前言
相信大家都知道 TensorFlow 是可以用來建立跟訓練機器學習的模型，今天我們就來跑一個最簡單的 Neural Network，來辨識手寫數字，讓他吐出結果。有了這個程式之後，之後就可以再銜接其他的工具，例如讓機器人裝一個 camera，讀到 camera 的影像之後可以辨識數字，這樣就可以透過數字來對機器人下指令。或是可以再抽換辨識手寫數字的 node，改成辨識物體之類的。
接下來就讓我們開始吧。
TensorFlow 辨識手寫數字
首先，我們可以直接參考現成的程式碼，裡面兜出了一個 2 層的 Fully Connected Neural Network（也稱作 Multilayer Perceptron），裡面原本就有滿清楚的註解，讓大家易於理解：
""" Neural Network.
A 2-Hidden Layers Fully Connected Neural Network (a.k.a Multilayer Perceptron)
implementation with TensorFlow. This example is using the MNIST database
of handwritten digits (http://yann.lecun.com/exdb/mnist/).
Links:
[MNIST Dataset](http://yann.lecun.com/exdb/mnist/).
Author: Aymeric Damien
Project: https://github.com/aymericdamien/TensorFlow-Examples/
"""
from __future__ import print_function
# Import MNIST data
from tensorflow.examples.tutorials.mnist import input_data
mnist = input_data.read_data_sets("/tmp/data/", one_hot=True)
import tensorflow as tf
# Parameters
learning_rate = 0.1
num_steps = 500
batch_size = 128
display_step = 100
# Network Parameters
n_hidden_1 = 256 # 1st layer number of neurons
n_hidden_2 = 256 # 2nd layer number of neurons
num_input = 784 # MNIST data input (img shape: 28*28)
num_classes = 10 # MNIST total classes (0-9 digits)
# tf Graph input
# place
X = tf.placeholder("float", [None, num_input])
Y = tf.placeholder("float", [None, num_classes])
# Store layers weight & bias
weights = {
'h1': tf.Variable(tf.random_normal([num_input, n_hidden_1])),
'h2': tf.Variable(tf.random_normal([n_hidden_1, n_hidden_2])),
'out': tf.Variable(tf.random_normal([n_hidden_2, num_classes]))
}
biases = {
'b1': tf.Variable(tf.random_normal([n_hidden_1])),
'b2': tf.Variable(tf.random_normal([n_hidden_2])),
'out': tf.Variable(tf.random_normal([num_classes]))
}
# Create model
def neural_net(x):
# Hidden fully connected layer with 256 neurons
layer_1 = tf.add(tf.matmul(x, weights['h1']), biases['b1'])
# Hidden fully connected layer with 256 neurons
layer_2 = tf.add(tf.matmul(layer_1, weights['h2']), biases['b2'])
# Output fully connected layer with a neuron for each class
out_layer = tf.matmul(layer_2, weights['out']) + biases['out']
return out_layer
# Construct model
logits = neural_net(X)
prediction = tf.nn.softmax(logits)
# Define loss and optimizer
loss_op = tf.reduce_mean(tf.nn.softmax_cross_entropy_with_logits(
logits=logits, labels=Y))
optimizer = tf.train.AdamOptimizer(learning_rate=learning_rate)
train_op = optimizer.minimize(loss_op)
# Evaluate model
correct_pred = tf.equal(tf.argmax(prediction, 1), tf.argmax(Y, 1))
accuracy = tf.reduce_mean(tf.cast(correct_pred, tf.float32))
# Initialize the variables (i.e. assign their default value)
init = tf.global_variables_initializer()
# Start training
with tf.Session() as sess:
# Run the initializer
sess.run(init)
for step in range(1, num_steps+1):
batch_x, batch_y = mnist.train.next_batch(batch_size)
# Run optimization op (backprop)
sess.run(train_op, feed_dict={X: batch_x, Y: batch_y})
if step % display_step == 0 or step == 1:
# Calculate batch loss and accuracy
loss, acc = sess.run([loss_op, accuracy], feed_dict={X: batch_x,
Y: batch_y})
print("Step " + str(step) + ", Minibatch Loss= " + \
"{:.4f}".format(loss) + ", Training Accuracy= " + \
"{:.3f}".format(acc))
print("Optimization Finished!")
