def generate_pointclouds_in_object_space(dbs, session, args):
object_name = dbs[session.object_id]['object_name']
if not os.path.exists(object_name):
os.mkdir(object_name)
obs_ids = models.find_all_observations_for_session(dbs, session.id)
if len(obs_ids) == 0:
raise RuntimeError("There are no observations available.")
db_reader = capture.ObservationReader('Database Source', db_params=dbtools.args_to_db_params(args))
#observation dealer will deal out each observation id.
observation_dealer = ecto.Dealer(tendril=db_reader.inputs.at('observation'), iterable=obs_ids)
depthTo3d = calib.DepthTo3d('Depth ~> 3D')
rescale_depth = capture.RescaledRegisteredDepth('Depth scaling') #this is for SXGA mode scale handling.
point_cloud_transform = reconstruction.PointCloudTransform('Object Space Transform',do_transform=False)#keeps the points in camera coordinates, but populates the global sensor position and orientatino.
point_cloud_converter = conversion.MatToPointCloudXYZRGB('To Point Cloud')
to_ecto_pcl = ecto_pcl.PointCloudT2PointCloud('converter', format=ecto_pcl.XYZRGB)
plasm = ecto.Plasm()
plasm.connect(
observation_dealer[:] >> db_reader['observation'],
db_reader['K'] >> depthTo3d['K'],
db_reader['image'] >> rescale_depth['image'],
db_reader['depth'] >> rescale_depth['depth'],
rescale_depth[:] >> depthTo3d['depth'],
depthTo3d['points3d'] >> point_cloud_converter['points'],
db_reader['image'] >> point_cloud_converter['image'],
db_reader['mask'] >> point_cloud_converter['mask'],
db_reader['R', 'T'] >> point_cloud_transform['R', 'T'],
point_cloud_converter['point_cloud'] >> to_ecto_pcl[:],
to_ecto_pcl[:] >> point_cloud_transform['cloud']
)
ply_writer = ecto_pcl.PLYWriter('PLY Saver',
filename_format='%s/cloud_%%05d.ply' % (object_name))
pcd_writer = ecto_pcl.PCDWriter('PCD Saver',
filename_format='%s/cloud_%%05d.pcd' % (object_name))
plasm.connect(point_cloud_transform['view'] >> (ply_writer['input'], pcd_writer['input'])
)
if args.visualize:
global cloud_view
plasm.connect(
point_cloud_transform['view'] >> cloud_view,
db_reader['image'] >> imshows['image'],
db_reader['depth'] >> imshows['depth'],
db_reader['mask'] >> imshows['mask'],
)
from ecto.opts import run_plasm
run_plasm(args, plasm, locals=vars())
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
return args
args = parse_args()
db = dbtools.init_object_databases(couchdb.Server(args.db_root))
for object_id in args.objects:
#get a list of observation ids for a particular object id.
obs_ids = models.find_all_observations_for_object(db, object_id)
if not obs_ids:
print 'No observations found for object %s.' % object_id
continue
plasm = ecto.Plasm()
#the db_reader transforms observation id into a set of image,depth,mask,K,R,T
db_reader = capture.ObservationReader("db_reader", db_params=dbtools.args_to_db_params(args))
#this iterates over all of the observation ids.
observation_dealer = ecto.Dealer(tendril=db_reader.inputs.at('observation'), iterable=obs_ids)
plasm.connect(observation_dealer[:] >> db_reader['observation'])
path_names = [ 'image', 'depth', 'mask']
for path_name in path_names:
path = os.path.join(object_id, path_name)
if not os.path.exists(path):
os.makedirs(path)
writer_image = ImageSaver(filename_format=os.path.join(path, '%05d.png'))[:]
plasm.connect(db_reader[path_name] >> (writer_image, imshow(name=path_name)['image']))
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()
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
