def run(self):
while not self.kill_received:
# get a task
try:
job = self.work_queue.get_nowait()
except Queue.Empty:
break
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
start_time = time.time();
dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
dbrec3d_batch.init_process("bofKMeansSubsampleProcess");
dbrec3d_batch.set_input_string(0, job.bof_path);
dbrec3d_batch.set_input_string(1, job.starting_means_path);
dbrec3d_batch.set_input_double(2, job.fraction);
dbrec3d_batch.set_input_unsigned(3, job.max_it);
dbrec3d_batch.set_input_string(4, job.file_out);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
dbrec3d_batch.reset_stdout();
print ("Runing time for worker:", self.name)
print(time.time() - start_time);
def run(self):
while not self.kill_received:
# get a task
try:
job = self.work_queue.get_nowait()
except Queue.Empty:
break
start_time = time.time();
dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
dbrec3d_batch.init_process("bof_learn_category_codebook_salient_process");
dbrec3d_batch.set_input_from_db(0,job.categories);
dbrec3d_batch.set_input_unsigned(1, job.class_id);
dbrec3d_batch.set_input_unsigned(2, job.num_means);
dbrec3d_batch.set_input_double(3, job.fraction);
dbrec3d_batch.set_input_unsigned(4, job.J);
dbrec3d_batch.set_input_unsigned(5, job.max_it);
dbrec3d_batch.set_input_float(6, job.top_p);
dbrec3d_batch.set_input_string(7, job.class_mean_dir);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
dbrec3d_batch.reset_stdout();
def run(self):
while not self.kill_received:
# get a task
try:
job = self.work_queue.get_nowait()
except Queue.Empty:
break
start_time = time.time();
#dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
# file_in = str(job.pcl_dir) + "/object_" + str(job.object_id) + ".pcd";
# file_out = str(job.pcl_dir) + "/fpfh_object_" + str(job.object_id) + ".pcd";
# file_in = str(job.pcl_dir) + "/boxm_scili.pcd";
# file_out = str(job.pcl_dir) + "/fpfh_boxm_scili.pcd";
file_in = str(job.pcl_dir) + "/mesh_0.ply";
file_out = str(job.pcl_dir) + "/fpfh_mesh_0.pcd";
dbrec3d_batch.init_process("pcl_compute_fphf_process");
dbrec3d_batch.set_input_string(0, file_in);
dbrec3d_batch.set_input_double(1, job.radius);
dbrec3d_batch.set_input_string(2, file_out);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
#dbrec3d_batch.reset_stdout();
print ("Runing time for worker:", self.name)
print(time.time() - start_time);
def run(self):
while not self.kill_received:
# get a task
try:
job = self.work_queue.get_nowait()
except Queue.Empty:
break
start_time = time.time();
#dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
# file_in = str(job.pcl_dir) + "/object_" + str(job.object_id) + ".pcd";
# file_out = str(job.pcl_dir) + "/fpfh_object_" + str(job.object_id) + ".pcd";
# file_in = str(job.pcl_dir) + "/boxm_scili.pcd";
# file_out = str(job.pcl_dir) + "/fpfh_boxm_scili.pcd";
# file_in="/Projects/pcl_dev/pcl/trunk/test/bun0.pcd"
file_in = str(job.pcl_dir) + "/mesh_0.ply";
file_out = str(job.pcl_dir) + "/spin_mesh_0.pcd";
dbrec3d_batch.init_process("pcl_compute_spin_image_process");
dbrec3d_batch.set_input_string(0, file_in);
dbrec3d_batch.set_input_double(1, job.radius);
dbrec3d_batch.set_input_int(2, job.width);
dbrec3d_batch.set_input_double(3, job.sup_angle);
dbrec3d_batch.set_input_int(4, job.num_neighbors);
dbrec3d_batch.set_input_bool(5, job.radial);
dbrec3d_batch.set_input_bool(6, job.angular);
dbrec3d_batch.set_input_string(7, file_out);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
#dbrec3d_batch.reset_stdout();
print ("Runing time for worker:", self.name)
print(time.time() - start_time);
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#grad_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/steerable_gauss_3d_scene.xml"
#valid_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/valid_scene.xml"
