class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
data_dir = "/Volumes/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world"
param_dir = "/Projects/lemsvxl/src/contrib/isabel/params"
#first creat an empty world.
print("Load Voxel World");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir +"/ocp_cropped.vox");
bvpl_batch.set_input_string(1,"float");
bvpl_batch.run_process();
(world_id,world_type)= bvpl_batch.commit_output(0);
world = dbvalue(world_id,world_type);
print("Creating 3D edge kernel");
bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess");
bvpl_batch.set_input_unsigned(0, 5); #width
bvpl_batch.set_input_unsigned(1, 5); #height
bvpl_batch.set_input_unsigned(2, 5); #length
bvpl_batch.run_process();
(kernel_id,kernel_type)= bvpl_batch.commit_output(0);
kernel_vector = dbvalue(kernel_id,kernel_type);
print("Running Operator");
bvpl_batch.init_process("bvplVectorOperatorProcess");
bvpl_batch.set_input_from_db(0,world );
bvpl_batch.set_input_from_db(1,kernel_vector);
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
# first creat an empty world.
print("Load Voxel World")
bvpl_batch.init_process("bvxmLoadGridProcess")
bvpl_batch.set_input_string(
0, "D:/vj/scripts/Lidar_edges/ocp_bin_0_scale_0.vox")
bvpl_batch.set_input_string(1, "float")
bvpl_batch.run_process()
(world_id, world_type) = bvpl_batch.commit_output(0)
world = dbvalue(world_id, world_type)
print("Crop Voxel World")
bvpl_batch.init_process("bvxmCropGridProcess")
bvpl_batch.set_params_process(
"D:/vj/scripts/Lidar_edges/bvxmCropGridProcess.xml")
bvpl_batch.set_input_from_db(0, world)
bvpl_batch.run_process()
(crop_world_id, crop_world_type) = bvpl_batch.commit_output(0)
crop_world = dbvalue(crop_world_id, crop_world_type)
print("Writing World")
bvpl_batch.init_process("bvxmSaveGridRawProcess")
bvpl_batch.set_input_from_db(0, crop_world)
bvpl_batch.set_input_string(1, "D:/vj/scripts/Lidar_edges/crop_world.raw")
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
data_dir = "/Volumes/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world"
print("Load Voxel World")
bvpl_batch.init_process("bvxmLoadGridProcess")
bvpl_batch.set_input_string(0, data_dir + "/ocp_cropped.vox")
bvpl_batch.set_input_string(1, "float")
bvpl_batch.run_process()
(world_id, world_type) = bvpl_batch.commit_output(0)
world = dbvalue(world_id, world_type)
print("Creating 3D edge kernel")
bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess")
bvpl_batch.set_input_unsigned(0, 3)
bvpl_batch.set_input_unsigned(1, 3)
bvpl_batch.set_input_unsigned(2, 3)
bvpl_batch.run_process()
(kernel_id, kernel_type) = bvpl_batch.commit_output(0)
kernel_vector = dbvalue(kernel_id, kernel_type)
print("Running Operator")
bvpl_batch.init_process("bvplNeighborhoodOperatorProcess")
bvpl_batch.set_input_from_db(0, world)
bvpl_batch.set_input_from_db(1, kernel)
