Remove albumentations

[Ezward]

Albumentations still has the problem on jetson nano that it causes a crash because underneath it still uses a dependency that installs opencv-headless.

The reality is that we only use two augmentations from it; a brightness augmentation and a guassian blur. These are both easily implemented with opencv.

Replace the brightness augmentation and the guassian blur augmentation in https://github.com/autorope/donkeycar/blob/1398eec8309499c4d54fc45d510348bcb819daff/donkeycar/pipeline/augmentations.py#L13. with ones based on opencv so we can remove albumentations.

[DocGarbanzo]

Yes, in the current setup that would work. But there are other augmentations, like CoarseDropout for example, which might be quite useful (one can play with them here: https://demo.albumentations.ai/). However, they might be easy to generate with cv too.

[mdlopezme]

Hello I am trying to train in a Nvidia Jetson AGX Xavier, I am having problems with albumentations. When I pip install albumentations, it seems to uninstall my current version of opencv-python. ( The problem is that I have to use a custom version of this library to be able to do gpu accelation in my platform). I get this error after installing albumentations: pip install albumentations

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/usr/local/lib/python3.8/dist-packages/cv2/__init__.py", line 181, in <module>
    bootstrap()
  File "/usr/local/lib/python3.8/dist-packages/cv2/__init__.py", line 175, in bootstrap
    if __load_extra_py_code_for_module("cv2", submodule, DEBUG):
  File "/usr/local/lib/python3.8/dist-packages/cv2/__init__.py", line 28, in __load_extra_py_code_for_module
    py_module = importlib.import_module(module_name)
  File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "/usr/local/lib/python3.8/dist-packages/cv2/mat_wrapper/__init__.py", line 39, in <module>
    cv._registerMatType(Mat)
AttributeError: partially initialized module 'cv2' has no attribute '_registerMatType' (most likely due to a circular import)

Is there a reason why albumentations is needed? I need guidance to know if I can to try to use opencv version. Would you like me to send a pull request if it does work with opencv implementation?

import cv2
import logging
from cv2 import GaussianBlur
from cv2 import addWeighted
import numpy as np

from donkeycar.config import Config

logger = logging.getLogger(__name__)

class ImageAugmentation:
    def __init__(self, cfg, key, prob=0.5, always_apply=False):
        aug_list = getattr(cfg, key, [])
        self.augmentations = [ImageAugmentation.create(a, cfg, prob, always_apply) for a in aug_list]

    @classmethod
    def create(cls, aug_type: str, config: Config, prob, always) -> callable:
        """ Augmentation factory."""

        if aug_type == 'BRIGHTNESS':
                b_limit = getattr(config, 'AUG_BRIGHTNESS_RANGE', 0.2)
                logger.info(f'Creating augmentation {aug_type} {b_limit}')
                bightness = np.random.uniform(-b_limit, b_limit)
                return lambda img_arr: addWeighted(img_arr, 1.0 + bightness, img_arr, 0, 0)

        elif aug_type == 'BLUR':
            b_range = getattr(config, 'AUG_BLUR_RANGE', (0,3))
            logger.info(f'Creating augmentation {aug_type} {b_range}')
            bur_intensity = np.random.uniform(b_range[0], b_range[1])
            return lambda img_arr: GaussianBlur(img_arr, (13,13), bur_intensity)

    # Parts interface
    def run(self, img_arr):
        for augmentation in self.augmentations:
            img_arr = augmentation(img_arr)
        return img_arr

[mdlopezme]

Little update, I was able to train. After committing the above update on my Jetson. Will test on real data soon and send a little clip within the next few days.

[mdlopezme]

https://youtu.be/rgLV-9JGVLM?si=X8n_8SM7aP7GspVT

@Ezward @DocGarbanzo