# Calculate accuracy for MNIST test images
print("Testing Accuracy:", \
sess.run(accuracy, feed_dict={X: mnist.test.images,
Y: mnist.test.labels}))
執行這個程式之後，你應該會看到以下的結果，表示功能正常，可以拿來辨識手寫數字的 dataset：
ros@ros-K401UB:~/code/standalone/tensorflow$ python3.4 simple_nn.py
Successfully downloaded train-images-idx3-ubyte.gz 9912422 bytes.
Extracting /tmp/data/train-images-idx3-ubyte.gz
Successfully downloaded train-labels-idx1-ubyte.gz 28881 bytes.
Extracting /tmp/data/train-labels-idx1-ubyte.gz
Successfully downloaded t10k-images-idx3-ubyte.gz 1648877 bytes.
Extracting /tmp/data/t10k-images-idx3-ubyte.gz
Successfully downloaded t10k-labels-idx1-ubyte.gz 4542 bytes.
Extracting /tmp/data/t10k-labels-idx1-ubyte.gz
2018-01-27 13:10:45.868367: I tensorflow/core/platform/cpu_feature_guard.cc:137] Your CPU supports instructions that this TensorFlow binary was not compiled to use: SSE4.1 SSE4.2 AVX AVX2 FMA
Step 1, Minibatch Loss= 12711.9502, Training Accuracy= 0.305
Step 100, Minibatch Loss= 473.9966, Training Accuracy= 0.852
Step 200, Minibatch Loss= 67.3683, Training Accuracy= 0.938
Step 300, Minibatch Loss= 102.2178, Training Accuracy= 0.883
Step 400, Minibatch Loss= 43.7579, Training Accuracy= 0.914
Step 500, Minibatch Loss= 49.5792, Training Accuracy= 0.820
Optimization Finished!
Testing Accuracy: 0.8672
但是，上面這個範例跑起來有點空虛，因為只是跑了一個 dataset，但我們是希望用來辨識一張圖片。
儲存可以辨識手寫數字的 Model
雖然要訓練這個範例很簡單，但我們不希望每次啟動程式時都重新訓練一次，所以我們希望可以將訓練完的 model 儲存下來，我們主要可以參考這個範例程式碼，然後把儲存 model 需要用到的幾個函式放到我們上面的範例中：
""" Neural Network.
A 2-Hidden Layers Fully Connected Neural Network (a.k.a Multilayer Perceptron)
implementation with TensorFlow. This example is using the MNIST database
of handwritten digits (http://yann.lecun.com/exdb/mnist/).
Links:
[MNIST Dataset](http://yann.lecun.com/exdb/mnist/).
