Merge pull request #12 from RobotLocomotion/pipeline-updates

Pipeline updates

Author: manuelli

config/object_data.yaml

@@ -38,7 +38,7 @@ Automated arm setup
 - double click on kuka-driver and edit command to be: :code:`kuka_driver -fri_port 30201` (or different port) 
 - start :code:`iiwa-drivers` group
 
-Same as above but we will use the kuka arm to move the xtion around. Set :code:`useCorlDev = True` in :code:`iiwaManipApp.py`. This launches director with :code:`dc = DataCollection` object constructed.
+Same as above but we will use the kuka arm to move the xtion around. Set :code:`useLabelFusionDev = True` in :code:`iiwaManipApp.py`. This launches director with :code:`dc = DataCollection` object constructed.
 
 - Spawning a table frame. With the measurement panel activated make three clicks in openni point cloud. First on front edge of table, second in middle of table in a direction perpendicular to the front edge, the third should be above the able. Then :code:`dc.spawnTableFrame()`.
 
@@ -117,9 +117,9 @@ Now rename::
 5. Global Object Pose Fitting
 -----------------------------
 
-The class that handles segmentation and registration is in :code:`modules/corl/registration.py` and :code:`modules/corl/objectalignmenttool.py`. Launch the standard :code:`corlApp` to run it::
+The class that handles segmentation and registration is in :code:`modules/labelfusion/registration.py` and :code:`modules/labelfusion/objectalignmenttool.py`. Launch the standard :code:`labelFusionApp` to run it::
 
-	directorPython scripts/corlApp.py --logFolder logs/test --bot-config $SPARTAN_SOURCE_DIR/apps/iiwa/iiwaManip.cfg
+	directorPython $LABELFUSION_SOURCE_DIR/scripts/labelFusionApp.py --bot-config $LABELFUSION_SOURCE_DIR/config/bot_frames.cfg --logFolder scenes/2017-06-15-70
 
 The :code:`GlobalRegistration` object is in the global namespace as :code:`globalRegistration`, or :code:`gr` for short. The first step is to align the reconstructed point cloud so it is right-side-up:
 
@@ -129,7 +129,7 @@ The :code:`GlobalRegistration` object is in the global namespace as :code:`globa
 
 	gr.rotateReconstructionToStandardOrientation()
 
-- Close the corlApp application (ctrl + c) and reopen
+- Close the labelFusionApp application (ctrl + c) and reopen
 
 The second step is to segment the pointcloud above the table
 
@@ -140,7 +140,7 @@ The second step is to segment the pointcloud above the table
 	gr.segmentTable()
 	gr.saveAboveTablePolyData()
 
-- Close the corlApp application (ctrl + c) and reopen
+- Close the labelFusionApp application (ctrl + c) and reopen
 
 Now, we are ready to align each object.  Press F8 in the app to open Director's Python terminal and run::
 
@@ -162,7 +162,7 @@ Issues:
 
 
 .. commented out below
-.. We need environment variables in order for the scripts to be able to find the binaries for these global fitting routines. Please fill in the variables like :code:`FGR_BASE_DIR` in :code:`setup_environment.sh` to point to your local binaries. The relevant python file is :code:`module/corl/registration.py`. To run an example::
+.. We need environment variables in order for the scripts to be able to find the binaries for these global fitting routines. Please fill in the variables like :code:`FGR_BASE_DIR` in :code:`setup_environment.sh` to point to your local binaries. The relevant python file is :code:`module/labelfusion/registration.py`. To run an example::
 
 .. 	drake-visualizer --script scripts/registration/testRegistration.py
 
@@ -178,7 +178,7 @@ Issues:
 
 6. Extract Images from LCM log
 ------------------------------
-The class that is used is is :code:`modules/corl/imagecapture.py`. To extract rgb images from the lcm log run::
+The class that is used is is :code:`modules/labelfusion/imagecapture.py`. To extract rgb images from the lcm log run::
 
 	directorPython scripts/extractImagesFromLog.py --logFolder logs/moving-camera --bot-config $SPARTAN_SOURCE_DIR/apps/iiwa/iiwaManip.cfg
 
