def read_arguments(parser=None, argv=sys.argv):
"""
Returns:
params, pipeline_params, db_dict, db
params: all the pipeline parameters specified in the config file or command line
pipeline_params: an array of parameters for each pipeline
db_dict: the dictionary of the db parameters
db: a db object created from those parameters
"""
if parser is None:
parser = ObjectRecognitionParser()
parser.add_argument('-c', '--config_file', help='Config file')
parser.add_argument('--object_ids', help='If set, it overrides the list of object_ids in the config file')
parser.add_argument('--object_names', help='If set, it overrides the list of object names in the config file')
parser.add_argument('--visualize', help='If set, it will display some windows with temporary results',
default=False, action='store_true')
dbtools.add_db_options(parser)
try:
import ecto_ros
ecto_ros.strip_ros_args(argv)
except:
pass
if '--help' in sys.argv or '-h' in sys.argv:
args = parser.parse_args()
else:
args = parser.parse_args()#args=argv)
# define the input
if args.config_file is None or not os.path.exists(args.config_file):
print >>sys.stderr, "The option file does not exist. --help for usage."
sys.exit(-1)
params = yaml.load(open(args.config_file))
# read some parameters
db_params = args_to_db_params(args, params.get('db', {}))
# initialize the DB
db = dbtools.db_params_to_db(db_params)
# read the object_ids
object_ids = set()
for obj in (args.__dict__, params):
ids = obj.get('object_ids', None)
names = obj.get('object_names', None)
if 'all' in (ids, names):
object_ids = set([ str(x.id) for x in models.Object.all(db) ]) #unicode without the str()
break
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[1:-1].split(','))
if names and names != 'missing':
for object_name in names[1:-1].split(','):
object_ids.update([str(x.id) for x in models.objects_by_name(db, object_name)])
# if we got some ids through the command line, just stop here
if object_ids:
break
object_ids = list(object_ids)
params['object_ids'] = object_ids
pipeline_params = []
for key , value in params.iteritems():
if key.startswith('pipeline'):
pipeline_params.append(value)
args = vars(args)
return params, args, pipeline_params, args['visualize'], db_params
def read_arguments(parser=None, argv=sys.argv):
"""
Returns:
params, pipeline_params, db_dict, db
params: all the pipeline parameters specified in the config file or command line
pipeline_params: an array of parameters for each pipeline
db_dict: the dictionary of the db parameters
db: a db object created from those parameters
"""
if parser is None:
parser = ObjectRecognitionParser()
parser.add_argument('-c', '--config_file', help='Config file')
parser.add_argument(
'--object_ids',
help='If set, it overrides the list of object_ids in the config file')
parser.add_argument(
'--object_names',
help='If set, it overrides the list of object names in the config file'
)
parser.add_argument(
'--visualize',
help='If set, it will display some windows with temporary results',
default=False,
action='store_true')
dbtools.add_db_options(parser)
try:
import ecto_ros
ecto_ros.strip_ros_args(argv)
except:
pass
if '--help' in sys.argv or '-h' in sys.argv:
args = parser.parse_args()
else:
args = parser.parse_args() #args=argv)
# define the input
if args.config_file is None or not os.path.exists(args.config_file):
print >> sys.stderr, "The option file does not exist. --help for usage."
sys.exit(-1)
params = yaml.load(open(args.config_file))
# read some parameters
db_params = args_to_db_params(args, params.get('db', {}))
# initialize the DB
db = dbtools.db_params_to_db(db_params)
# read the object_ids
object_ids = set()
for obj in (args.__dict__, params):
ids = obj.get('object_ids', None)
names = obj.get('object_names', None)
if 'all' in (ids, names):
object_ids = set([str(x.id) for x in models.Object.all(db)
]) #unicode without the str()
break
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[1:-1].split(','))
if names and names != 'missing':
for object_name in names[1:-1].split(','):
object_ids.update([
str(x.id) for x in models.objects_by_name(db, object_name)
])
# if we got some ids through the command line, just stop here
if object_ids:
break
object_ids = list(object_ids)
params['object_ids'] = object_ids
pipeline_params = []
for key, value in params.iteritems():
if key.startswith('pipeline'):
pipeline_params.append(value)
args = vars(args)
return params, args, pipeline_params, args['visualize'], db_params
#!/usr/bin/env python
import ecto
from ecto_object_recognition import capture
from object_recognition.tod.trainer import TODTrainingPipeline
from object_recognition.common.utils.parser import ObjectRecognitionParser
T = TODTrainingPipeline()
parser = ObjectRecognitionParser()
args = parser.parse_args()
submethod = {'descriptor': {'type': 'ORB'}}
parameters = {'feature': {'type': 'ORB'}}
T.incremental_model_builder(submethod, parameters, args)
T.post_processor(submethod, {'search': {'type': 'LSH'}}, args)
#!/usr/bin/env python
import ecto
from ecto_object_recognition import capture
from object_recognition.tod.trainer import TODTrainingPipeline
from object_recognition.common.utils.parser import ObjectRecognitionParser
T = TODTrainingPipeline()
parser = ObjectRecognitionParser()
args = parser.parse_args()
submethod = {'descriptor': {'type':'ORB'}}
parameters = {'feature': {'type': 'ORB'}}
T.incremental_model_builder(submethod, parameters, args)
T.post_processor(submethod, {'search': {'type': 'LSH'}}, args)
