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_sample_statistics_process");
dbrec3d_batch.set_input_from_db(0,job.categories);
dbrec3d_batch.set_input_from_db(1,job.global_pca);
dbrec3d_batch.set_input_unsigned(2, job.scene_id);
dbrec3d_batch.set_input_string(3, 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();
time.sleep(10);
#dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
dbrec3d_batch.init_process("bofMakeClusterIdSceneProcess");
dbrec3d_batch.set_input_string(0, job.bof_path);
dbrec3d_batch.set_input_from_db(1, job.codebook);
dbrec3d_batch.set_input_int(2, job.scene_id);
dbrec3d_batch.set_input_int(3, job.block_i);
dbrec3d_batch.set_input_int(4, job.block_j);
dbrec3d_batch.set_input_int(5, job.block_k);
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("bofKMeansOnVectorProcess");
dbrec3d_batch.set_input_string(0, job.cm_i_file);
dbrec3d_batch.set_input_from_db(1, job.CM_set);
dbrec3d_batch.set_input_unsigned(2, job.max_it);
dbrec3d_batch.set_input_string(3, job.fm_i_file);
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("bofLearnCategoriesProcess");
dbrec3d_batch.set_input_from_db(0, job.codebook);
dbrec3d_batch.set_input_int(1, job.scene_id);
dbrec3d_batch.set_input_string(2, job.bof_dir);
dbrec3d_batch.set_input_string(3, job.path_out);
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")
dbrec3d_batch.init_process("bof_learn_categories_salient_process")
dbrec3d_batch.set_input_from_db(0, job.codebook)
dbrec3d_batch.set_input_int(1, job.scene_id)
dbrec3d_batch.set_input_float(2, job.top_p)
dbrec3d_batch.set_input_from_db(3, job.categories)
dbrec3d_batch.set_input_string(4, job.path_out)
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");
dbrec3d_batch.init_process("bofClassifyProcess");
dbrec3d_batch.set_input_from_db(0, job.codebook);
dbrec3d_batch.set_input_from_db(1, job.p_xc);
dbrec3d_batch.set_input_int(2, job.scene_id);
dbrec3d_batch.set_input_string(3, job.bof_dir);
dbrec3d_batch.set_input_string(4, job.path_out);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
dbrec3d_batch.reset_stdout();
print ("Runing time for worker:", self.name)
print(time.time() - start_time);
# dbrec3d_batch.set_input_string(0,ply_path_in + '/' + file);
# dbrec3d_batch.set_input_string(1,ply_path_out + '/' + file);
# dbrec3d_batch.set_input_double(2,scale);
# dbrec3d_batch.run_process();
#*********** Save a scene labeling objects for debigging purposes **************#
print("Creating a Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, scene_in);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
scene= dbvalue(id, type);
dbrec3d_batch.init_process("bofExamineGroundTruthProcess");
dbrec3d_batch.set_input_from_db(0,scene);
dbrec3d_batch.set_input_string(1,ply_path_out);
dbrec3d_batch.set_input_string(2,obj_name);
dbrec3d_batch.set_input_string(3,ply_path_out);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
scene_out= dbvalue(id, type);
print("Save Scene");
dbrec3d_batch.init_process("boxmSaveSceneRawProcess");
dbrec3d_batch.set_input_from_db(0,scene_out);
dbrec3d_batch.set_input_string(1, ply_path_out + "/drishti/labeled_scene_level_0");
dbrec3d_batch.set_input_unsigned(2,0);
dbrec3d_batch.set_input_unsigned(3,1);
dbrec3d_batch.run_process();
dbrec3d_batch.set_input_int(2,min_y);
dbrec3d_batch.set_input_int(3,max_y);
dbrec3d_batch.set_input_int(4,min_z);
dbrec3d_batch.set_input_int(5,max_z);
dbrec3d_batch.set_input_float(6,axis_x);
dbrec3d_batch.set_input_float(7,axis_y);
dbrec3d_batch.set_input_float(8,axis_z);
dbrec3d_batch.set_input_float(9,angle);
dbrec3d_batch.run_process();
(kernel_id,kernel_type)= dbrec3d_batch.commit_output(0);
kernel = dbvalue(kernel_id,kernel_type);
print("Convert to Parts")
dbrec3d_batch.init_process("dbrec3dKernelsToPartsProcess");
dbrec3d_batch.set_input_from_db(0, kernel_scene);
dbrec3d_batch.set_input_from_db(1, kernel);
dbrec3d_batch.run_process();
dbrec3d_batch.print_db();
print("Get the response")
dbrec3d_batch.init_process("dbrec3dGetResponseProcess");
dbrec3d_batch.set_input_int(0, 0);
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
response_scene= dbvalue(scene_id, scene_type);
resolution = 0;
enforce_level = 1;
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
categories= dbvalue(id, type);
#load class codebook
class_id = 0;
codebook_file = k_means_dir + "/class" + str(class_id) + "/lowest_sse_means.txt"
dbrec3d_batch.init_process("bofInitCodebookProcess");
dbrec3d_batch.set_input_string(0,codebook_file);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
codebook= dbvalue(id, type);
#compute object weight for all testing objects
dbrec3d_batch.init_process("bof_class_probability_process");
dbrec3d_batch.set_input_from_db(0,codebook);
dbrec3d_batch.set_input_from_db(1,categories);
dbrec3d_batch.set_input_unsigned(2, class_id);
dbrec3d_batch.set_input_string(3, classification_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 +"/")
#Begin multiprocessing
job_list=[];
start_time = time.time();
#load codebook
codebook_file = k_means_dir + "/lowest_sse_means.txt"
dbrec3d_batch.init_process("bofInitCodebookProcess");