Author: Aymeric Damien
Project: https://github.com/aymericdamien/TensorFlow-Examples/
"""
from __future__ import print_function
# Import MNIST data
from tensorflow.examples.tutorials.mnist import input_data
mnist = input_data.read_data_sets("/tmp/data/", one_hot=True)
import tensorflow as tf
# Parameters
learning_rate = 0.1
num_steps = 500
batch_size = 128
display_step = 100
model_path = "/tmp/model.ckpt"
# Network Parameters
n_hidden_1 = 256 # 1st layer number of neurons
n_hidden_2 = 256 # 2nd layer number of neurons
num_input = 784 # MNIST data input (img shape: 28*28)
num_classes = 10 # MNIST total classes (0-9 digits)
# tf Graph input
X = tf.placeholder("float", [None, num_input])
Y = tf.placeholder("float", [None, num_classes])
# Store layers weight & bias
weights = {
'h1': tf.Variable(tf.random_normal([num_input, n_hidden_1])),
'h2': tf.Variable(tf.random_normal([n_hidden_1, n_hidden_2])),
'out': tf.Variable(tf.random_normal([n_hidden_2, num_classes]))
}
biases = {
'b1': tf.Variable(tf.random_normal([n_hidden_1])),
'b2': tf.Variable(tf.random_normal([n_hidden_2])),
'out': tf.Variable(tf.random_normal([num_classes]))
}
# Create model
def neural_net(x):
# Hidden fully connected layer with 256 neurons
layer_1 = tf.add(tf.matmul(x, weights['h1']), biases['b1'])
# Hidden fully connected layer with 256 neurons
layer_2 = tf.add(tf.matmul(layer_1, weights['h2']), biases['b2'])
# Output fully connected layer with a neuron for each class
out_layer = tf.matmul(layer_2, weights['out']) + biases['out']
return out_layer
# Construct model
logits = neural_net(X)
prediction = tf.nn.softmax(logits)
# Define loss and optimizer
loss_op = tf.reduce_mean(tf.nn.softmax_cross_entropy_with_logits(
logits=logits, labels=Y))
optimizer = tf.train.AdamOptimizer(learning_rate=learning_rate)
train_op = optimizer.minimize(loss_op)
# Evaluate model
correct_pred = tf.equal(tf.argmax(prediction, 1), tf.argmax(Y, 1))
accuracy = tf.reduce_mean(tf.cast(correct_pred, tf.float32))
# Initialize the variables (i.e. assign their default value)
init = tf.global_variables_initializer()
# 'Saver' op to save and restore all the variables
saver = tf.train.Saver()
# Start training
with tf.Session() as sess:
# Run the initializer
sess.run(init)
for step in range(1, num_steps+1):
batch_x, batch_y = mnist.train.next_batch(batch_size)
# Run optimization op (backprop)
sess.run(train_op, feed_dict={X: batch_x, Y: batch_y})
if step % display_step == 0 or step == 1:
# Calculate batch loss and accuracy
loss, acc = sess.run([loss_op, accuracy], feed_dict={X: batch_x,
Y: batch_y})
print("Step " + str(step) + ", Minibatch Loss= " + \
"{:.4f}".format(loss) + ", Training Accuracy= " + \
"{:.3f}".format(acc))
print("Optimization Finished!")
# Save model weights to disk
save_path = saver.save(sess, model_path)
print("Model saved in file: %s" % save_path)
# Running a test dataset by loading the model saved earlier
with tf.Session() as sess:
# Run the initializer
sess.run(init)
saver.restore(sess, model_path)
print("Model restored from file: %s" % save_path)
# Calculate accuracy for MNIST test images
print("Testing Accuracy:", \
sess.run(accuracy, feed_dict={X: mnist.test.images,
Y: mnist.test.labels}))
把這個程式跑起來之後，你應該可以看到以下的輸出：
ros@ros-K401UB:~/code/standalone/tensorflow$ python3.4 simple_nn_store.py
^[[Z^[[ZExtracting /tmp/data/train-images-idx3-ubyte.gz
Extracting /tmp/data/train-labels-idx1-ubyte.gz
Extracting /tmp/data/t10k-images-idx3-ubyte.gz
Extracting /tmp/data/t10k-labels-idx1-ubyte.gz
2018-01-27 16:56:13.000020: I tensorflow/core/platform/cpu_feature_guard.cc:137] Your CPU supports instructions that this TensorFlow binary was not compiled to use: SSE4.1 SSE4.2 AVX AVX2 FMA
Step 1, Minibatch Loss= 9857.0781, Training Accuracy= 0.320
Step 100, Minibatch Loss= 320.8330, Training Accuracy= 0.859
Step 200, Minibatch Loss= 121.9466, Training Accuracy= 0.805
Step 300, Minibatch Loss= 55.0800, Training Accuracy= 0.891
Step 400, Minibatch Loss= 89.7953, Training Accuracy= 0.828
Step 500, Minibatch Loss= 52.5457, Training Accuracy= 0.836
Optimization Finished!
