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 = str(job.pcl_dir) + "/mesh_0.ply";
file_out = str(job.pcl_dir) + "/fpfh_mesh_0.pcd";
dbrec3d_batch.init_process("pcl_compute_fphf_process");
dbrec3d_batch.set_input_string(0, file_in);
dbrec3d_batch.set_input_double(1, job.radius);
dbrec3d_batch.set_input_string(2, 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("bof_learn_category_codebook_salient_process");
dbrec3d_batch.set_input_from_db(0,job.categories);
dbrec3d_batch.set_input_unsigned(1, job.class_id);
dbrec3d_batch.set_input_unsigned(2, job.num_means);
dbrec3d_batch.set_input_double(3, job.fraction);
dbrec3d_batch.set_input_unsigned(4, job.J);
dbrec3d_batch.set_input_unsigned(5, job.max_it);
dbrec3d_batch.set_input_float(6, job.top_p);
dbrec3d_batch.set_input_string(7, job.class_mean_dir);
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("bofKMeansOnVectorProcess");
dbrec3d_batch.set_input_string(0, job.cm_i_file);
dbrec3d_batch.set_input_from_db(1, job.CM_set);
dbrec3d_batch.set_input_unsigned(2, job.max_it);
dbrec3d_batch.set_input_string(3, job.fm_i_file);
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();
dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
dbrec3d_batch.init_process("bof_sample_statistics_process");
dbrec3d_batch.set_input_from_db(0,job.categories);
dbrec3d_batch.set_input_from_db(1,job.global_pca);
dbrec3d_batch.set_input_unsigned(2, job.scene_id);
dbrec3d_batch.set_input_string(3, 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();
#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();
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
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
start_time = time.time();
dbrec3d_batch.set_stdout('logs/log_' + str(os.getpid())+ ".txt");
dbrec3d_batch.init_process("bofKMeansSubsampleProcess");
dbrec3d_batch.set_input_string(0, job.bof_path);
dbrec3d_batch.set_input_string(1, job.starting_means_path);
dbrec3d_batch.set_input_double(2, job.fraction);
dbrec3d_batch.set_input_unsigned(3, job.max_it);
dbrec3d_batch.set_input_string(4, 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();
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();
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);
import dbrec3d_batch;
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
model_dir ="/Users/isa/Experiments/CapitolBOXM";
print("Creating a Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, model_dir +"/apm_scene.xml");
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
mog_scene = dbvalue(scene_id, scene_type);
print("*************************************");
print("Save Scene");
dbrec3d_batch.init_process("boxmSaveOccupancyRawProcess");
dbrec3d_batch.set_input_from_db(0,mog_scene);
dbrec3d_batch.set_input_string(1,model_dir + "/gauss_scene");
dbrec3d_batch.set_input_unsigned(2,0);
dbrec3d_batch.set_input_unsigned(3,0);
dbrec3d_batch.run_process();
#print("Merging the scene");
#
# print ply_files
#
# for file in ply_files:
#
# dbrec3d_batch.init_process("bofScalePLYProcess");
# dbrec3d_batch.set_input_string(0,ply_path_in + '/' + file);
# dbrec3d_batch.set_input_string(1,ply_path_out + '/' + file);
# dbrec3d_batch.set_input_double(2,scale);
# dbrec3d_batch.run_process();
#*********** Save a scene labeling objects for debigging purposes **************#
print("Creating a Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, scene_in);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
scene= dbvalue(id, type);
dbrec3d_batch.init_process("bofExamineGroundTruthProcess");
dbrec3d_batch.set_input_from_db(0,scene);
dbrec3d_batch.set_input_string(1,ply_path_out);
dbrec3d_batch.set_input_string(2,obj_name);
dbrec3d_batch.set_input_string(3,ply_path_out);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
scene_out= dbvalue(id, type);
print("Save Scene");
dbrec3d_batch.init_process("boxmSaveSceneRawProcess");
max_z = 0;
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;
i=1;
axis_x = axes_x[i];
axis_y = axes_y[i];
axis_z = axes_z[i];
print("Creating Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, model_dir +"/gauss_response_scene.xml");
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
kernel_scene= dbvalue(scene_id, scene_type);
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);
self.type = type # string
grad_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/steerable_gauss_3d_scene.xml"
valid_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/valid_scene.xml"
pcd_file = "/Users/isa/Experiments/pcl/tests/boxm_scili_full.pcd"
