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("bofKMeansTrainProcess");
dbrec3d_batch.set_input_string(0, job.bof_path);
dbrec3d_batch.set_input_string(1, job.starting_means_path);
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.set_input_unsigned(6, job.max_it);
dbrec3d_batch.set_input_string(7, 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_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("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("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 __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.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();
print ("Total running time: ");
print(time.time() - start_time);
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;
print("Convert to regular grid");
dbrec3d_batch.init_process("boxmSceneToBvxmGridProcess");
dbrec3d_batch.set_input_from_db(0,response_scene);
dbrec3d_batch.set_input_string(1, model_dir + "/dbrec3d_response.vox");
dbrec3d_batch.set_input_unsigned(2, resolution);
dbrec3d_batch.set_input_bool(3, enforce_level);
dbrec3d_batch.run_process();
(grid_id, grid_type) = dbrec3d_batch.commit_output(0);
grid = dbvalue(grid_id, grid_type);
print("Save Grid");
dbrec3d_batch.init_process("bvxmSaveGridRawProcess");
dbrec3d_batch.set_input_from_db(0,grid);
dbrec3d_batch.set_input_string(1,model_dir + "/dbrec3d_response.raw");
dbrec3d_batch.run_process();
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 +"/")
#
# current_job = bof_job(bof_dir, codebook , scene_id, histogram_path);
print "Invalid CM Dir"
sys.exit(-1);
FM_path = init_k_means_dir + "/FM";
if not os.path.isdir(FM_path +"/"):
os.mkdir(FM_path +"/");
CM_files = glob.glob1(CM_path, 'CM*');
num_mean_files = len(CM_files);
#Combine all CM_i means into one set CM to be passed for k-means
mean_file_sfx = CM_path + "/CM_" ;
dbrec3d_batch.init_process("bofCombineMeansProcess");
dbrec3d_batch.set_input_string(0, mean_file_sfx);
dbrec3d_batch.set_input_unsigned(1, num_mean_files);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
CM_set= dbvalue(id, type);
#Begin multiprocessing
job_list=[];
#Enqueue jobs
for CM_file in CM_files:
cm_file = CM_path + "/" + CM_file;
fm_file = FM_path + "/FM" + CM_file.strip('CM');
current_job = bof_job(cm_file, CM_set, max_it, fm_file);
job_list.append(current_job);
if not os.path.isdir(k_means_dir +"/"):
print "Invalid k_means Dir"
sys.exit(-1);
FM_path = k_means_dir + "/FM";
if not os.path.isdir(FM_path +"/"):
os.mkdir(FM_path +"/");
start_time = time.time();
#Combine all CM_i means into one set CM to be passed for k-means
mean_file_sfx = k_means_dir + "/class" ;
dbrec3d_batch.init_process("bof_combine_category_means_process");
dbrec3d_batch.set_input_string(0, mean_file_sfx);
dbrec3d_batch.set_input_unsigned(1, nclasses);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
CM_set= dbvalue(id, type);
saveout = sys.stdout # save initial state of stdout
#Begin multiprocessing
job_list=[];
#Enqueue jobs
for class_id in range (0, nclasses):
cm_file = mean_file_sfx + str(class_id) + "/lowest_sse_means.txt";
fm_file = FM_path + "/FM_means_class" + str(class_id) + ".txt";
current_job = bof_job(cm_file, CM_set, max_it, fm_file);
job_list.append(current_job);
#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);
# convert_id_to_rgbcloud.py
# voxels-at-lems
#
# Created by Maria Isabel Restrepo on 11/15/11.
# Copyright (c) 2011 Brown University. All rights reserved.
import dbrec3d_batch;
import os;
import optparse;
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#Run k-means
pcl_dir = "/Users/isa/Experiments/pcl/tests"
id_pcd_file = pcl_dir + "/means_50_scili/class_id.pcd"
rgb_pcd_file = pcl_dir + "/means_50_scili/class_id_rgb.pcd"
nmeans = 50;
dbrec3d_batch.init_process("pcl_convert_id_to_rgb_process");
dbrec3d_batch.set_input_string(0, id_pcd_file);
dbrec3d_batch.set_input_string(1, rgb_pcd_file);
dbrec3d_batch.set_input_unsigned(2, nmeans);
dbrec3d_batch.run_process();
dbrec3d_batch.init_process("bofLoadCategoryInfoProces");
dbrec3d_batch.set_input_string(0, bof_dir);
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);
parser = optparse.OptionParser(description="Init BOF info")
parser.add_option("--taylor_dir", action="store", dest="taylor_dir")
parser.add_option("--bof_dir", action="store", dest="bof_dir")
parser.add_option("--num_means", action="store", dest="num_means", type="int", default=50)
options, args = parser.parse_args()
taylor_dir = options.taylor_dir
bof_dir = options.bof_dir
num_means = options.num_means
if not os.path.isdir(taylor_dir + "/"):
print "Invalid taylor Dir"
sys.exit(-1)
if not os.path.isdir(bof_dir + "/"):
os.mkdir(bof_dir + "/")
start_time = time.time()
dbrec3d_batch.init_process("bofInitInfoFileProcess")
dbrec3d_batch.set_input_string(0, taylor_dir)
dbrec3d_batch.set_input_unsigned(1, num_means)
dbrec3d_batch.set_input_string(2, bof_dir)
dbrec3d_batch.run_process()
print ("Total running time: ")
print (time.time() - start_time)
