from __future__ import print_function
import numpy as np
import cv2
from pybh.contrib import transformations
from pybh import math_utils
from pybh import log_utils
logger = log_utils.get_logger("RLrecon/engines/engine")
class StereoWrapper(object):
def __init__(self,
base_engine,
stereo_method,
stereo_baseline,
width,
height,
min_depth,
num_disparities=64,
block_size=None):
self._base_engine = base_engine
self._stereo_method = stereo_method
self._stereo_baseline = stereo_baseline
self._width = width
self._height = height
self._min_depth = min_depth
self._num_disparities = num_disparities
self._focal_length = base_engine.get_focal_length()
self._left_matcher = self._create_left_matcher(stereo_method,
num_disparities,
block_size)
from __future__ import absolute_import
# Workaround for segmentation fault for some versions when ndimage is imported after tensorflow.
import scipy.ndimage as nd
import argparse
import numpy as np
from pybh import tensorpack_utils
import data_record
from pybh import serialization
from pybh import msgpack_utils
from pybh import lmdb_utils
from pybh.utils import argparse_bool, logged_time_measurement
from pybh import log_utils
logger = log_utils.get_logger("reward_learning/split_data_lmdb")
def dict_from_dataflow_generator(df):
for sample in df.get_data():
yield sample[0]
def split_lmdb_dataset(lmdb_input_path,
lmdb_output_path1,
lmdb_output_path2,
split_ratio1,
batch_size,
shuffle,
serialization_name,
compression,
import numpy as np
import pvm
from pybh import serialization
from pybh import log_utils
from pybh import camera_utils
from pybh import math_utils
from pybh import utils
logger = log_utils.get_logger("RLrecon/render_server_zmq")
class RendererZMQService(object):
def __init__(self,
framebuffer,
drawer,
fov,
initial_distance,
trackball=None,
world_to_opengl_mat=None):
self._serializer = serialization.MsgPackSerializer()
self._framebuffer = framebuffer
self._drawer = drawer
self._trackball = trackball
if world_to_opengl_mat is None:
world_to_opengl_mat = np.eye(4, dtype=np.float32)
self._world_to_opengl_mat = world_to_opengl_mat
self._opengl_to_world_mat = np.linalg.inv(self._world_to_opengl_mat)
self._projection_transform = pvm.PerspectiveTransform(
framebuffer.width, framebuffer.height, fov=fov)
self._view_transform = pvm.ViewTransform()
self._view_transform.z = -initial_distance
import numpy as np
from pybh import pybh_yaml as yaml
from pybh import hdf5_utils, tensorpack_utils, serialization
import data_record
import tensorflow as tf
import tensorpack.dataflow
import tensorpack.utils.serialize
from pybh import lmdb_utils
import input_pipeline
import configuration
import traceback
from pybh.utils import argparse_bool
from pybh.attribute_dict import AttributeDict
from pybh import log_utils
logger = log_utils.get_logger("reward_learning/write_data_to_lmdb")
def write_hdf5_files_to_lmdb(input_and_target_retriever,
tf_cfg,
hdf5_path,
lmdb_path,
max_num_files,
batch_size,
serialization_name,
compression,
compression_arg,
append=False,
max_num_samples=None,
verbose=False):
logger.info("Data path: {}".format(hdf5_path))
from pybh import log_utils
from pybh import zmq_utils
from pybh import utils
from pybh import camera_utils
from pybh import math_utils
from pybh.utils import argparse_bool
from framebuffer import Framebuffer
from trackball import Trackball
from mesh_drawer import MeshDrawer
from mesh import SimpleMesh, CubeMesh
from application import Application
from framebuffer_drawer import FramebufferDrawer
from window import Window
import renderer_zmq_service
logger = log_utils.get_logger("RLrecon/mesh_renderer")
# import pydevd
# pydevd.settrace('localhost', port=1234, stdoutToServer=True, stderrToServer=True)
def run(args):
# Command line arguments
address = args.address
show_window = args.show_window
poll_timeout = args.poll_timeout
width = args.width
height = args.height
mesh_filename = args.mesh_filename
use_msgpack_for_mesh = args.use_msgpack_for_mesh
window_width = args.window_width
from pybh import pybh_yaml as yaml
import tensorflow as tf
import tensorflow.contrib.memory_stats as tf_memory_stats
from tensorflow.python.framework.errors_impl import InvalidArgumentError as TFInvalidArgumentError
from pybh import tf_utils, log_utils
import data_provider
import input_pipeline
import configuration
import traceback
from pybh.utils import argparse_bool
from pybh.attribute_dict import AttributeDict