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
# first creat an empty world.
world_dir = "D:/tests/lidar_edge_reg/"
cwd_dir = "D:/tests/lidar_edge_reg/"
print("Load Voxel World")
bvpl_batch.init_process("bvxmLoadGridProcess")
bvpl_batch.set_input_string(0, world_dir + "ocp_opinion_bin_0_scale_0.vox")
bvpl_batch.set_input_string(1, "ocp_opinion")
bvpl_batch.run_process()
(world_id, world_type) = bvpl_batch.commit_output(0)
world = dbvalue(world_id, world_type)
print("Creating 3D edge kernel")
bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess")
bvpl_batch.set_input_unsigned(0, 2)
bvpl_batch.set_input_unsigned(1, 5)
bvpl_batch.set_input_unsigned(2, 5)
bvpl_batch.run_process()
(kernel_id, kernel_type) = bvpl_batch.commit_output(0)
kernel = dbvalue(kernel_id, kernel_type)
print("Running Operator")
bvpl_batch.init_process("bvplVectorOperatorProcess")
bvpl_batch.set_input_from_db(0, world)
bvpl_batch.set_input_from_db(1, kernel)
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
save_hue = 1;
data_dir = "/Users/isa/Experiments/CapitolSiteHigh_sfm/few_windows"
output_dir = "/Users/isa/Experiments/CapitolSiteHigh_sfm/few_windows/corner2d_coexist/0+45-360_plane_010_scale_331"
print("Load Voxel Grid");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox");
bvpl_batch.set_input_string(1,"bsta_gauss_f1");
bvpl_batch.run_process();
(world_id,world_type)= bvpl_batch.commit_output(0);
world = dbvalue(world_id,world_type);
print("Creating corner 2d kernel");
bvpl_batch.init_process("bvplCreateCorner2dKernelVectorProcess");
bvpl_batch.set_input_unsigned(0, 3); #half length
bvpl_batch.set_input_unsigned(1, 3); #half width
bvpl_batch.set_input_unsigned(2, 1); #half thickness
bvpl_batch.run_process();
(kernel_id,kernel_type)= bvpl_batch.commit_output(0);
kernel_vector = dbvalue(kernel_id,kernel_type);
print("Running Kernels");
bvpl_batch.init_process("bvplSuppressAndCombineProcess");
bvpl_batch.set_input_from_db(0,world );
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
data_dir = "/Volumes/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world"
param_dir = "/Projects/lemsvxl/src/contrib/isabel/params"
#first creat an empty world.
print("Load Voxel World");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir + "/edge3d_alge_orientations.vox");
bvpl_batch.set_input_string(1,"vnl_vector_fixed_float_3");
bvpl_batch.run_process();
(grid_id,grid_type)= bvpl_batch.commit_output(0);
orientation_grid = dbvalue(grid_id,grid_type);
print("Load Voxel World");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir + "/edge3d_alge.vox");
bvpl_batch.set_input_string(1,"float");
bvpl_batch.run_process();
(grid_id,grid_type)= bvpl_batch.commit_output(0);
grid = dbvalue(grid_id,grid_type);
print("Combine grids");
bvpl_batch.init_process("bvxmCombineGridsProcess");
bvpl_batch.set_input_from_db(0, orientation_grid );
bvpl_batch.set_input_from_db(1, grid );
bvpl_batch.set_input_string(2,data_dir + "/edge3d_combined.vox");
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
# first creat an empty world.
world_dir = "D:/tests/lidar_edge_reg/"
cwd_dir = "D:/tests/lidar_edge_reg/"
print("Load Voxel World")
bvpl_batch.init_process("bvxmLoadGridProcess")
bvpl_batch.set_input_string(0, world_dir + "ocp_opinion_bin_0_scale_0.vox")
bvpl_batch.set_input_string(1, "ocp_opinion")
bvpl_batch.run_process()
(world_id, world_type) = bvpl_batch.commit_output(0)
world = dbvalue(world_id, world_type)
print("Creating 3D edge kernel")
bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess")
bvpl_batch.set_input_unsigned(0, 2)
bvpl_batch.set_input_unsigned(1, 5)
bvpl_batch.set_input_unsigned(2, 5)
bvpl_batch.run_process()
(kernel_id, kernel_type) = bvpl_batch.commit_output(0)
kernel = dbvalue(kernel_id, kernel_type)
print("Running Operator")
bvpl_batch.init_process("bvplVectorOperatorProcess")
bvpl_batch.set_input_from_db(0, world)
bvpl_batch.set_input_from_db(1, kernel)
# Script to run find 2d corners on appearance grid
# Author : Isabel Restrepo
#8-31-2009
import bvpl_batch
import time
#time.sleep(30);
bvpl_batch.register_processes();
bvpl_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
find_corners = 1;
pair_corners = 1;
save_corners_vrml = 1;
save_hue = 0;
data_dir = "/Users/isa/Experiments/CapitolSFM/few_windows"
output_dir = "/Users/isa/Experiments/CapitolSFM/few_windows/ocp+app/main_corners_331"
directions = "main_corners"
if (find_corners):
print("Load Voxel Grid");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox");
bvpl_batch.set_input_string(1,"bsta_gauss_f1");
bvpl_batch.run_process();
(world_id,world_type)= bvpl_batch.commit_output(0);
app_grid = dbvalue(world_id,world_type);
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
visualize_all = 1;
non_max = 1;
data_dir = "/Users/isa/Experiments/CapitolSiteHigh_sfm/few_windows/corner2d_apm/0+45-360_plane_010_scale_331"
output_dir = "/Users/isa/Experiments/CapitolSiteHigh_sfm/few_windows/corner2d_apm/0+45-360_plane_010_scale_331/non_max"
print("Creating corner 2d kernel");
bvpl_batch.init_process("bvplCreateCorner2dKernelVectorProcess");
bvpl_batch.set_input_unsigned(0, 3); #half length
bvpl_batch.set_input_unsigned(1, 3); #half width
bvpl_batch.set_input_unsigned(2, 1); #half thickness
bvpl_batch.run_process();
(kernel_id,kernel_type)= bvpl_batch.commit_output(0);
kernel_vector = dbvalue(kernel_id,kernel_type);
#time.sleep(30);
print("Load Response Grid");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir + "/KL_gaussf1_response.vox");
bvpl_batch.set_input_string(1,"bsta_gauss_f1");
bvpl_batch.run_process();
(response_grid_id,response_grid_type)= bvpl_batch.commit_output(0);
response_grid = dbvalue(response_grid_id,response_grid_type);
print("Load ID Grid");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir + "/KL_gaussf1_id.vox");
bvpl_batch.set_input_string(1,"unsigned");
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#first creat an empty world.
