+tags: 645f666f9bcd5a90fca523b33c5a78b7