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");
# file_in = str(job.pcl_dir) + "/object_" + str(job.object_id) + ".pcd";
# file_out = str(job.pcl_dir) + "/fpfh_object_" + str(job.object_id) + ".pcd";
# file_in = str(job.pcl_dir) + "/boxm_scili.pcd";
# file_out = str(job.pcl_dir) + "/fpfh_boxm_scili.pcd";
# file_in="/Projects/pcl_dev/pcl/trunk/test/bun0.pcd"
file_in = str(job.pcl_dir) + "/mesh_0.ply";
file_out = str(job.pcl_dir) + "/spin_mesh_0.pcd";
dbrec3d_batch.init_process("pcl_compute_spin_image_process");
dbrec3d_batch.set_input_string(0, file_in);
dbrec3d_batch.set_input_double(1, job.radius);
dbrec3d_batch.set_input_int(2, job.width);
dbrec3d_batch.set_input_double(3, job.sup_angle);
dbrec3d_batch.set_input_int(4, job.num_neighbors);
dbrec3d_batch.set_input_bool(5, job.radial);
dbrec3d_batch.set_input_bool(6, job.angular);
dbrec3d_batch.set_input_string(7, 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();
time.sleep(10);
#dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
dbrec3d_batch.init_process("bofMakeClusterIdSceneProcess");
dbrec3d_batch.set_input_string(0, job.bof_path);
dbrec3d_batch.set_input_from_db(1, job.codebook);
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.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();
print("Save Scene");
dbrec3d_batch.init_process("bofSaveCategorySceneRawProcess");
dbrec3d_batch.set_input_string(0,job.bof_dir);
dbrec3d_batch.set_input_int(1, job.scene_id);
dbrec3d_batch.run_process();
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("bofLearnCategoriesProcess");
dbrec3d_batch.set_input_from_db(0, job.codebook);
dbrec3d_batch.set_input_int(1, job.scene_id);
dbrec3d_batch.set_input_string(2, job.bof_dir);
dbrec3d_batch.set_input_string(3, job.path_out);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
dbrec3d_batch.reset_stdout();
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_categories_salient_process")
dbrec3d_batch.set_input_from_db(0, job.codebook)
dbrec3d_batch.set_input_int(1, job.scene_id)
dbrec3d_batch.set_input_float(2, job.top_p)
dbrec3d_batch.set_input_from_db(3, job.categories)
dbrec3d_batch.set_input_string(4, job.path_out)
dbrec3d_batch.run_process()
dbrec3d_batch.clear()
dbrec3d_batch.reset_stdout()
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("bofClassifyProcess");
dbrec3d_batch.set_input_from_db(0, job.codebook);
dbrec3d_batch.set_input_from_db(1, job.p_xc);
dbrec3d_batch.set_input_int(2, job.scene_id);
dbrec3d_batch.set_input_string(3, job.bof_dir);
dbrec3d_batch.set_input_string(4, job.path_out);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
dbrec3d_batch.reset_stdout();
print ("Runing time for worker:", self.name)
print(time.time() - start_time);
min_y = -30;
max_y = 30;
min_z = -15;
max_z = 15;
axes_x=[-1.0,0.0,0.0];
axes_y=[0.0,-1.0,0.0];
axes_z=[0.0,0.0,-1.0];
angle = 0.0;
axis_x = axes_x[0];
axis_y = axes_y[0];
axis_z = axes_z[0];
print("Creating 3D edge kernel");
dbrec3d_batch.init_process("bvplCreateEdge3dKernelProcess");
dbrec3d_batch.set_input_int(0,min_x);
dbrec3d_batch.set_input_int(1,max_x);
dbrec3d_batch.set_input_int(2,min_y);
dbrec3d_batch.set_input_int(3,max_y);
dbrec3d_batch.set_input_int(4,min_z);
dbrec3d_batch.set_input_int(5,max_z);
