def incremental_model_builder(self, submethod, pipeline_params, args):
feature_params = pipeline_params.get("feature", False)
if not feature_params:
raise RuntimeError("You must supply feature_descriptor parameters for TOD.")
# merge it with the subtype
feature_descriptor_params = {"feature": feature_params, "descriptor": pipeline_params.get("descriptor", {})}
from object_recognition.tod import merge_dict
feature_descriptor_params = merge_dict(feature_descriptor_params, submethod)
# grab visualize if works.
visualize = getattr(args, "visualize", False)
return TODModelBuilder(
json_feature_descriptor_params=dict_to_cpp_json_str(feature_descriptor_params), visualize=visualize
)
def configure(self, p, _i, _o):
feature_params = self._parameters.get("feature", False)
if not feature_params:
raise RuntimeError("You must supply feature_descriptor parameters for TOD.")
# merge it with the subtype
feature_descriptor_params = { 'feature': feature_params, 'descriptor': self._parameters.get('descriptor', {}) }
from object_recognition.tod import merge_dict
feature_descriptor_params = merge_dict(feature_descriptor_params, self._submethod)
self.feature_descriptor = FeatureDescriptor(json_params=json_helper.dict_to_cpp_json_str(feature_descriptor_params))
self.descriptor_matcher = tod_detection.DescriptorMatcher("Matcher",
search_json_params=json_helper.dict_to_cpp_json_str(self._parameters['search']),
model_documents=self._model_documents)
self.message_cvt = ecto_ros.Mat2Image()
guess_params = self._parameters['guess'].copy()
guess_params['visualize'] = self._visualize
self.guess_generator = tod_detection.GuessGenerator("Guess Gen", **guess_params)
def incremental_model_builder(self, submethod, pipeline_params, args):
feature_params = pipeline_params.get("feature", False)
if not feature_params:
raise RuntimeError(
"You must supply feature_descriptor parameters for TOD.")
# merge it with the subtype
feature_descriptor_params = {
'feature': feature_params,
'descriptor': pipeline_params.get('descriptor', {})
}
from object_recognition.tod import merge_dict
feature_descriptor_params = merge_dict(feature_descriptor_params,
submethod)
#grab visualize if works.
visualize = getattr(args, 'visualize', False)
return TODModelBuilder(
json_feature_descriptor_params=dict_to_cpp_json_str(
feature_descriptor_params),
visualize=visualize)