#/Users/isa/Experiments/boxm_cit_only_filtered/steerable_filters_alpha
#
#grad_scene_path = "/Users/isa/Experiments/helicopter_providence/boxm_scenes/site12/steerable_filters_alpha/steerable_gauss_3d_scene.xml"
#valid_scene_path= "/Users/isa/Experiments/helicopter_providence/boxm_scenes/site12/steerable_filters_alpha/valid_scene.xml"
#pcd_file = "/Users/isa/Experiments/pcl/tests/site_12.pcd"
#load gradient scene
print("Creating a Scene");
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, grad_scene_path);
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
grad_scene= dbvalue(scene_id, scene_type);
#load valid scene
dbrec3d_batch.init_process("boxmCreateSceneProcess");
dbrec3d_batch.set_input_string(0, valid_scene_path);
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
valid_scene= dbvalue(scene_id, scene_type);
dbrec3d_batch.init_process("pcl_convert_scene_to_pc_process");
dbrec3d_batch.set_input_from_db(0, grad_scene);
dbrec3d_batch.set_input_from_db(1, valid_scene);
dbrec3d_batch.set_input_string(2, pcd_file);
print "Invalid k-means Dir"
sys.exit(-1);
if not os.path.isdir(classification_dir +"/"):
print "Invalid classification_dir "
os.mkdir(classification_dir + "/" );
#parse the number of scenes
bof_info_file = bof_dir + "/bof_info.xml";
nscenes = parse_bof_info(bof_info_file);
print "Number of Scenes:"
print nscenes
#load category info
dbrec3d_batch.init_process("bofLoadCategoryInfoProces");
dbrec3d_batch.set_input_string(0, bof_dir);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
categories= dbvalue(id, type);
#load class codebook
class_id = 0;
codebook_file = k_means_dir + "/class" + str(class_id) + "/lowest_sse_means.txt"
dbrec3d_batch.init_process("bofInitCodebookProcess");
dbrec3d_batch.set_input_string(0,codebook_file);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
codebook= dbvalue(id, type);
#compute object weight for all testing objects
dbrec3d_batch.init_process("bof_class_probability_process");
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#grad_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/steerable_gauss_3d_scene.xml"
#valid_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/valid_scene.xml"
#pcd_file = "/Users/isa/Experiments/pcl/tests/boxm_scili_full.pcd"
#Run k-means
pcl_dir = "/Users/isa/Experiments/pcl/tests"
fpfh_file =pcl_dir + "/fpfh_boxm_scili.pcd";
n_means = 50;
init_frac = 0.1;
init_iter = 10
max_iter = 500;
means_dir = pcl_dir + "/means_50_scili"
if not os.path.isdir(means_dir +"/"):
os.mkdir(means_dir + "/");
dbrec3d_batch.init_process("pcl_k_means_learning_process");
dbrec3d_batch.set_input_string(0, fpfh_file);
dbrec3d_batch.set_input_unsigned(1, n_means);
dbrec3d_batch.set_input_double(2, init_frac);
dbrec3d_batch.set_input_unsigned(3, init_iter);
dbrec3d_batch.set_input_unsigned(4, max_iter);
dbrec3d_batch.set_input_string(5, means_dir);
dbrec3d_batch.run_process();
#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();
os.mkdir(class_histograms_dir +"/")
#parse the number of scenes
bof_info_file = bof_dir + "/bof_info.xml";
nscenes = parse_bof_info(bof_info_file);
print "Number of Scenes:"
print nscenes
#Begin multiprocessing
job_list=[];
start_time = time.time();
#initial satrting point means
codebook_file = k_means_dir + "/lowest_sse_means.txt"
dbrec3d_batch.init_process("bofInitCodebookProcess");
dbrec3d_batch.set_input_string(0,codebook_file);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
codebook= dbvalue(id, type);
#Enqueue jobs
for scene_id in range (0, nscenes):
histogram_path = class_histograms_dir + "/scene_" + str(scene_id);
if not os.path.isdir(histogram_path +"/"):
os.mkdir(histogram_path +"/")
current_job = bof_job(bof_dir, codebook , scene_id, histogram_path);
job_list.append(current_job);
execute_bof_jobs(job_list, num_cores);
class_histograms_dir = options.class_histograms_dir;
if not os.path.isdir(bof_dir +"/"):
print "Invalid bof Dir"
sys.exit(-1);
if not os.path.isdir(class_histograms_dir +"/"):
print "Invalid histogram Dir"
sys.exit(-1);
output_path = class_histograms_dir + "/all_scenes"
if not os.path.isdir(output_path +"/"):
os.mkdir(output_path +"/");
codebook_file = k_means_dir + "/lowest_sse_means.txt"
start_time = time.time();
dbrec3d_batch.init_process("bofCombineQuantizationProcess");
dbrec3d_batch.set_input_string(0,bof_dir);
dbrec3d_batch.set_input_string(1,class_histograms_dir + "/scene_");
dbrec3d_batch.set_input_string(2,codebook_file);
dbrec3d_batch.set_input_string(3,output_path);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
print ("Total running time: ");
print(time.time() - start_time);
