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();
print("Creating a Scene");
bvpl_octree_batch.init_process("boxmCreateSceneProcess");
bvpl_octree_batch.set_input_string(0, job.input_scene_path);
bvpl_octree_batch.run_process();
(scene_id, scene_type) = bvpl_octree_batch.commit_output(0);
scene= dbvalue(scene_id, scene_type);
#Use the save scene in bvxm because boxm rounds to bytes and doesn't work for negative values
#
# print("Save Scene");
# bvpl_octree_batch.init_process("boxmSaveOccupancyRawProcess");
# bvpl_octree_batch.set_input_from_db(0,scene);
# bvpl_octree_batch.set_input_string(1, job.output_scene_path);
# bvpl_octree_batch.set_input_unsigned(2,0);
# bvpl_octree_batch.set_input_unsigned(3,1);
# bvpl_octree_batch.run_process();
resolution = 0;
enforce_level = 1;
print("Convert to regular grid");
bvpl_octree_batch.init_process("boxmSceneToBvxmGridProcess");
bvpl_octree_batch.set_input_from_db(0,scene);
bvpl_octree_batch.set_input_string(1, job.output_scene_path + ".vox");
bvpl_octree_batch.set_input_unsigned(2, resolution);
bvpl_octree_batch.set_input_bool(3, enforce_level);
bvpl_octree_batch.run_process();
(grid_id, grid_type) = bvpl_octree_batch.commit_output(0);
grid = dbvalue(grid_id, grid_type);
print("Save Grid");
bvpl_octree_batch.init_process("bvxmSaveGridRawProcess");
bvpl_octree_batch.set_input_from_db(0,grid);
bvpl_octree_batch.set_input_string(1,job.output_scene_path);
bvpl_octree_batch.run_process();
print ("Runing time for worker:", self.name)
print(time.time() - start_time);
kernel = dbvalue(kernel_id,kernel_type);
print("Running Operator");
bvpl_octree_batch.init_process("bvplSceneKernelOperatorProcess");
bvpl_octree_batch.set_input_from_db(0,scene);
bvpl_octree_batch.set_input_from_db(1,kernel);
bvpl_octree_batch.set_input_string(2,"bsta_gauss_f1");
bvpl_octree_batch.set_input_string(3,"positive_gauss_convolution");
bvpl_octree_batch.set_input_string(4, output_dir);
bvpl_octree_batch.run_process();
(out_scene_id,out_scene_type)= bvpl_octree_batch.commit_output(0);
result_scene = dbvalue(out_scene_id,out_scene_type);
resolution = 0;
enforce_level = 1;
print("Convert to regular grid");
bvpl_octree_batch.init_process("boxmSceneToBvxmGridProcess");
bvpl_octree_batch.set_input_from_db(0,result_scene);
bvpl_octree_batch.set_input_string(1, output_dir + "/response.vox");
bvpl_octree_batch.set_input_unsigned(2, resolution);
bvpl_octree_batch.set_input_bool(3, enforce_level);
bvpl_octree_batch.run_process();
(grid_id, grid_type) = bvpl_octree_batch.commit_output(0);
grid = dbvalue(grid_id, grid_type);
print("Save Grid");
bvpl_octree_batch.init_process("bvxmSaveGridRawProcess");
bvpl_octree_batch.set_input_from_db(0,grid);
bvpl_octree_batch.set_input_string(1,output_dir + "/response.raw");
bvpl_octree_batch.run_process();