print("Load Voxel World")
bvpl_batch.init_process("bvxmLoadGridProcess")
bvpl_batch.set_input_string(0,
"D:/vj/scripts/Lidar_edges/ocp_bin_0_scale_0.vox")
bvpl_batch.set_input_string(1, "float")
bvpl_batch.run_process()
(world_id, world_type) = bvpl_batch.commit_output(0)
world = dbvalue(world_id, world_type)
print("Crop Voxel World")
bvpl_batch.init_process("bvxmCropGridProcess")
bvpl_batch.set_params_process(
"D:/vj/scripts/Lidar_edges/bvxmCropGridProcess.xml")
bvpl_batch.set_input_from_db(0, world)
bvpl_batch.run_process()
(crop_world_id, crop_world_type) = bvpl_batch.commit_output(0)
crop_world = dbvalue(crop_world_id, crop_world_type)
print("Writing World")
bvpl_batch.init_process("bvxmSaveGridRawProcess")
bvpl_batch.set_input_from_db(0, crop_world)
bvpl_batch.set_input_string(1, "D:/vj/scripts/Lidar_edges/crop_world.raw")
bvpl_batch.register_datatypes()
data_dir = "/Users/isa/Experiments/CapitolSFM/smaller_capitol/ocp+app/corners"
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
print("Load Pair Grid")
bvpl_batch.init_process("bvplLoadPairGridProcess")
bvpl_batch.set_input_string(0, data_dir + "/pair_centers.vox")
bvpl_batch.run_process()
(id, type) = bvpl_batch.commit_output(0)
pair_grid = dbvalue(id, type)
print("Extract Response")
bvpl_batch.init_process("bvplPairToFloatProcess")
bvpl_batch.set_input_from_db(0, pair_grid)
bvpl_batch.set_input_string(1, data_dir + "/pair_resp.vox")
bvpl_batch.run_process()
(id, type) = bvpl_batch.commit_output(0)
float_grid = dbvalue(id, type)
print("Writing Response Grid")
bvpl_batch.init_process("bvxmSaveGridRawProcess")
bvpl_batch.set_input_from_db(0, float_grid)
bvpl_batch.set_input_string(1, data_dir + "/pair_resp.raw")
bvpl_batch.run_process()
# Script to run find 2d corners on appearance grid
# Author : Isabel Restrepo
#8-31-2009
import bvpl_batch
import time
import os
import sys
#time.sleep(30);
bvpl_batch.register_processes();
bvpl_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
find_corners = 1;
load_corners = 0;
pair_corners = 1;
save_corners_vrml = 0;
save_pairs_vrml = 0;
save_centers_vrml = 0;
corner_length = 3;
corner_width = 3;
corner_thickness =1;
data_dir = sys.argv[1];
output_dir = sys.argv[2];
directions = sys.argv[3];
num_corners = int(sys.argv[4]);
print("Data Dir");
print data_dir;
#data_dir = "/Users/isa/Experiments/CapitolSFM/few_windows/ocp+app/all_corners_331/pair1"
#output_dir = "/Users/isa/Experiments/CapitolSFM/few_windows/ocp+app/all_corners_331/pair2"
#num_corners = 104;#112;
opposite_angle = 180;
if not os.path.isdir( output_dir + "/"):
os.mkdir( output_dir + "/");
print("Load Pair Grid");
bvpl_batch.init_process("bvplLoadPairGridProcess");
bvpl_batch.set_input_string(0, data_dir +"/pair_centers.vox");
bvpl_batch.run_process();
(id, type)= bvpl_batch.commit_output(0);
pair_grid = dbvalue(id, type);
if pair_pairs:
print("Creating kernels to search for corners");
bvpl_batch.init_process("bvplCreateWCKernelVectorProcess");
bvpl_batch.set_input_int(0, 0); #min length
bvpl_batch.set_input_int(1, 5); #max length
bvpl_batch.set_input_int(2, -5); #min width
bvpl_batch.set_input_int(3, 0); #max width
bvpl_batch.set_input_int(4, -2); #min thickness
bvpl_batch.set_input_int(5, 2); #max thickness
bvpl_batch.set_input_string(6, directions);
bvpl_batch.run_process();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#first creat an empty world.