# normalize_object_lcf.py
# voxels-at-lems
#
# Created by Maria Restrepo on 11/22/11.
# Copyright (c) 2011 Brown University. All rights reserved.
# Calls processes to normalize the local coordinate system on a point cloud
import dbrec3d_batch;
import os;
import optparse;
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
pcl_dir = "/Users/isa/Experiments/pcl/tests"
#input_pcd_file = pcl_dir + "/boxm_scili.pcd"
#output_pcd_file = pcl_dir + "/boxm_scili_normalized_lcf.pcd"
input_pcd_file = pcl_dir + "/site12_objects/object_1.pcd"
output_pcd_file = pcl_dir + "/site12_objects/object_1_normalized_lcf.pcd"
dbrec3d_batch.init_process("pcl_trasform_xy_align_process");
dbrec3d_batch.set_input_string(0, input_pcd_file);
dbrec3d_batch.set_input_string(1, output_pcd_file);
dbrec3d_batch.run_process();
#*******************The Main Algorithm ************************#
if __name__=="__main__":
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
#Parse inputs
print ("******************************Init Category Info***************************")
parser = optparse.OptionParser(description='Init Category info');
parser.add_option('--bof_dir', action="store", dest="bof_dir");
options, args = parser.parse_args();
bof_dir = options.bof_dir;
if not os.path.isdir(bof_dir +"/"):
print "Invalid bof Dir"
sys.exit(-1);
start_time = time.time();
dbrec3d_batch.init_process("bofInitCategoryInfoProcess");
dbrec3d_batch.set_input_string(0,bof_dir);
dbrec3d_batch.run_process();
dbrec3d_batch.clear();
print ("Total running time: ");
print(time.time() - start_time);
os.mkdir(classification_dir + "/");
#parse the number of scenes
bof_info_file = bof_dir + "/bof_info.xml";
nscenes = parse_bof_info(bof_info_file);
print "Number of Scenes:"
print nscenes
#Begin multiprocessing
job_list=[];
start_time = time.time();
#load codebook
codebook_file = k_means_dir + "/lowest_sse_means.txt"
dbrec3d_batch.init_process("bofInitCodebookProcess");
dbrec3d_batch.set_input_string(0,codebook_file);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
codebook= dbvalue(id, type);
#load class/keypoints distributions
dbrec3d_batch.init_process("bofLoadPXCProcess");
dbrec3d_batch.set_input_from_db(0,codebook);
dbrec3d_batch.set_input_string(1,class_histograms_dir);
dbrec3d_batch.set_input_unsigned(2, ncategories);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
p_xc= dbvalue(id, type);
#Enqueue jobs
if not os.path.isdir(bof_dir + "/"):
print "Invalid bof Dir"
print bof_dir
sys.exit(-1)
if not os.path.isdir(k_means_dir + "/"):
print "Invalid k-means Dir"
sys.exit(-1)
if not os.path.isdir(class_histograms_dir + "/"):
os.mkdir(class_histograms_dir + "/")
# initial starting point means
codebook_file = k_means_dir + "/lowest_sse_means.txt"
dbrec3d_batch.init_process("bofInitCodebookProcess")
dbrec3d_batch.set_input_string(0, codebook_file)
dbrec3d_batch.run_process()
(id, type) = dbrec3d_batch.commit_output(0)
codebook = dbvalue(id, type)
# load category info
dbrec3d_batch.init_process("bofLoadCategoryInfoProces")
dbrec3d_batch.set_input_string(0, bof_dir)
dbrec3d_batch.set_input_string(1, "bof_info_train.xml")
dbrec3d_batch.set_input_string(2, "bof_category_train_info.xml")
dbrec3d_batch.run_process()
(id, type) = dbrec3d_batch.commit_output(0)
categories = dbvalue(id, type)
# parse the number of scenes
bof_info_file = bof_dir + "/bof_info_train.xml"
