def incremental_model_builder(self, submethod, pipeline_params, args): feature_params = pipeline_params.get("feature", False) if not feature_params: raise RuntimeError("You must supply feature_descriptor parameters for TOD.") # merge it with the subtype feature_descriptor_params = {"feature": feature_params, "descriptor": pipeline_params.get("descriptor", {})} from object_recognition.tod import merge_dict feature_descriptor_params = merge_dict(feature_descriptor_params, submethod) # grab visualize if works. visualize = getattr(args, "visualize", False) return TODModelBuilder( json_feature_descriptor_params=dict_to_cpp_json_str(feature_descriptor_params), visualize=visualize )
def configure(self, p, _i, _o): feature_params = self._parameters.get("feature", False) if not feature_params: raise RuntimeError("You must supply feature_descriptor parameters for TOD.") # merge it with the subtype feature_descriptor_params = { 'feature': feature_params, 'descriptor': self._parameters.get('descriptor', {}) } from object_recognition.tod import merge_dict feature_descriptor_params = merge_dict(feature_descriptor_params, self._submethod) self.feature_descriptor = FeatureDescriptor(json_params=json_helper.dict_to_cpp_json_str(feature_descriptor_params)) self.descriptor_matcher = tod_detection.DescriptorMatcher("Matcher", search_json_params=json_helper.dict_to_cpp_json_str(self._parameters['search']), model_documents=self._model_documents) self.message_cvt = ecto_ros.Mat2Image() guess_params = self._parameters['guess'].copy() guess_params['visualize'] = self._visualize self.guess_generator = tod_detection.GuessGenerator("Guess Gen", **guess_params)
def incremental_model_builder(self, submethod, pipeline_params, args): feature_params = pipeline_params.get("feature", False) if not feature_params: raise RuntimeError( "You must supply feature_descriptor parameters for TOD.") # merge it with the subtype feature_descriptor_params = { 'feature': feature_params, 'descriptor': pipeline_params.get('descriptor', {}) } from object_recognition.tod import merge_dict feature_descriptor_params = merge_dict(feature_descriptor_params, submethod) #grab visualize if works. visualize = getattr(args, 'visualize', False) return TODModelBuilder( json_feature_descriptor_params=dict_to_cpp_json_str( feature_descriptor_params), visualize=visualize)