data_dir = "/Volumes/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world" print("Load Voxel World") bvpl_batch.init_process("bvxmLoadGridProcess") bvpl_batch.set_input_string(0, data_dir + "/ocp_cropped.vox") bvpl_batch.set_input_string(1, "float") bvpl_batch.run_process() (world_id, world_type) = bvpl_batch.commit_output(0) world = dbvalue(world_id, world_type) print("Creating 3D edge kernel") bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess") bvpl_batch.set_input_unsigned(0, 3) bvpl_batch.set_input_unsigned(1, 3) bvpl_batch.set_input_unsigned(2, 3) bvpl_batch.run_process() (kernel_id, kernel_type) = bvpl_batch.commit_output(0) kernel_vector = dbvalue(kernel_id, kernel_type) print("Running Operator") bvpl_batch.init_process("bvplNeighborhoodOperatorProcess") bvpl_batch.set_input_from_db(0, world) bvpl_batch.set_input_from_db(1, kernel) bvpl_batch.set_input_string(2, "float") bvpl_batch.set_input_string(3, "edge_algebraic_mean") bvpl_batch.set_input_string(4, data_dir + "/edge_alge_100.vox") bvpl_batch.run_process() (result_x_world_id, result_x_world_type) = bvpl_batch.commit_output(0)
self.type = type # string data_dir = "/Volumes/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world" param_dir = "/Projects/lemsvxl/src/contrib/isabel/params" #first creat an empty world. print("Load Voxel World"); bvpl_batch.init_process("bvxmLoadGridProcess"); bvpl_batch.set_input_string(0, data_dir +"/ocp_cropped.vox"); bvpl_batch.set_input_string(1,"float"); bvpl_batch.run_process(); (world_id,world_type)= bvpl_batch.commit_output(0); world = dbvalue(world_id,world_type); print("Creating 3D edge kernel"); bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess"); bvpl_batch.set_input_unsigned(0, 5); #width bvpl_batch.set_input_unsigned(1, 5); #height bvpl_batch.set_input_unsigned(2, 5); #length bvpl_batch.run_process(); (kernel_id,kernel_type)= bvpl_batch.commit_output(0); kernel_vector = dbvalue(kernel_id,kernel_type); print("Running Operator"); bvpl_batch.init_process("bvplVectorOperatorProcess"); bvpl_batch.set_input_from_db(0,world ); bvpl_batch.set_input_from_db(1,kernel_vector); bvpl_batch.set_input_string(2,"float"); bvpl_batch.set_input_string(3,"edge_algebraic_mean"); bvpl_batch.set_input_string(4, data_dir + "/edge3d_alge.vox"); bvpl_batch.set_input_string(5, data_dir + "/edge3d_alge_orientations.vox"); bvpl_batch.run_process();
# first creat an empty world. world_dir = "D:/tests/lidar_edge_reg/" cwd_dir = "D:/tests/lidar_edge_reg/" print("Load Voxel World") bvpl_batch.init_process("bvxmLoadGridProcess") bvpl_batch.set_input_string(0, world_dir + "ocp_opinion_bin_0_scale_0.vox") bvpl_batch.set_input_string(1, "ocp_opinion") bvpl_batch.run_process() (world_id, world_type) = bvpl_batch.commit_output(0) world = dbvalue(world_id, world_type) print("Creating 3D edge kernel") bvpl_batch.init_process("bvplCreateEdge3dKernelVectorProcess") bvpl_batch.set_input_unsigned(0, 2) bvpl_batch.set_input_unsigned(1, 5) bvpl_batch.set_input_unsigned(2, 5) bvpl_batch.run_process() (kernel_id, kernel_type) = bvpl_batch.commit_output(0) kernel = dbvalue(kernel_id, kernel_type) print("Running Operator") bvpl_batch.init_process("bvplVectorOperatorProcess") bvpl_batch.set_input_from_db(0, world) bvpl_batch.set_input_from_db(1, kernel) bvpl_batch.set_input_string(2, "opinion") bvpl_batch.set_input_string(3, "edge_algebraic_mean") bvpl_batch.set_input_string(4, cwd_dir + "response.vox") bvpl_batch.set_input_string(5, cwd_dir + "id_orientation.vox") bvpl_batch.run_process()
save_hue = 1; data_dir = "/Users/isa/Experiments/CapitolSiteHigh_sfm/few_windows" output_dir = "/Users/isa/Experiments/CapitolSiteHigh_sfm/few_windows/corner2d_coexist/0+45-360_plane_010_scale_331" print("Load Voxel Grid"); bvpl_batch.init_process("bvxmLoadGridProcess"); bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox"); bvpl_batch.set_input_string(1,"bsta_gauss_f1"); bvpl_batch.run_process(); (world_id,world_type)= bvpl_batch.commit_output(0); world = dbvalue(world_id,world_type); print("Creating corner 2d kernel"); bvpl_batch.init_process("bvplCreateCorner2dKernelVectorProcess"); bvpl_batch.set_input_unsigned(0, 3); #half length bvpl_batch.set_input_unsigned(1, 3); #half width bvpl_batch.set_input_unsigned(2, 1); #half thickness bvpl_batch.run_process(); (kernel_id,kernel_type)= bvpl_batch.commit_output(0); kernel_vector = dbvalue(kernel_id,kernel_type); print("Running Kernels"); bvpl_batch.init_process("bvplSuppressAndCombineProcess"); bvpl_batch.set_input_from_db(0,world ); bvpl_batch.set_input_from_db(1,kernel_vector); bvpl_batch.set_input_string(2,"bsta_gauss_f1"); bvpl_batch.set_input_string(3,"gauss_convolution"); bvpl_batch.set_input_string(4, output_dir + "/KL_gaussf1_response.vox"); bvpl_batch.set_input_string(5, output_dir + "/KL_gaussf1_id.vox");
# Script to run find 2d corners on appearance grid # Author : Isabel Restrepo #8-31-2009 import bvpl_batch import time #time.sleep(30); bvpl_batch.register_processes(); bvpl_batch.register_datatypes(); class dbvalue: def __init__(self, index, type): self.id = index # unsigned integer self.type = type # string find_corners = 1; pair_corners = 1; save_corners_vrml = 1; save_hue = 0; data_dir = "/Users/isa/Experiments/CapitolSFM/few_windows" output_dir = "/Users/isa/Experiments/CapitolSFM/few_windows/ocp+app/main_corners_331" directions = "main_corners" if (find_corners): print("Load Voxel Grid"); bvpl_batch.init_process("bvxmLoadGridProcess"); bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox"); bvpl_batch.set_input_string(1,"bsta_gauss_f1"); bvpl_batch.run_process(); (world_id,world_type)= bvpl_batch.commit_output(0); app_grid = dbvalue(world_id,world_type);
# Script to run find 2d corners on appearance grid # Author : Isabel Restrepo #8-31-2009 import bvpl_batch import time import os import sys #time.sleep(30); bvpl_batch.register_processes(); bvpl_batch.register_datatypes(); class dbvalue: def __init__(self, index, type): self.id = index # unsigned integer self.type = type # string find_corners = 1; load_corners = 0; pair_corners = 1; save_corners_vrml = 0; save_pairs_vrml = 0; save_centers_vrml = 0; corner_length = 3; corner_width = 3; corner_thickness =1; data_dir = sys.argv[1]; output_dir = sys.argv[2]; directions = sys.argv[3]; num_corners = int(sys.argv[4]); print("Data Dir"); print data_dir;
print("Writing Orientation Grid"); bvpl_batch.init_process("bvxmSaveRGBAGridVrmlProcess"); bvpl_batch.set_input_from_db(0,centers_hue_grid); bvpl_batch.set_input_float(1,0.0); bvpl_batch.set_input_string(2,output_dir + "/all_centers.wrl"); bvpl_batch.run_process(); if save_pairs_vrml : hue = 0.0; print("Visualize pairs"); bvpl_batch.init_process("bvplVisualizeCornerPairsProcess"); bvpl_batch.set_input_from_db(0,pairs ); bvpl_batch.set_input_unsigned(1,0); bvpl_batch.set_input_string(2,output_dir + "/all_lines.wrl"); bvpl_batch.set_input_bool(3, 1); bvpl_batch.set_input_float(4, hue); bvpl_batch.run_process(); hue = hue + 1.0/float(num_corners); for i in range(1,int(num_corners),1): print(i); print("Visualize pairs"); bvpl_batch.init_process("bvplVisualizeCornerPairsProcess"); bvpl_batch.set_input_from_db(0,pairs ); bvpl_batch.set_input_unsigned(1,i);