Model saved in file: /tmp/model.ckpt
Model restored from file: /tmp/model.ckpt
Testing Accuracy: 0.847
將辨識手寫數字的 Model 變成可以吃一張 28x28 的影像並輸出答案
上面的兩步，我們已經把基本範例用起來，不過他還不太直覺，因為我們是希望讓手寫辨識的 node 可以吃進一張影像，然後吐出結果，所以在這一步我們要改寫一下。
一步一步來，首先我們可以將 training 的地方改成直接讀取 train 好的 model，然後把計算 accuracy 的地方改成直接輸出辨識的結果：
from __future__ import print_function
import tensorflow as tf
from tensorflow.examples.tutorials.mnist import input_data
mnist = input_data.read_data_sets("/tmp/data/", one_hot=True)
# Parameters
model_path = "/tmp/model.ckpt"
# Network Parameters
n_hidden_1 = 256 # 1st layer number of neurons
n_hidden_2 = 256 # 2nd layer number of neurons
num_input = 784 # MNIST data input (img shape: 28*28)
num_classes = 10 # MNIST total classes (0-9 digits)
# tf Graph input
X = tf.placeholder("float", [None, num_input])
# Store layers weight & bias
weights = {
'h1': tf.Variable(tf.random_normal([num_input, n_hidden_1])),
'h2': tf.Variable(tf.random_normal([n_hidden_1, n_hidden_2])),
'out': tf.Variable(tf.random_normal([n_hidden_2, num_classes]))
}
biases = {
'b1': tf.Variable(tf.random_normal([n_hidden_1])),
'b2': tf.Variable(tf.random_normal([n_hidden_2])),
'out': tf.Variable(tf.random_normal([num_classes]))
}
# Create model
def neural_net(x):
# Hidden fully connected layer with 256 neurons
layer_1 = tf.add(tf.matmul(x, weights['h1']), biases['b1'])
# Hidden fully connected layer with 256 neurons
layer_2 = tf.add(tf.matmul(layer_1, weights['h2']), biases['b2'])
# Output fully connected layer with a neuron for each class
out_layer = tf.matmul(layer_2, weights['out']) + biases['out']
return out_layer
# Construct model
logits = neural_net(X)
prediction = tf.nn.softmax(logits)
# Evaluate model
# argmax returns the index with the largest value across axes of a tensor
ans = tf.argmax(prediction, 1)
# Initialize the variables (i.e. assign their default value)
init = tf.global_variables_initializer()
# 'Saver' op to save and restore all the variables
saver = tf.train.Saver()
# Running a test dataset by loading the model saved earlier
with tf.Session() as sess:
# Run the initializer
sess.run(init)
saver.restore(sess, model_path)
print("Model restored from file: %s" % model_path)
# Calculate accuracy for MNIST test images
print("Answer:", sess.run(ans, feed_dict={X: mnist.test.images}))
跑出來之後，你應該會看到下列結果：
ros@ros-K401UB:~/code/standalone/tensorflow$ python3.4 simple_nn_srv.py
Extracting /tmp/data/train-images-idx3-ubyte.gz
Extracting /tmp/data/train-labels-idx1-ubyte.gz
Extracting /tmp/data/t10k-images-idx3-ubyte.gz
Extracting /tmp/data/t10k-labels-idx1-ubyte.gz
2018-01-27 20:06:24.861211: I tensorflow/core/platform/cpu_feature_guard.cc:137] Your CPU supports instructions that this TensorFlow binary was not compiled to use: SSE4.1 SSE4.2 AVX AVX2 FMA
Model restored from file: /tmp/model.ckpt
Answer: [7 2 1 ..., 4 5 6]
然後，我們可以將他改成只吃一張影像，並輸出這張影像的辨識結果：
""" Neural Network.
A 2-Hidden Layers Fully Connected Neural Network (a.k.a Multilayer Perceptron)
implementation with TensorFlow. This example is using the MNIST database
of handwritten digits (http://yann.lecun.com/exdb/mnist/).
Links:
[MNIST Dataset](http://yann.lecun.com/exdb/mnist/).