#!/bin/python
# scene_to_pcl.py
# voxels-at-lems
#
# Created by Isabel Restrepo on 11/2/11.
# Copyright (c) 2011 Brown University. All rights reserved.
import dbrec3d_batch;
import os;
import optparse;
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
ply_fname = "/Users/isa/Experiments/helicopter_providence/tests_normals/max_level_6/flipped_normals.ply"
pcd_fname = "/Users/isa/Experiments/helicopter_providence/tests_normals/max_level_6/flipped_normals.pcd"
dbrec3d_batch.init_process("pcl_read_and_filter_ply_normals_process");
dbrec3d_batch.set_input_string(0, ply_fname);
dbrec3d_batch.set_input_string(1, pcd_fname);
dbrec3d_batch.set_input_float(2, 0.0701328); #this value corresponds to 5%
dbrec3d_batch.run_process();
self.id = index # unsigned integer
self.type = type # string
model_dir = "/Users/isa/Experiments/CapitolBOXMSmall";
output_path = "/Users/isa/Experiments/tests/edges/";
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, output_path + "/hierarchy.xml");
dbrec3d_batch.set_input_string(1, output_path + "/contexts.xml");
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));
if not os.path.isdir(CM_path +"/"):
print "Invalid CM Dir"
sys.exit(-1);
FM_path = init_k_means_dir + "/FM";
if not os.path.isdir(FM_path +"/"):
os.mkdir(FM_path +"/");
CM_files = glob.glob1(CM_path, 'CM*');
num_mean_files = len(CM_files);
#Combine all CM_i means into one set CM to be passed for k-means
mean_file_sfx = CM_path + "/CM_" ;
dbrec3d_batch.init_process("bofCombineMeansProcess");
dbrec3d_batch.set_input_string(0, mean_file_sfx);
dbrec3d_batch.set_input_unsigned(1, num_mean_files);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
CM_set= dbvalue(id, type);
#Begin multiprocessing
job_list=[];
#Enqueue jobs
for CM_file in CM_files:
cm_file = CM_path + "/" + CM_file;
fm_file = FM_path + "/FM" + CM_file.strip('CM');
current_job = bof_job(cm_file, CM_set, max_it, fm_file);
job_list.append(current_job);
import dbrec3d_batch;
import os;
import optparse;
dbrec3d_batch.register_processes();
dbrec3d_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#grad_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/steerable_gauss_3d_scene.xml"
#valid_scene_path = "/Users/isa/Experiments/boxm_scili_full/steerable_filters_alpha/valid_scene.xml"
#pcd_file = "/Users/isa/Experiments/pcl/tests/boxm_scili_full.pcd"
#Run k-means
pcl_dir = "/Users/isa/Experiments/pcl/tests"
xyznormal_file = pcl_dir + "/boxm_scili.pcd";
fpfh_file =pcl_dir + "/fpfh_boxm_scili.pcd";
means_file = pcl_dir + "/means_50_scili/lowest_sse_means.txt"
output_dir = pcl_dir + "/means_50_scili";
dbrec3d_batch.init_process("pcl_k_means_assign_process");
dbrec3d_batch.set_input_string(0, xyznormal_file);
dbrec3d_batch.set_input_string(1, fpfh_file);
dbrec3d_batch.set_input_string(2, means_file);
dbrec3d_batch.set_input_string(3, output_dir);
dbrec3d_batch.run_process();
temp_results_dir = pca_dir + "/temp";
if not os.path.isdir(pca_dir +"/"):
print "Invalid PCA Dir"
sys.exit(-1);
if not os.path.isdir(temp_results_dir +"/"):
os.mkdir(temp_results_dir +"/");
nscenes=parse_pca_info(pca_info_file);
print ("Number of scenes: " + str(nscenes));
#load category info
dbrec3d_batch.init_process("bofLoadCategoryInfoProces");
dbrec3d_batch.set_input_string(0, bof_dir);
dbrec3d_batch.set_input_string(1, "bof_info_train.xml")
dbrec3d_batch.set_input_string(2, "bof_category_train_info.xml")
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
categories= dbvalue(id, type);
dbrec3d_batch.init_process("bvplLoadGlobalPCA125Process");
dbrec3d_batch.set_input_string(0,pca_dir);
dbrec3d_batch.run_process();
(id, type) = dbrec3d_batch.commit_output(0);
global_pca = dbvalue(id, type);
#Begin multiprocessing
