Sink.add_arguments(parser)
params, args, pipeline_params, do_display, db_params, db = read_arguments(parser, argv[1:])
model_ids = []
object_ids = set()
for object_id in params['object_ids']:
for model_id in models.find_model_for_object(db, object_id, 'MMOD'):
model_ids.append(str(model_id))
object_ids.add(object_id)
model_documents = DbDocuments(db_params, model_ids)
# TODO handle this properly...
ecto_ros.init(argv, "mmod_testing", False)#not anonymous.
source = Source.parse_arguments(params['source'])
sink = Sink.parse_arguments(args, db, db_params, object_ids)
#hook up the tester
mmod_tester = MModTester(thresh_match=0.93,color_filter_thresh=0.8,skip_x=8,skip_y=8, model_documents=model_documents)
# Connect the detector to the source
pyr_img = mmod.Pyramid(n_levels=3)
pyr_depth = mmod.Pyramid(n_levels=3)
for key in source.outputs.iterkeys():
if key in mmod_tester.inputs.keys():
if key == 'image':
plasm.connect([ source[key] >> pyr_img['image'],
pyr_img['level_' + str(N_LEVEL_MAX-1)] >> mmod_tester[key] ])
from object_recognition.common.filters.masker import Masker
from object_recognition.common.io.sink import Sink
from object_recognition.common.io.source import Source
from object_recognition.tod.detector import TodDetector
DEBUG = False
DISPLAY = True
PoseArrayPub = ecto_geometry_msgs.Publisher_PoseArray
########################################################################################################################
if __name__ == '__main__':
plasm = ecto.Plasm()
source = Source(plasm)
masker = Masker(plasm)
sink = Sink(plasm)
parser = ArgumentParser()
# add arguments for the source
source.add_arguments(parser)
# add arguments for the sink
sink.add_arguments(parser)
parser.add_argument("-b", "--bag", dest="bag", help="The bag to analyze")
parser.add_argument("-c", "--config_file", dest="config_file",
help='the file containing the configuration as JSON. It should contain the following fields.\n'
'"feature_descriptor": with parameters for "combination", "feature" and "descriptor".\n'
'"db": parameters about the db: "type", "url".\n'
#!/usr/bin/env python
from object_recognition.common.io.source import _assert_source_interface
from object_recognition.common.io.source import Source
import argparse
parser = argparse.ArgumentParser(description='An source reader.')
Source.add_arguments(parser)
parser.print_help()
#test default args
args = parser.parse_args()
source = Source.parse_arguments(args)
_assert_source_interface(source)
print source.__class__.__name__
#assert 'KinectReader' == source.__class__.__name__
#test a bad bag
args = parser.parse_args(['--ros_bag','non_existant.bag'])
try:
source = Source.parse_arguments(args)
except RuntimeError,e:
print str(e)
assert 'non_existant.bag does not exist.' in str(e)
#test an existing bag
with open('a_test.bag','w') as f:
f.write('\ntest\n')
args = parser.parse_args(['--ros_bag','a_test.bag'])
#note that the bag hasn't been opened here.
params, args, pipeline_params, do_display, db_params, db = read_arguments(
parser, argv[1:])
model_ids = []
object_ids = set()
for object_id in params['object_ids']:
for model_id in models.find_model_for_object(db, object_id, 'MMOD'):
model_ids.append(str(model_id))
object_ids.add(object_id)
model_documents = DbDocuments(db_params, model_ids)
# TODO handle this properly...
ecto_ros.init(argv, "mmod_testing", False) #not anonymous.
source = Source.parse_arguments(params['source'])
sink = Sink.parse_arguments(args, db, db_params, object_ids)
#hook up the tester
mmod_tester = MModTester(thresh_match=0.93,
color_filter_thresh=0.8,
skip_x=8,
skip_y=8,
model_documents=model_documents)
# Connect the detector to the source
pyr_img = mmod.Pyramid(n_levels=3)
pyr_depth = mmod.Pyramid(n_levels=3)
for key in source.outputs.iterkeys():
if key in mmod_tester.inputs.keys():
def source(self, source_params):
return Source.parse_arguments(source_params)
def source(self, source_params):
return Source.parse_arguments(source_params)
