def setupCorlDirector(robotSystem,
openniDepthPointCloud,
setCameraToWorld,
logFolder="logs/moving-camera",
globalsDict=None,
extraInputs=None):
"""
Setups the necessary callbacks for visualizing Corl data in director
:param logFolder: The name of folder relative to Corl data dir
:return:
"""
filenames = CorlUtils.getFilenames(logFolder)
# setup camera update callback. Sets pose of camera depending on time in lcmlog
CorlUtils.initCameraUpdateCallback(openniDepthPointCloud,
setCameraToWorld,
filename=filenames['cameraPoses'])
CorlUtils.loadObjectMeshes(robotSystem.affordanceManager,
filenames['registrationResult'])
CorlUtils.loadElasticFustionReconstruction(filenames['reconstruction'])
imageCapture = ImageCapture(extraInputs['imageManager'],
filenames['images'])
# add necessary classes to globalsDict
globalsDict['imageCapture'] = imageCapture
globalRegistration = registration.GlobalRegistration(globalsDict['view'])
globalsDict['globalRegistration'] = globalRegistration
def main():
#TODO: Parse the list of arguments
parser = argparse.ArgumentParser()
parser.add_argument('-indir', required=True, type=str)
parser.add_argument('-outdir', required=True, type=str)
args = parser.parse_args()
path2InDir = args.indir
path2OutDir = args.outdir
if not os.path.exists(path2OutDir):
os.mkdir(path2OutDir)
print "Preprocessing ..."
confPreprocess = {}
confPreprocess['remove stopword'] = False
confPreprocess['remove punct'] = True
nbSkipFile = 0
lstErrors = []
lstFiles = getFilenames(path2InDir)
progress_bar = ProgressBar(len(lstFiles))
for filename in lstFiles:
fullPath = os.path.join(path2InDir, filename)
try:
content, highlights = getContentAndHighlight(fullPath)
except ValueError:
nbSkipFile += 1
continue
content, highlights = preprocess(content, highlights, confPreprocess)
saveContentandHighlights(content, highlights, os.path.join(path2OutDir, filename + '.pre'))
progress_bar.Increment()
print 'NOTE: We skip %d file because length of content or highlights is zero.' % nbSkipFile
print 'DONE!'
def playRandom():
global lastPlayFile
path = 'data/random/'
filenames = utils.getFilenames(path)
playFile = path + random.choice(filenames)
lastPlayFile = playFile
playSoundFile(playFile)
def loadDataSourceIds(self, dataSourceType):
'''
Given a data source, load all of the ids for that data source.
This should only be called if the data source is completely uninitialized.
If it's a single data source, then load the entire data source.
Otherwise, just get the list of ids from the filenames in the directory.
'''
if self.isSingle(dataSourceType):
self.loadSingleDataSource(dataSourceType)
else:
directory = self.getDataSourceDirectory(dataSourceType)
self.data[dataSourceType] = \
{utils.getBaseFilename(filename): None for filename in utils.getFilenames(directory, ext="json")}
def setupCorlDirector(affordanceManager,
openniDepthPointCloud,
logFolder="logs/moving-camera",
globalsDict=None):
"""
Setups the necessary callbacks for visualizing Corl data in director
:param logFolder: The name of folder relative to Corl data dir
:return:
"""
filenames = CorlUtils.getFilenames(logFolder)
# setup camera update callback. Sets pose of camera depending on time in lcmlog
# if os.path.isfile(filenames['cameraPoses']):
# CorlUtils.initCameraUpdateCallback(openniDepthPointCloud, setCameraToWorld, filename=filenames['cameraPoses'])
# check if we have already figured out a transform for this or not
firstFrameToWorldTransform = CorlUtils.getFirstFrameToWorldTransform(
filenames['transforms'])
# only load these files in info.yaml exists
if os.path.isfile(filenames['registrationResult']):
CorlUtils.loadObjectMeshes(affordanceManager,
filenames['registrationResult'],
firstFrameToWorldTransform)
imageCapture = ImageCapture(globalsDict['imageManager'],
filenames['images'])
globalsDict['imageCapture'] = imageCapture
# firstFrameToWorldTransform = vtk.vtkTransform()
CorlUtils.loadElasticFusionReconstruction(
filenames['reconstruction'], transform=firstFrameToWorldTransform)
globalRegistration = registration.GlobalRegistration(
globalsDict['view'],
globalsDict['cameraView'],
globalsDict['measurementPanel'],
globalsDict['affordanceManager'],
logFolder=logFolder,
firstFrameToWorldTransform=firstFrameToWorldTransform)
globalsDict['globalRegistration'] = globalRegistration
globalsDict['gr'] = globalRegistration # hack for easy access
def main():
# TODO: Parse the list of arguments
parser = argparse.ArgumentParser()
parser.add_argument('-indir', required=True, type=str)
parser.add_argument('-outdir', required=True, type=str)
args = parser.parse_args()
path2InDir = args.indir
path2OutDir = args.outdir
path2TrainDir = os.path.join(path2OutDir, 'training')
path2DevDir = os.path.join(path2OutDir, 'dev')
path2TestDir = os.path.join(path2OutDir, 'test')
if not os.path.exists(path2OutDir):
os.mkdir(path2OutDir)
if not os.path.exists(path2TrainDir):
os.mkdir(path2TrainDir)
if not os.path.exists(path2DevDir):
os.mkdir(path2DevDir)
if not os.path.exists(path2TestDir):
os.mkdir(path2TestDir)
lstFiles = getFilenames(path2InDir)
shuffle(lstFiles)
trainingRatio = 0.9
devRatio = 0.05
nbDoc = len(lstFiles)
nbInsTrain = int(round(nbDoc * trainingRatio, 0))
if nbInsTrain < nbDoc * trainingRatio:
nbInsTrain += 1
nbInsDev = int(round(nbDoc * devRatio, 0))
if nbInsDev < nbDoc * devRatio:
nbInsDev += 1
lstFilesTrain = lstFiles[:nbInsTrain]
lstFilesDev = lstFiles[nbInsTrain: nbInsTrain + nbInsDev]
lstFilesTest = lstFiles[nbInsTrain+nbInsDev:]
assert len(lstFilesTrain) + len(lstFilesDev) + len(lstFilesTest) == nbDoc, \
"Total documents in training, dev, test set are not matched with the original dataset!"
print "Copy files in to Training Directory..."
progress_bar = ProgressBar(len(lstFilesTrain))
for filename in lstFilesTrain:
copyfile(os.path.join(path2InDir, filename), os.path.join(path2TrainDir, filename))
progress_bar.Increment()
print "Copy files in to Dev Directory..."
progress_bar = ProgressBar(len(lstFilesDev))
for filename in lstFilesDev:
copyfile(os.path.join(path2InDir, filename), os.path.join(path2DevDir, filename))
progress_bar.Increment()
print "Copy files in to Test Directory..."
progress_bar = ProgressBar(len(lstFilesTest))
for filename in lstFilesTest:
copyfile(os.path.join(path2InDir, filename), os.path.join(path2TestDir, filename))
progress_bar.Increment()
def makeDefault(globalsDict, logFolder="logs/moving-camera"):
pathDict = cutils.getFilenames("logs/moving-camera")
rti = RenderTrainingImages(globalsDict, pathDict)
globalsDict['renderTrainingImages'] = rti
return rti
def captureImages(logFolder):
corlPaths = CorlUtil.getFilenames(logFolder)
ImageCapture.readFromLogFile(corlPaths['lcmlog'], corlPaths['images'])
def getRandomSounds():
return utils.getFilenames('data/random/')