Author: Aymeric Damien
Project: https://github.com/aymericdamien/TensorFlow-Examples/
"""
from __future__ import print_function
import tensorflow as tf
import matplotlib.pyplot as plt
from tensorflow.examples.tutorials.mnist import input_data
mnist = input_data.read_data_sets("/tmp/data/", one_hot=True)
# Parameters
model_path = "/tmp/model.ckpt"
# Network Parameters
n_hidden_1 = 256 # 1st layer number of neurons
n_hidden_2 = 256 # 2nd layer number of neurons
num_input = 784 # MNIST data input (img shape: 28*28)
num_classes = 10 # MNIST total classes (0-9 digits)
# tf Graph input
X = tf.placeholder("float", [None, num_input])
# Store layers weight & bias
weights = {
'h1': tf.Variable(tf.random_normal([num_input, n_hidden_1])),
'h2': tf.Variable(tf.random_normal([n_hidden_1, n_hidden_2])),
'out': tf.Variable(tf.random_normal([n_hidden_2, num_classes]))
}
biases = {
'b1': tf.Variable(tf.random_normal([n_hidden_1])),
'b2': tf.Variable(tf.random_normal([n_hidden_2])),
'out': tf.Variable(tf.random_normal([num_classes]))
}
# Create model
def neural_net(x):
# Hidden fully connected layer with 256 neurons
layer_1 = tf.add(tf.matmul(x, weights['h1']), biases['b1'])
# Hidden fully connected layer with 256 neurons
layer_2 = tf.add(tf.matmul(layer_1, weights['h2']), biases['b2'])
# Output fully connected layer with a neuron for each class
out_layer = tf.matmul(layer_2, weights['out']) + biases['out']
return out_layer
# Construct model
logits = neural_net(X)
prediction = tf.nn.softmax(logits)
# Evaluate model
# argmax returns the index with the largest value across axes of a tensor
ans = tf.argmax(prediction, 1)
# Initialize the variables (i.e. assign their default value)
init = tf.global_variables_initializer()
# 'Saver' op to save and restore all the variables
saver = tf.train.Saver()
# Show image that we want to predict
plt.imshow(mnist.test.images[0].reshape((28, 28)))
plt.show()
# Running a test dataset by loading the model saved earlier
with tf.Session() as sess:
# Run the initializer
sess.run(init)
saver.restore(sess, model_path)
print("Model restored from file: %s" % model_path)
# Calculate the answer for the image
print("Answer:", sess.run(ans, feed_dict={X: mnist.test.images[0:1]}))
跑起來之後，你應該會先看到這個圖片的輸出：
然後會看到下列的命令列輸出：
ros@ros-K401UB:~/code/standalone/tensorflow$ python3.4 simple_nn_srv.py
Extracting /tmp/data/train-images-idx3-ubyte.gz
Extracting /tmp/data/train-labels-idx1-ubyte.gz
Extracting /tmp/data/t10k-images-idx3-ubyte.gz
Extracting /tmp/data/t10k-labels-idx1-ubyte.gz
2018-01-27 23:08:35.638018: I tensorflow/core/platform/cpu_feature_guard.cc:137] Your CPU supports instructions that this TensorFlow binary was not compiled to use: SSE4.1 SSE4.2 AVX AVX2 FMA
Model restored from file: /tmp/model.ckpt
Answer: [7]
可以看到自己的 model 成功辨識數字了!
總結
今天我們一起使用 TensorFlow 了一個可以辨識手寫數字的程式，其實這個範例可以用來做很多事情，例如你可以將辨識手寫數字的程式跟 ROS 串起來，變成可以辨識手寫數字的 node（只需要再串接 ROS），然後建立一個 service ，就可以讓其他人拿圖片來跟這個 node 要求辨識結果。或是將 node 裡面的功能和訊息格式修改一下，就可以做到物體辨識。之後有機會再一起來實作。
關於作者：
@pojenlai 演算法工程師，對機器人跟電腦視覺有少許研究，最近在學習看清事物的本質與改進自己的觀念
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