dbrec3d_batch.set_input_string(0,codebook_file);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
codebook= dbvalue(id, type);
#load class/keypoints distributions
dbrec3d_batch.init_process("bofLoadPXCProcess");
dbrec3d_batch.set_input_from_db(0,codebook);
dbrec3d_batch.set_input_string(1,class_histograms_dir);
dbrec3d_batch.set_input_unsigned(2, ncategories);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
p_xc= dbvalue(id, type);
#Enqueue jobs
for scene_id in range(0, nscenes):
current_job = bof_job(bof_dir, p_xc, codebook , scene_id, classification_dir);
job_list.append(current_job);
execute_bof_jobs(job_list, num_cores);
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"
#/Users/isa/Experiments/boxm_cit_only_filtered/steerable_filters_alpha
#
#grad_scene_path = "/Users/isa/Experiments/helicopter_providence/boxm_scenes/site12/steerable_filters_alpha/steerable_gauss_3d_scene.xml"
#valid_scene_path= "/Users/isa/Experiments/helicopter_providence/boxm_scenes/site12/steerable_filters_alpha/valid_scene.xml"
#pcd_file = "/Users/isa/Experiments/pcl/tests/site_12.pcd"
#load gradient scene
print("Creating a Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, grad_scene_path);
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
grad_scene= dbvalue(scene_id, scene_type);
#load valid scene
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, valid_scene_path);
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
valid_scene= dbvalue(scene_id, scene_type);
dbrec3d_batch.init_process("pcl_convert_scene_to_pc_process");
dbrec3d_batch.set_input_from_db(0, grad_scene);
dbrec3d_batch.set_input_from_db(1, valid_scene);
dbrec3d_batch.set_input_string(2, pcd_file);
dbrec3d_batch.run_process();
#Parse inputs
print ("******************************Compute Object level***************************")
parser = optparse.OptionParser(description='Init Category info');
parser.add_option('--bof_dir', action="store", dest="bof_dir");
options, args = parser.parse_args();
bof_dir = options.bof_dir;
if not os.path.isdir(bof_dir +"/"):
print "Invalid bof Dir"
sys.exit(-1);
#load category info
dbrec3d_batch.init_process("bofLoadCategoryInfoProces");
dbrec3d_batch.set_input_string(0, bof_dir);
dbrec3d_batch.set_input_string(1, "bof_info_train.xml")
dbrec3d_batch.set_input_string(2, "bof_category_info_old.xml")
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
categories= dbvalue(id, type);
#load category info
dbrec3d_batch.init_process("bof_object_level_process");
dbrec3d_batch.set_input_from_db(0, categories);
dbrec3d_batch.run_process();
model_dir ="/Users/isa/Experiments/CapitolBOXM";
print("Creating a Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, model_dir +"/apm_scene.xml");
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
mog_scene = dbvalue(scene_id, scene_type);
print("*************************************");
print("Save Scene");
dbrec3d_batch.init_process("boxmSaveOccupancyRawProcess");
dbrec3d_batch.set_input_from_db(0,mog_scene);
dbrec3d_batch.set_input_string(1,model_dir + "/gauss_scene");
dbrec3d_batch.set_input_unsigned(2,0);
dbrec3d_batch.set_input_unsigned(3,0);
dbrec3d_batch.run_process();
#print("Merging the scene");
#dbrec3d_batch.init_process("boxmMergeMixturesProcess");
#dbrec3d_batch.set_input_from_db(0, mog_scene);
#dbrec3d_batch.run_process();
#(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
#gauss_scene = dbvalue(scene_id, scene_type);
#print("Convert to regular grid");
#dbrec3d_batch.init_process("boxmSceneToBvxmGridProcess");
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);
print("Save VRML");
dbrec3d_batch.init_process("dbrec3dSaveVrmlProcess");
dbrec3d_batch.set_input_from_db(0,composite_context_id);
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 + "/hierarchy.xml");
dbrec3d_batch.set_input_string(1, pair_scene_dir + "/contexts.xml");
dbrec3d_batch.run_process();
dbrec3d_batch.set_input_int(1,max_x);
dbrec3d_batch.set_input_int(2,min_y);
dbrec3d_batch.set_input_int(3,max_y);
dbrec3d_batch.set_input_int(4,min_z);
dbrec3d_batch.set_input_int(5,max_z);
dbrec3d_batch.set_input_float(6,axis_x);
dbrec3d_batch.set_input_float(7,axis_y);
dbrec3d_batch.set_input_float(8,axis_z);
dbrec3d_batch.set_input_float(9,angle);
dbrec3d_batch.run_process();
(kernel_id,kernel_type)= dbrec3d_batch.commit_output(0);
kernel = dbvalue(kernel_id,kernel_type);
print("Running Operator");
dbrec3d_batch.init_process("bvplSceneKernelOperatorProcess");
dbrec3d_batch.set_input_from_db(0,scene);
dbrec3d_batch.set_input_from_db(1,kernel);
dbrec3d_batch.set_input_string(2,"bsta_gauss_f1");
dbrec3d_batch.set_input_string(3,"positive_gauss_convolution");
dbrec3d_batch.set_input_string(4, output_dir);
dbrec3d_batch.run_process();
(out_scene_id,out_scene_type)= dbrec3d_batch.commit_output(0);
result_scene = dbvalue(out_scene_id,out_scene_type);
resolution = 0;
enforce_level = 1;
print("Convert to regular grid");
dbrec3d_batch.init_process("boxmSceneToBvxmGridProcess");
dbrec3d_batch.set_input_from_db(0,result_scene);
dbrec3d_batch.set_input_string(1, output_dir + "/response.vox");