dbrec3d_batch.set_input_float(6,axis_x);
dbrec3d_batch.set_input_float(7,axis_y);
dbrec3d_batch.set_input_float(8,axis_z);
dbrec3d_batch.set_input_float(9,angle);
dbrec3d_batch.run_process();
(kernel_id,kernel_type)= dbrec3d_batch.commit_output(0);
kernel = dbvalue(kernel_id,kernel_type);
#Parse inputs
parser = optparse.OptionParser(description='bof Statistics Pass 0');
parser.add_option('--bof_dir', action="store", dest="bof_dir");
parser.add_option('--init_k_means_dir', action="store", dest="init_k_means_dir");
parser.add_option('--num_means', action="store", dest="num_means", type="int", default =50)
options, args = parser.parse_args()
bof_dir = options.bof_dir;
num_means = options.num_means;
init_k_means_dir = options.init_k_means_dir;
if not os.path.isdir(bof_dir +"/"):
print "Invalid bof Dir"
sys.exit(-1);
if not os.path.isdir(init_k_means_dir +"/"):
os.mkdir(init_k_means_dir +"/");
dbrec3d_batch.init_process("bofRndMeansProcess");
dbrec3d_batch.set_input_string(0,bof_dir);
dbrec3d_batch.set_input_int(1,num_means);
dbrec3d_batch.set_input_string(2, init_k_means_dir + "/sp_means.txt");
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
dbrec3d_batch.run_process();
dbrec3d_batch.print_db();
#Parameters to group edge "0" and "1"
mean_x = 2.0; mean_y = 0; mean_z = 2.0;
var = 3;
xmin=-5; ymin=-1; zmin=-7;
xmax=0; ymax=1; zmax=0;
print("Composing pairs");
id_0 = 0; id_1=1;
print(str(id_0));
print(str(id_1));
dbrec3d_batch.init_process("dbrec3dFindPairsProcess");
dbrec3d_batch.set_input_int(0, id_0);
dbrec3d_batch.set_input_int(1, id_1);
dbrec3d_batch.set_input_double(2,mean_x);
dbrec3d_batch.set_input_double(3,mean_y);
dbrec3d_batch.set_input_double(4,mean_z);
dbrec3d_batch.set_input_double(5,var);
dbrec3d_batch.set_input_double(6,var);
dbrec3d_batch.set_input_double(7,var);
dbrec3d_batch.set_input_int(8,xmin);
dbrec3d_batch.set_input_int(9,ymin);
dbrec3d_batch.set_input_int(10,zmin);
dbrec3d_batch.set_input_int(11,xmax);
dbrec3d_batch.set_input_int(12,ymax);
dbrec3d_batch.set_input_int(13,zmax);
dbrec3d_batch.set_input_string(14, pair_scene_dir);
dbrec3d_batch.run_process();
pair_scene_dir = "/Users/isa/Experiments/tests/edges_pairs/0_1_pair";
if not os.path.isdir( pair_scene_dir + "/"):
os.mkdir( pair_scene_dir + "/");
#Compose pairs
print("Loading Parts and Contexts");
dbrec3d_batch.init_process("dbrec3dXmlParseProcess");
dbrec3d_batch.set_input_string(0, pair_scene_dir + "/hierarchy.xml");
dbrec3d_batch.set_input_string(1, pair_scene_dir + "/contexts.xml");
dbrec3d_batch.run_process();
dbrec3d_batch.print_db();
print("Save VRML");
dbrec3d_batch.init_process("dbrec3dSaveVrmlProcess");
dbrec3d_batch.set_input_int(0,4);
dbrec3d_batch.set_input_string(1,pair_scene_dir + "/edges_01.wrl");
dbrec3d_batch.set_input_double(2, 0.13);
dbrec3d_batch.set_input_double(3, -0.08);
dbrec3d_batch.set_input_double(4, 0);
dbrec3d_batch.set_input_double(5, -0.08);
dbrec3d_batch.set_input_double(6, -0.03);
dbrec3d_batch.set_input_double(7, 0.05);
dbrec3d_batch.run_process();
print("Save Parts and Contexts");
dbrec3d_batch.init_process("dbrec3dXmlWriteProcess");
dbrec3d_batch.set_input_string(0, pair_scene_dir + "/hierarchy2.xml");
dbrec3d_batch.set_input_string(1, pair_scene_dir + "/contexts2.xml");
dbrec3d_batch.run_process();