self.type = type # string data_dir = "/Volumes/Experiments/object_recognition/bvpl/CapitolSiteHigh/cropped_world" param_dir = "/Projects/lemsvxl/src/contrib/isabel/params" #first creat an empty world. print("Load Voxel World"); bvpl_batch.init_process("bvxmLoadGridProcess"); bvpl_batch.set_input_string(0, data_dir +"/ocp_cropped.vox"); bvpl_batch.set_input_string(1,"float"); bvpl_batch.run_process(); (world_id,world_type)= bvpl_batch.commit_output(0); world = dbvalue(world_id,world_type); print("Creating 2D edge kernel"); bvpl_batch.init_process("bvplCreateEdge2dKernelVectorProcess"); bvpl_batch.set_input_unsigned(0, 5); bvpl_batch.set_input_unsigned(1, 5); bvpl_batch.run_process(); (kernel_id,kernel_type)= bvpl_batch.commit_output(0); kernel_vector = dbvalue(kernel_id,kernel_type); print("Running Operator"); bvpl_batch.init_process("bvplVectorOperatorProcess"); bvpl_batch.set_input_from_db(0,world ); bvpl_batch.set_input_from_db(1,kernel_vector); bvpl_batch.set_input_string(2,"float"); bvpl_batch.set_input_string(3,"edge2d"); bvpl_batch.set_input_string(4, data_dir + "/edge2d_all.vox"); bvpl_batch.set_input_string(5, data_dir + "/edge2d_all_orientations.vox"); bvpl_batch.run_process(); (response_grid_id,response_grid_type)= bvpl_batch.commit_output(0);
if not os.path.isdir( output_dir + "/"): os.mkdir( output_dir + "/"); if (find_corners): print("Load Voxel Grid"); bvpl_batch.init_process("bvxmLoadGridProcess"); bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox"); bvpl_batch.set_input_string(1,"bsta_gauss_f1"); bvpl_batch.run_process(); (world_id,world_type)= bvpl_batch.commit_output(0); app_grid = dbvalue(world_id,world_type); print("Creating corner 2d kernel"); bvpl_batch.init_process("bvplCreateCorner2dKernelVectorProcess"); bvpl_batch.set_input_unsigned(0, corner_length); #half length bvpl_batch.set_input_unsigned(1, corner_width); #half width bvpl_batch.set_input_unsigned(2, corner_thickness); #half thickness bvpl_batch.set_input_string(3, directions); bvpl_batch.run_process(); (kernel_id,kernel_type)= bvpl_batch.commit_output(0); corners_kernel_vector = dbvalue(kernel_id,kernel_type); print("Running Kernels"); bvpl_batch.init_process("bvplSuppressAndCombineProcess"); bvpl_batch.set_input_from_db(0,app_grid ); bvpl_batch.set_input_from_db(1,corners_kernel_vector); bvpl_batch.set_input_string(2,"bsta_gauss_f1"); bvpl_batch.set_input_string(3,"negative_gauss_convolution"); bvpl_batch.set_input_string(4, output_dir + "/KL_gaussf1_response.vox"); bvpl_batch.set_input_string(5, output_dir + "/KL_gaussf1_id.vox");
#!/usr/bin/python # Script to run find 2d corners on appearance grid # Author : Isabel Restrepo #8-31-2009 import bvpl_batch import time import sys import os #time.sleep(30); bvpl_batch.register_processes(); bvpl_batch.register_datatypes(); class dbvalue: def __init__(self, index, type): self.id = index # unsigned integer self.type = type # string save_hue = 0; #data_dir = "/Users/isa/Experiments/CapitolSFM/few_windows" #output_dir = "/Users/isa/Experiments/CapitolSFM/few_windows/ocp+app/all_directions" data_dir = sys.argv[1]; output_dir = sys.argv[2]; if not os.path.isdir( output_dir + "/"): os.mkdir( output_dir + "/"); print("Load Voxel Grid"); bvpl_batch.init_process("bvxmLoadGridProcess"); bvpl_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox"); bvpl_batch.set_input_string(1,"bsta_gauss_f1"); bvpl_batch.run_process(); (world_id,world_type)= bvpl_batch.commit_output(0); app_grid = dbvalue(world_id,world_type);