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);
dbrec3d_batch.print_db();
print("Get the response")
dbrec3d_batch.init_process("dbrec3dGetResponseProcess");
dbrec3d_batch.set_input_int(0, 0);
dbrec3d_batch.run_process();
(scene_id, scene_type) = dbrec3d_batch.commit_output(0);
response_scene= dbvalue(scene_id, scene_type);
resolution = 0;
enforce_level = 1;
print("Convert to regular grid");
dbrec3d_batch.init_process("boxmSceneToBvxmGridProcess");
dbrec3d_batch.set_input_from_db(0,response_scene);
dbrec3d_batch.set_input_string(1, model_dir + "/dbrec3d_response.vox");
dbrec3d_batch.set_input_unsigned(2, resolution);
dbrec3d_batch.set_input_bool(3, enforce_level);
dbrec3d_batch.run_process();
(grid_id, grid_type) = dbrec3d_batch.commit_output(0);
grid = dbvalue(grid_id, grid_type);
print("Save Grid");
dbrec3d_batch.init_process("bvxmSaveGridRawProcess");
dbrec3d_batch.set_input_from_db(0,grid);
dbrec3d_batch.set_input_string(1,model_dir + "/dbrec3d_response.raw");
dbrec3d_batch.run_process();
