parser = OptionParser()
parser.add_option("--models-dir", type="string", dest="models_dir")
parser.add_option("--train-data-dir", type="string", dest="train_data_dir")
parser.add_option("--classifier-file", type="string", dest="classifier_file")
parser.add_option("--fern-depth", type="int", dest="fern_depth", default=14)
parser.add_option("--num-ferns", type="int", dest="num_ferns", default=50)
options, args = parser.parse_args()
if options.models_dir == None or options.train_data_dir == None or options.classifier_file == None:
print 'Please specify models and training data directories and classifier file'
sys.exit(-1)
models = d.get_model_names(options.models_dir)
models = [ name + ':' + o for name in models for o in d.orientations]
models.append('not_an_object')
classifier = fern.fern_classifier.from_parameters(fern_depth=options.fern_depth, num_ferns=options.num_ferns, class_labels=models)
num_scenes = json.load(open(options.train_data_dir+'dataset.json'))['num_scenes']
for i in range(num_scenes):
print 'Processing image', i
depth_image = spm.imread(options.train_data_dir+str(i)+'.depth.png', True)
idx_image = spm.imread(options.train_data_dir+str(i)+'.idx.png')
scene_list = json.load(open(options.train_data_dir+str(i)+'.json'))
#!/usr/bin/env python import sys import json import fern import numpy as np import scipy.misc as spm from scipy.ndimage import find_objects, label, map_coordinates from depth_util import compute_points, get_model_names import pylab models_dir = 'models/' train_data_dir = 'training_data/' models = get_model_names(models_dir) classifier = fern.fern_classifier.from_parameters(fern_depth=12, num_ferns=50, class_labels=models) num_scenes = json.load(open(train_data_dir+'dataset.json'))['num_scenes'] for i in range(num_scenes): depth_image = spm.imread(train_data_dir+str(i)+'.depth.png', True) points = compute_points(depth_image) scene_obj = json.load(open(train_data_dir + str(i) + '.json')) camera_matrix = np.array(scene_obj['camera_matrix']) actor_matrix = np.array(scene_obj['actor_matrix']) m = scene_obj['model'] plane_normal = camera_matrix[0:3,2]