from tensorflow.python.client import timeline
from pybh.utils import Timer, logged_time_measurement
from pybh import progressbar
logger = log_utils.get_logger("reward_learning/train")
def run(args):
# Read config file
topics = ["data"]
cfg = configuration.get_config_from_cmdline(args, topics)
if args.config is not None:
with open(args.config, "r") as config_file:
tmp_cfg = yaml.load(config_file)
configuration.update_config_from_other(cfg, tmp_cfg)
cfg = AttributeDict.convert_deep(cfg)
logger.info("Creating train dataflow")
print(cfg.data.max_num_samples)
#!/usr/bin/env python
from __future__ import print_function
import os
import argparse
from builtins import range
import numpy as np
import yaml
import env_factory
from pybh.utils import Timer, TimeMeter, DummyTimeMeter, argparse_bool
from pybh import hdf5_utils
from pybh import file_utils
from pybh import log_utils
logger = log_utils.get_logger("evaluate_reward_trajectory")
def run_episode(environment,
pose_list,
downsample_to_grid=True,
measure_timing=False):
timer = Timer()
if measure_timing:
time_meter = TimeMeter()
else:
time_meter = DummyTimeMeter()
intrinsics = environment.base.get_engine().get_intrinsics()
logger.info("Starting episode")
environment.reset()
import time
import numpy as np
import cv2
from pybh import math_utils
from pybh import zmq_utils
from pybh import serialization
from pybh import log_utils
from pybh.contrib import transformations
from .engine import BaseEngine
logger = log_utils.get_logger("RLrecon/mesh_renderer_zmq_client")
class MeshRendererZMQClient(BaseEngine):
INTER_NEAREST = cv2.INTER_NEAREST
INTER_CUBIC = cv2.INTER_CUBIC
class Exception(RuntimeError):
pass
def __init__(self,
address="tcp://localhost:22222",
image_scale_factor=1.0,
max_depth_distance=np.finfo(np.float).max,
max_depth_viewing_angle=math_utils.degrees_to_radians(90.),
max_request_trials=3,
request_timeout=0.5,
location_tolerance=1e-3,
orientation_tolerance=1e-3,
from octomap_server_ext.srv import InsertPointCloud, InsertPointCloudRequest
from octomap_server_ext.srv import InsertDepthMap, InsertDepthMapRequest
from octomap_server_ext.msg import Ray, Voxel
from octomap_server_ext.srv import Info, InfoRequest
from octomap_server_ext.srv import QueryVoxels, QueryVoxelsRequest
from octomap_server_ext.srv import QuerySubvolume, QuerySubvolumeRequest
from octomap_server_ext.srv import QueryBBox, QueryBBoxRequest
from octomap_server_ext.srv import Raycast, RaycastRequest
from octomap_server_ext.srv import RaycastCamera, RaycastCameraRequest
from octomap_server_ext.srv import ClearBoundingBox, ClearBoundingBoxRequest
from octomap_server_ext.srv import OverrideBoundingBox, OverrideBoundingBoxRequest
from octomap_server_ext.srv import Storage, StorageRequest
from octomap_server_ext.srv import Reset, ResetRequest
from pybh import math_utils, ros_utils, log_utils
logger = log_utils.get_logger("RLrecon/octomap_ext_mapper")
class OctomapExtMapper(object):
class Ray(object):
def __init__(self, origin, direction):
self._origin = origin
self._direction = direction
def origin(self):
return self._origin
def direction(self):
return self._direction
class RaycastResultPoint(object):
#!/usr/bin/env python
from __future__ import print_function
import data_record
import multiprocessing
import numpy as np
import tensorflow as tf
import tensorpack.dataflow
import data_provider
from pybh import hdf5_utils
from pybh import tensorpack_utils
from pybh import log_utils
logger = log_utils.get_logger("reward_learning/input_pipeline")
def compute_data_statistics_from_hdf5_files(data_filenames):
assert(len(data_filenames) > 0)
logger.info("Computing data statistics")
field_names = ["in_grid_3ds", "out_grid_3ds", "rewards", "scores", "rgb_images", "depth_images", "normal_images"]
statistics_dict, z_score_statistics_dict = data_record.compute_dataset_stats_from_hdf5_files_v4(
data_filenames, field_names, compute_z_scores=True)
logger.info("Data statistics:")
logger.info(" Mean of in_grid_3d:", np.mean(statistics_dict["in_grid_3ds"]["mean"].flatten()))
logger.info(" Stddev of in_grid_3d:", np.mean(statistics_dict["in_grid_3ds"]["stddev"].flatten()))
logger.info(" Mean of z_score:", np.mean(z_score_statistics_dict["in_grid_3ds"]["mean"].flatten()))
logger.info(" Stddev of z_score:", np.mean(z_score_statistics_dict["in_grid_3ds"]["stddev"].flatten()))
logger.info(" Size of dataset:", statistics_dict["in_grid_3ds"]["num_samples"])
mean_z_score_tolerance = 1e-3