#pcd_file = "/Users/isa/Experiments/pcl/tests/boxm_scili_full.pcd"
#Run k-means
pcl_dir = "/Users/isa/Experiments/pcl/tests"
fpfh_file =pcl_dir + "/fpfh_boxm_scili.pcd";
n_means = 50;
init_frac = 0.1;
init_iter = 10
max_iter = 500;
means_dir = pcl_dir + "/means_50_scili"
if not os.path.isdir(means_dir +"/"):
os.mkdir(means_dir + "/");
dbrec3d_batch.init_process("pcl_k_means_learning_process");
dbrec3d_batch.set_input_string(0, fpfh_file);
dbrec3d_batch.set_input_unsigned(1, n_means);
dbrec3d_batch.set_input_double(2, init_frac);
dbrec3d_batch.set_input_unsigned(3, init_iter);
dbrec3d_batch.set_input_unsigned(4, max_iter);
dbrec3d_batch.set_input_string(5, means_dir);
dbrec3d_batch.run_process();
dbrec3d_batch.print_db();
#Parameters to group edge "0" and "1"
mean_x = 2.0; mean_y = 0; mean_z = 2.0;
var = 3;
xmin=-5; ymin=-1; zmin=-7;
xmax=0; ymax=1; zmax=0;
print("Composing pairs");
id_0 = 0; id_1=1;
print(str(id_0));
print(str(id_1));
dbrec3d_batch.init_process("dbrec3dFindPairsProcess");
dbrec3d_batch.set_input_int(0, id_0);
dbrec3d_batch.set_input_int(1, id_1);
dbrec3d_batch.set_input_double(2,mean_x);
dbrec3d_batch.set_input_double(3,mean_y);
dbrec3d_batch.set_input_double(4,mean_z);
dbrec3d_batch.set_input_double(5,var);
dbrec3d_batch.set_input_double(6,var);
dbrec3d_batch.set_input_double(7,var);
dbrec3d_batch.set_input_int(8,xmin);
dbrec3d_batch.set_input_int(9,ymin);
dbrec3d_batch.set_input_int(10,zmin);
dbrec3d_batch.set_input_int(11,xmax);
dbrec3d_batch.set_input_int(12,ymax);
dbrec3d_batch.set_input_int(13,zmax);
dbrec3d_batch.set_input_string(14, pair_scene_dir);
dbrec3d_batch.run_process();
(id,type)= dbrec3d_batch.commit_output(0);
composite_context_id = dbvalue(id,type);
pair_scene_dir = "/Users/isa/Experiments/tests/edges_pairs/0_1_pair";
if not os.path.isdir( pair_scene_dir + "/"):
os.mkdir( pair_scene_dir + "/");
#Compose pairs
print("Loading Parts and Contexts");
dbrec3d_batch.init_process("dbrec3dXmlParseProcess");
dbrec3d_batch.set_input_string(0, pair_scene_dir + "/hierarchy.xml");
dbrec3d_batch.set_input_string(1, pair_scene_dir + "/contexts.xml");
dbrec3d_batch.run_process();
dbrec3d_batch.print_db();
print("Save VRML");
dbrec3d_batch.init_process("dbrec3dSaveVrmlProcess");
dbrec3d_batch.set_input_int(0,4);
dbrec3d_batch.set_input_string(1,pair_scene_dir + "/edges_01.wrl");
dbrec3d_batch.set_input_double(2, 0.13);
dbrec3d_batch.set_input_double(3, -0.08);
dbrec3d_batch.set_input_double(4, 0);
dbrec3d_batch.set_input_double(5, -0.08);
dbrec3d_batch.set_input_double(6, -0.03);
dbrec3d_batch.set_input_double(7, 0.05);
dbrec3d_batch.run_process();
print("Save Parts and Contexts");
dbrec3d_batch.init_process("dbrec3dXmlWriteProcess");
dbrec3d_batch.set_input_string(0, pair_scene_dir + "/hierarchy2.xml");
dbrec3d_batch.set_input_string(1, pair_scene_dir + "/contexts2.xml");
dbrec3d_batch.run_process();
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
categories= dbvalue(id, type);
#learn codebook for a particular class
class_id = 0;
class_mean_dir = k_means_dir + "/class" + str(class_id);
if not os.path.isdir(class_mean_dir +"/"):
os.mkdir(class_mean_dir + "/" );
dbrec3d_batch.init_process("bofLearnCategoryCodebookProcess");
dbrec3d_batch.set_input_from_db(0,categories);
dbrec3d_batch.set_input_unsigned(1, class_id);
dbrec3d_batch.set_input_unsigned(2, num_means);
dbrec3d_batch.set_input_double(3, fraction);
dbrec3d_batch.set_input_unsigned(4, J);
dbrec3d_batch.set_input_unsigned(5, max_it);
dbrec3d_batch.set_input_string(6, class_mean_dir);
dbrec3d_batch.run_process();
# #Begin multiprocessing
# job_list=[];
# start_time = time.time();
#
# #Enqueue jobs
# for scene_id in range (0, nscenes):
# histogram_path = class_histograms_dir + "/scene_" + str(scene_id);
# if not os.path.isdir(histogram_path +"/"):
# os.mkdir(histogram_path +"/")
