def ObjectDb(db_params):
"""
Returns the ObjectDb for the given db_params given as a dictionary
It crawls the object_recognition_core module or any other module
in order to find the ObjectDb you are looking for
:param db_params: ObjectDbParameters defining a DB, or json string or dict
"""
if (isinstance(db_params, ObjectDbParameters)):
db_params_raw = db_params.raw
object_db_params = db_params
elif (isinstance(db_params, str)):
db_params_raw = json.loads(db_params)
object_db_params = ObjectDbParameters(db_params)
else:
db_params_raw = db_params
object_db_params = ObjectDbParameters(db_params)
# check if it is a conventional DB from object_recognition_core
db_type = db_params_raw.get('type', None)
if db_type.lower() in core_db_types():
from object_recognition_core.boost.interface import ObjectDb as ObjectDbCpp
return ObjectDbCpp(object_db_params)
# otherwise, look for the possible modules for that DB type
module = db_params_raw.get('module', None)
if not module:
raise RuntimeError(
"The 'module' property is not set. It is required to find the DB object"
)
for db_factory in find_classes([module], [ObjectDbFactory]):
if db_factory.__name__ == db_type:
return db_factory.object_db(db_params_raw)
def declare_direct_params(p):
p.declare('markers_topic',
'The ROS topic to use for the marker array.', 'markers')
p.declare('pose_topic', 'The ROS topic to use for the pose array.',
'poses')
p.declare('object_ids_topic',
'The ROS topic to use for the object meta info string',
'object_ids')
p.declare('recognized_object_array_topic',
'The ROS topic to use for the recognized object',
'recognized_object_array')
p.declare('latched', 'Determines if the topics will be latched.', True)
p.declare('db_params', 'The DB parameters', ObjectDbParameters({}))
def declare_direct_params(p):
p.declare(
'do_visualize',
'If True some markers are displayed for visualization. '
'For RSO Groovy and above, use the RViz plugin instead.', False)
p.declare('markers_topic',
'The ROS topic to use for the marker array.', 'markers')
p.declare('pose_topic', 'The ROS topic to use for the pose array.',
'poses')
p.declare('object_ids_topic',
'The ROS topic to use for the object meta info string',
'object_ids')
p.declare('recognized_object_array_topic',
'The ROS topic to use for the recognized object',
'recognized_object_array')
p.declare('latched', 'Determines if the topics will be latched.', True)
p.declare('db_params', 'The DB parameters', ObjectDbParameters({}))
def args_to_db_params(args, secondary_parameters={}):
"""
Given command line parsed args, create an ObjectDbParameters object. The keys in args have to be:
'db_type', 'db_root', 'db_collection'
Any parameter that is not in the args will be taken from the dictionary secondary_parameters, where the keys are:
'type', 'url', 'collection'
"""
dic = {}
remap_dic = {
'db_type': 'type',
'db_root': 'root',
'db_collection': 'collection'
}
for args_key, secondary_key in remap_dic.iteritems():
if hasattr(args, args_key):
dic[secondary_key] = getattr(args, args_key)
if secondary_parameters.has_key(secondary_key):
dic[secondary_key] = secondary_parameters[secondary_key]
return ObjectDbParameters(dic)
def interpret_object_ids(db_params, ids=[], names=[]):
"""
Given db parameters, clean the 'object_ids' field to be a list of object ids
(as it could be the string 'all')
"""
db_type = eval(db_params).get('type', '')
if db_type.lower() not in core_db_types():
return []
# initialize the DB
if isinstance(ids, str) and ids != 'all' and ids != 'missing':
ids = eval(ids)
if isinstance(names, str) and names != 'all' and names != 'missing':
names = eval(names)
if not ids and not names:
return []
object_ids = set()
db = dbtools.db_params_to_db(ObjectDbParameters(db_params))
import models
if 'all' in (ids, names):
return set([str(x.id) for x in models.Object.all(db)
]) # unicode without the str()
if 'missing' in (ids, names):
tmp_object_ids = set([str(x.id) for x in models.Object.all(db)])
tmp_object_ids_from_names = set(
[str(x.object_id) for x in models.Model.all(db)])
object_ids.update(tmp_object_ids.difference(tmp_object_ids_from_names))
if ids and ids != 'missing':
object_ids.update(ids)
if names and names != 'missing':
for object_name in names:
object_ids.update(
[str(x.id) for x in models.objects_by_name(db, object_name)])
if isinstance(object_ids, set):
return list(object_ids)
else:
return []