#!/usr/bin/env python import ecto from ecto_object_recognition import capture from object_recognition.tod.trainer import TODTrainingPipeline from object_recognition.common.utils.parser import ObjectRecognitionParser T = TODTrainingPipeline() parser = ObjectRecognitionParser() args = parser.parse_args() submethod = {'descriptor': {'type': 'ORB'}} parameters = {'feature': {'type': 'ORB'}} T.incremental_model_builder(submethod, parameters, args) T.post_processor(submethod, {'search': {'type': 'LSH'}}, 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