print("Load Voxel World")
bvpl_batch.init_process("bvxmLoadGridProcess")
bvpl_batch.set_input_string(
0, "D:/vj/scripts/Lidar_edges/ocp_200_100_0_250_200_100.vox")
bvpl_batch.set_input_string(1, "float")
bvpl_batch.run_process()
(world_id, world_type) = bvpl_batch.commit_output(0)
world = dbvalue(world_id, world_type)
print("Creating 2D edge kernel")
bvpl_batch.init_process("bvplCreateEdge2dKernelProcess")
bvpl_batch.set_params_process("./edge2d_kernel_params.xml")
bvpl_batch.run_process()
(kernel_id, kernel_type) = bvpl_batch.commit_output(0)
kernel = dbvalue(kernel_id, kernel_type)
print("Running Operator")
bvpl_batch.init_process("bvplNeighborhoodOperatorProcess")
bvpl_batch.set_input_from_db(0, world)
bvpl_batch.set_input_from_db(1, kernel)
bvpl_batch.set_input_string(2, "float")
bvpl_batch.set_input_string(3, "edge2d")
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
data_dir = "c:/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world"
output_dir = "c:/Experiments/object_recognition/bvpl/CapitolSiteHigh/gauss_xx_kernel"
param_dir = "c:/Projects/vxl/vxl/contrib/brl/contrib/lemsvxl/src/contrib/isabel/params"
print("Load Voxel Grid");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, output_dir + "/gauss_xx_response4d.vox");
bvpl_batch.set_input_string(1,"vnl_vector_fixed_float_4");
bvpl_batch.run_process();
(world_id,world_type)= bvpl_batch.commit_output(0);
world = dbvalue(world_id,world_type);
print("Creating 3D edge kernel");
bvpl_batch.init_process("bvplCreateGauss3dXXKernelVectorProcess");
bvpl_batch.set_input_float(0, 1.5); #Sigma1
bvpl_batch.set_input_float(1, 2); #Sigma2
bvpl_batch.set_input_float(2, 2); #Sigma3
bvpl_batch.run_process();
(kernel_id,kernel_type)= bvpl_batch.commit_output(0);
kernel_vector = dbvalue(kernel_id,kernel_type);
print("Converting Directions to Hue ");
bvpl_batch.init_process("bvplConvertDirectionToHueProcess");
bvpl_batch.set_input_from_db(0,world );
#!/usr/bin/python
# Script to run find 2d corners on appearance grid
# Author : Isabel Restrepo
#8-31-2009
import bvpl_batch
import time
import sys
import os
#time.sleep(30);
bvpl_batch.register_processes();
bvpl_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
save_hue = 0;
#data_dir = "/Users/isa/Experiments/CapitolSFM/few_windows"
#output_dir = "/Users/isa/Experiments/CapitolSFM/few_windows/ocp+app/all_directions"
data_dir = sys.argv[1];
output_dir = sys.argv[2];
if not os.path.isdir( output_dir + "/"):
os.mkdir( output_dir + "/");
print("Load Voxel Grid");
bvpl_batch.init_process("bvxmLoadGridProcess");
bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox");
bvpl_batch.set_input_string(1,"bsta_gauss_f1");
bvpl_batch.run_process();
(world_id,world_type)= bvpl_batch.commit_output(0);
app_grid = dbvalue(world_id,world_type);