@@ -188,7 +188,7 @@ This will save the images in :code:`data/logFolder`. The original images will be
 7. Generate Labeled Images
 --------------------------
 
-The class that is used to render labeled images is :code:`modules/corl/rendertrainingimages.py`. Usage::
+The class that is used to render labeled images is :code:`modules/labelfusion/rendertrainingimages.py`. Usage::
 
   directorPython scripts/renderTrainingImages.py --bot-config $SPARTAN_SOURCE_DIR/apps/iiwa/iiwaManip.cfg --logFolder logs/moving-camera
 
@@ -198,13 +198,13 @@ Optionally you can pass :code:`--logFolder <logFolder>` on the command line wher
 Misc
 ====
 
-Director with Corl Modules
+Director with LabelFusion Modules
 --------------------------
-There is a standalone app for launching a director with corl modules::
+There is a standalone app for launching a director with labelfusion modules::
 
-	directorPython scripts/corlApp.py --logFolder logs/moving-camera --bot-config $SPARTAN_SOURCE_DIR/apps/iiwa/iiwaManip.cfg
+	directorPython $LABELFUSION_SOURCE_DIR/scripts/labelFusionApp.py --logFolder logs/moving-camera --bot-config $SPARTAN_SOURCE_DIR/apps/iiwa/iiwaManip.cfg
 
-The :code:`--logFolder` option specifies which logFolder to use relative to Corl data directory.
+The :code:`--logFolder` option specifies which logFolder to use relative to LabelFusion data directory.
 
 Visualizing RGBD Data
 ---------------------

config/registration_result.py

@@ -119,12 +119,12 @@ def readFromLogFile(lcmLogFilename, fileSaveLocation, channelName="OPENNI_FRAME"
         return
 
 def captureImages(logFolder, saveDepth):
-    corlPaths = utils.getFilenames(logFolder)
+    dataPaths = utils.getFilenames(logFolder)
 
     if saveDepth:
-        ImageCapture.readFromLogFile(corlPaths['lcmlog'], corlPaths['images'], cameraName="OPENNI_FRAME_DEPTH_MM_ZIPPED", saveDepth=True)
+        ImageCapture.readFromLogFile(dataPaths['lcmlog'], dataPaths['images'], cameraName="OPENNI_FRAME_DEPTH_MM_ZIPPED", saveDepth=True)
 
-    ImageCapture.readFromLogFile(corlPaths['lcmlog'], corlPaths['images'], cameraName="OPENNI_FRAME_LEFT")
+    ImageCapture.readFromLogFile(dataPaths['lcmlog'], dataPaths['images'], cameraName="OPENNI_FRAME_LEFT")
 
 
 def test():

docs/pipeline.rst

@@ -261,8 +261,7 @@ def makeAlignmentTool(cameraView, pathDict, objectName='phone'):
 
         pointCloud = ioUtils.readPolyData(pathDict['reconstruction'])
         pointCloud = filterUtils.transformPolyData(pointCloud, firstFrameToWorldTransform)
-        objectMeshFilename = utils.getObjectMeshFilename(objectName)
-        objectMesh = ioUtils.readPolyData(objectMeshFilename)
+        objectMesh = utils.getObjectPolyData(utils.loadObjectData(), objectName)
 
         alignmentTool = ObjectAlignmentTool(cameraView, modelPolyData=objectMesh, pointCloud=pointCloud)
 

modules/labelfusion/imagecapture.py

@@ -30,6 +30,7 @@ def __init__(self, view, cameraView, measurementPanel, affordanceManager,
                  firstFrameToWorldTransform=None):
         self.view = view
         self.cameraView = cameraView
+        self.objectData = utils.loadObjectData()
         self.objectToWorldTransform = dict()
         self.measurementPanel = measurementPanel
         self.affordanceManager = affordanceManager
@@ -48,7 +49,6 @@ def initializeFields(self):
             self.logFolder = "logs/scratch"
 
         self.pathDict = utils.getFilenames(self.logFolder)
-        self.objectData = utils.getObjectDataYamlFile()
         self.objectAlignmentResults = dict() # stores results of object alignment tool
         self.objectAlignmentTool = None
 
