move object_data.yaml out of source repo. now it is part of the data dir.

also removed usage of global variable utils.objectData, now functions
take objectData as an argument

Author: patmarion

config/object_data.yaml

@@ -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/objectalignmenttool.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/registration.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)
@@ -149,7 +150,7 @@ 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):
@@ -161,7 +162,7 @@ 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)
 
@@ -240,7 +241,7 @@ 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/rendertrainingimages.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/setup.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: