def parse_args():
import argparse
parser = argparse.ArgumentParser(description='Train MyAlgorithm on views from the database.')
parser.add_argument('objects', metavar='OBJECT', type=str, nargs='+',
help='Object ids to train.')
dbtools.add_db_options(parser)
args = parser.parse_args()
return args
def parse_args():
import argparse
parser = argparse.ArgumentParser(description='Train MyAlgorithm on views from the database.')
parser.add_argument('objects', metavar='OBJECT', type=str, nargs='*',
help='Object ids to train.')
parser.add_argument('--all', dest='compute_all', action='store_const',
const=True, default=False,
help='Compute meshes for all possible sessions.')
dbtools.add_db_options(parser)
args = parser.parse_args()
return args
def parse_args():
parser = argparse.ArgumentParser(description='''Uploads a bag, with an object description to the db.
''')
parser.add_argument('-i', '--input', metavar='BAG_FILE', dest='bag', type=str,
default='',
help='A bagfile to upload.')
parser.add_argument('-n', '--object_name', metavar='OBJECT_NAME', dest='object_name', type=str,
default='')
parser.add_argument('-d', '--description', metavar='DESCRIPTION', dest='description', type=str,
default='')
parser.add_argument('-a', '--author', metavar='AUTHOR_NAME', dest='author_name', type=str,
default='')
parser.add_argument('-e', '--email', metavar='EMAIL_ADDRESS', dest='author_email', type=str,
default='')
parser.add_argument('tags', metavar='TAGS', type=str, nargs='+',
help='Tags to add to object description.')
add_db_options(parser)
args = parser.parse_args()
if len(args.bag) < 1:
parser.print_help()
sys.exit(1)
return args
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
plasm.connect([bagreader['info'] >> bagwriter['info_rgb'],
bagreader['info'] >> bagwriter['info_depth'],
bagreader['rgb'] >> bagwriter['rgb'],
bagreader['depth'] >> pcd_msg2depth_msg['cloud'],
pcd_msg2depth_msg['image'] >> bagwriter['depth']
])
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()
return tmp_bag_path
if __name__ == '__main__':
ecto_ros.init(sys.argv, "ecto_node")
parser = ArgumentParser()
parser.add_argument('--folder', dest='folder', help='The Folder where all the NIST bags are located', required=True)
add_db_options(parser)
args = parser.parse_args()
# process all the bags in the folder
for file_name in os.listdir(args.folder):
if not file_name.endswith('.bag'):
continue
# persist the bad to the DB
object_index = int(file_name[7:9])
print '------- %s' % file_name
bag_path = convert_bag(args.folder, file_name)
print 'uploading file "%s"' % file_name
obj = models.Object(object_name=NIST_IDS[object_index],