@@ -74,7 +74,7 @@ def loadStoredObjects(self):
         for objName, data in registrationResult.iteritems():
             objectMeshFilename = data['filename']  # should be relative to getLabelFusionDataDir()
             if len(objectMeshFilename) == 0:
-                objectMeshFilename = utils.getObjectMeshFilename(objName)
+                objectMeshFilename = utils.getObjectMeshFilename(self.objectData, objName)
             else:
                 objectMeshFilename = os.path.join(utils.getLabelFusionDataDir(), objectMeshFilename)
 
@@ -98,7 +98,7 @@ def fitObjectToPointcloud(self, objectName, pointCloud=None, downsampleObject=Tr
 
         if objectPolyData is None:
             if filename is None:
-                filename = utils.getObjectMeshFilename(objectName)
+                filename = utils.getObjectMeshFilename(self.objectData, objectName)
 
             objectPolyData = ioUtils.readPolyData(filename)
 
@@ -281,7 +281,7 @@ def launchObjectAlignment(self, objectName, useAboveTablePointcloud=True):
 
         pointCloud = self.aboveTablePolyData
         # pointCloud = om.findObjectByName('reconstruction').polyData
-        objectPolyData = utils.getObjectPolyData(objectName)
+        objectPolyData = utils.getObjectPolyData(self.objectData, objectName)
         resultsDict = dict()
         self.objectAlignmentResults[objectName] = resultsDict
         parent = om.getOrCreateContainer('global registration')

modules/labelfusion/objectalignmenttool.py

@@ -25,6 +25,7 @@ def __init__(self, view, viewOptions, pathDict):
         self.view = view
         self.viewOptions = viewOptions
         self.pathDict = pathDict
+        self.objectData = utils.loadObjectData()
         self.storedColors = {}
         self.colors = cm.nipy_spectral(np.linspace(0, 1, 12))
         self.colors = np.append(self.colors, [[0.5, 0.5, 0.5, 1.0]], axis=0)
@@ -62,7 +63,7 @@ def disableLighting(self):
 
         for obj in om.findObjectByName('data files').children():
             objName = obj.getProperty('Name')
-            objLabel = utils.getObjectLabel(objName)
+            objLabel = utils.getObjectLabel(self.objectData, objName)
             obj.actor.GetProperty().LightingOff()
             self.storedColors[obj.getProperty('Name')] = list(obj.getProperty('Color'))
             obj.setProperty('Color', [objLabel / 255.0] * 3)
@@ -154,7 +155,7 @@ def getCameraPoseAtUTime(self, utime):
         return transformUtils.transformFromPose(pos, quat)
 
     def getColorFromIndex(self, objName):
-        objLabel = utils.getObjectLabel(objName)
+        objLabel = utils.getObjectLabel(self.objectData, objName)
         return self.colors[objLabel][:3]
 
     def loadObjectMeshes(self):
@@ -166,7 +167,7 @@ def loadObjectMeshes(self):
 
             filename = data['filename']
             if len(filename) == 0:
-                filename = utils.getObjectMeshFilename(objName)
+                filename = utils.getObjectMeshFilename(self.objectData, objName)
             else:
                 filename = os.path.join(utils.getLabelFusionDataDir(), filename)
 
@@ -245,7 +246,7 @@ def saveObjectPoses(self, imageFilename, cameraToCameraStart, baseName):
                 continue 
             if val > 0:
                 cameraStartToCamera = cameraToCameraStart.GetLinearInverse()
-                objectName = utils.getObjectName(index)
+                objectName = utils.getObjectName(self.objectData, index)
                 target.write(objectName + ":")
                 target.write("\n")
                 target.write("  label: " + str(index))

modules/labelfusion/registration.py

@@ -58,7 +58,7 @@ def setupLabelFusionDirector(affordanceManager, openniDepthPointCloud, logFolder
 
 
 def testStartup(robotSystem, affordanceManager, openniDepthPointCloud, logFolder="logs/moving-camera", globalsDict=None):
-    objectData = utils.getObjectDataYamlFile()
+    objectData = utils.loadObjectData()
 
     for objectName, data in objectData.iteritems():
         utils.loadObjectMesh(affordanceManager, objectName, visName=objectName)

modules/labelfusion/rendertrainingimages.py

@@ -69,7 +69,7 @@ def printObjectPose(name):
 def loadObjectMesh(affordanceManager, objectName, visName=None, pose=None):
     if visName is None:
         visName = objectName + "_raw"
-    filename = getObjectMeshFilename(objectName)
+    filename = getObjectMeshFilename(loadObjectData(), objectName)
 
     if pose is None:
         pose = [[0,0,0],[1,0,0,0]]
@@ -99,7 +99,7 @@ def loadObjectMeshes(affordanceManager, registrationResultFilename,
     for objName, data in registrationResult.iteritems():
         objectMeshFilename = data['filename'] # should be relative to getLabelFusionDataDir()
         if len(objectMeshFilename) == 0:
-            objectMeshFilename = getObjectMeshFilename(objName)
+            objectMeshFilename = getObjectMeshFilename(loadObjectData(), objName)
         else:
             objectMeshFilename = os.path.join(getLabelFusionDataDir(), objectMeshFilename)
 
@@ -138,20 +138,16 @@ def getGRBaseDir():
     return os.getenv('FGR_BASE_DIR')
 
 def getObjectDataFilename():
-    return os.path.join(getLabelFusionBaseDir(), 'config/object_data.yaml')
+    return os.path.join(getLabelFusionDataDir(), 'object_data.yaml')
 
-def getObjectDataYamlFile():
-    stream = file(getObjectDataFilename())
-    return yaml.load(stream)
+def loadObjectData():
+    return getDictFromYamlFilename(getObjectDataFilename())
 
 def getDictFromYamlFilename(filename):
     stream = file(filename)
     return yaml.load(stream)
 
-objectDataFilename = os.path.join(getLabelFusionBaseDir(), 'config/object_data.yaml')
-objectData = yaml.load(file(objectDataFilename))
-
-def getObjectMeshFilename(objectName):
+def getObjectMeshFilename(objectData, objectName):
     """
     Returns the filename of mesh corresponding to this object.
     Filename is relative to getLabelFusionDataDir()
@@ -162,11 +158,13 @@ def getObjectMeshFilename(objectName):
 
     return os.path.join(getLabelFusionDataDir(), objectData[objectName]['mesh'])
 
-def getObjectPolyData(objectName):
-    filename = getObjectMeshFilename(objectName)
+
+def getObjectPolyData(objectData, objectName):
+    filename = getObjectMeshFilename(objectData, objectName)
     return ioUtils.readPolyData(filename)
 
-def getObjectLabel(objectName):
+
+def getObjectLabel(objectData, objectName):
     """
     Returns the object label specified in object_data.yaml
     :param objectName:
@@ -178,7 +176,7 @@ def getObjectLabel(objectName):
 
     return objectData[objectName]['label']
 
-def getObjectName(objectLabel):
+def getObjectName(objectData, objectLabel):
     """
     Returns the object label specified in object_data.yaml
     :param objectLabel:
@@ -213,11 +211,6 @@ def evalFileAsString(filename):
     return eval(open(filename, 'r').read(), context)
 
 
-def getResultsConfig():
-    filename = getLabelFusionRelativePath('config/registration_result.py')
-    return evalFileAsString(filename)
-
-
 def loadElasticFusionReconstruction(filename, transform=None):
     """
     Loads reconstructed pointcloud into director view