-
Notifications
You must be signed in to change notification settings - Fork 3
/
runner.py
274 lines (234 loc) · 11.1 KB
/
runner.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
import open3d as o3d
import numpy as np
import scipy.spatial
from tqdm import tqdm
import math
import networkx as nx
import heapq
from disjoint import DisjointSetExtra
import random
import matplotlib
from collections import Counter
from itertools import count
from copy import copy
import feature_piplines
import importlib
from p_tqdm import p_umap
import os
import os.path
import pandas as pd
import itertools
import re
import yaml
from yaml.loader import SafeLoader
import datetime
class experiment(object):
"""docstring for ."""
def __init__(self, conf_file_name):
t = datetime.datetime.now()
time = t.strftime("[%d.%m.%y] Time - %H_%M_%S")
self.logs_file = open("logs/"+ time + ".log", "a+")
self.experiment_dir_name = None
self.conf_file_name = conf_file_name
self.log("conf file : "+self.conf_file_name)
conf = self.read_conf(conf_file_name)
self.log("Configurations : "+str(conf))
test_combinations = self.combination_creation(conf)
self.log("number of tests : "+str(len(test_combinations[0])))
self.save_results = conf["save_results"]
if self.save_results:
date = datetime.datetime.now()
timestampStr = date.strftime("%d-%b-%Y__%H_%M_%S_%f")
self.experiment_dir_name = "experiment_"+timestampStr
path = os.path.join("results",self.experiment_dir_name)
os.mkdir(path)
self.tests_objects = []
for test_atts in test_combinations :
for num,(((data,rot_tran),pipline),test_name) in enumerate(test_atts):
Obj1_url,Obj2_url = data
pipline_name,pipline_variables = pipline[0],pipline[1:]
path = self.experiment_dir_name+"/test_"+test_name+str(num)
self.tests_objects.append(test(Obj1_url, Obj2_url,rot_tran, pipline_name,pipline_variables, test_name, conf["evaluation"], save_results = self.save_results, dir_name = path ))
def run_test(self,test_obj):
result = {"obj1":test_obj.Obj1_url, "obj2":test_obj.Obj2_url,\
"pipeline":test_obj.pipline_name,"params":test_obj.pipline_variables,\
"R & T":test_obj.init_R_T, \
"test":test_obj.test_name }
try:
evals = test_obj.run()
for key,val in evals.items():
result[key] = val
result["transformation"] = test_obj.result_transformation
if self.save_results:
result["dir"] = self.results_path.split("/")[-1]
result["status"] = "success"
except:
result["status"] = "Failed"
self.log(result)
return result
def log(self,msg):
t = datetime.datetime.now()
time = t.strftime("\n [%d.%m.%y] Time - %H_%M_%S")
log_msg = str(msg)
self.logs_file.write(time+" : "+ log_msg)
def run(self):
results_tmp = p_umap(self.run_test, self.tests_objects)
self.results = pd.DataFrame(results_tmp)
def get_number(self,NumberString):
if NumberString.isdigit():
Number = int(NumberString)
else:
Number = float(NumberString)
if Number.is_integer():
Number = int(Number)
return Number
def compile_string(self, string):
string = str(string)
fixed_number = re.compile("\d+(?:\.\d+)?")
range_pattern = re.compile("range\(\d+(?:\.\d+)?,\d+(?:\.\d+)?,\d+(?:\.\d+)?\)")
random_pattern = re.compile("random\(\d+(?:\.\d+)?,\d+(?:\.\d+)?,\d+(?:\.\d+)?\)")
array_pattern = re.compile("array\(\[\d+(?:\.\d+)?,\d+(?:\.\d+)?,\d+(?:\.\d+)?\]\)")
my_values = []
if range_pattern.match(string):
start,end,step = re.findall(r"\d+(?:\.\d+)?", string, re.I)
my_values = np.arange(float(start), float(end), float(step))
elif fixed_number.match(string):
my_values = [self.get_number(string)]
elif random_pattern.match(string):
start,end,num = re.findall(r"\d+(?:\.\d+)?", string, re.I)
start = self.get_number(start)
end = self.get_number(end)
my_values = np.random.uniform(low=start, high=end, size=(int(num),))
elif array_pattern.match(string):
arr = re.findall(r"\d+(?:\.\d+)?", string, re.I)
my_values = [self.get_number(num) for num in arr]
else:
print("ERROR")
return my_values
def combination_creation(self, conf):
final_lists = []
data = conf["data"]
rotation = [conf["rotation"]["x"],conf["rotation"]["y"],conf["rotation"]["z"]]
translation = [conf["translation"]["x"],conf["translation"]["y"],conf["translation"]["z"]]
rot_list = itertools.product(*rotation)
tran_list= itertools.product(*translation)
rot_tran = itertools.product(*[rot_list,tran_list])
rot_tran_data = itertools.product(*[data,rot_tran])
pipline_lists = []
for pipline in conf["piplines"]:
pipline_list = itertools.product(*[val for key,val in pipline.items()])
rot_tran_data_pipline = itertools.product(*[rot_tran_data,pipline_list])
pipline_lists.append(list(rot_tran_data_pipline))
for test in conf["tests"]:
for lst in pipline_lists:
final_lists.append(list(itertools.product(*[lst,test])))
return list(final_lists)
def read_conf(self, config_file):
my_conf = {}
with open('expirments_conf/'+config_file) as f:
data = yaml.load(f, Loader=SafeLoader)
for key,val in data.items():
if key == "data":
all_data = []
data = []
for dirpath, dirnames, filenames in os.walk(val):
for filename in [f for f in filenames if f.endswith(".ply")]:
data.append((dirpath, os.path.join(dirpath, filename)))
key_func = lambda x: x[0]
for key, group in itertools.groupby(data, key_func):
all_data.append([filename for dirname, filename in list(group)])
my_conf["data"] = all_data
if key == "rotation":
my_conf["rotation"] = {}
for axis_name, axis_val in val.items():
my_conf["rotation"][axis_name] = None
my_conf["rotation"][axis_name] = self.compile_string(axis_val)
if key == "translation":
my_conf["translation"] = {}
for axis_name, axis_val in val.items():
my_conf["translation"][axis_name] = None
my_conf["translation"][axis_name] = self.compile_string(axis_val)
if key == "piplines":
my_conf["piplines"] = []
for pipline in val:
my_pipline = {"name":[pipline["name"]]}
del pipline["name"]
for axis_name, axis_val in pipline.items():
my_pipline[axis_name] = self.compile_string(axis_val)
my_conf["piplines"].append(my_pipline)
if key == "tests":
tests = []
for test in val:
tests.append([test["name"]])
my_conf["tests"] = tests
if key == "evaluation":
my_conf[key] = val
if key == "save_results":
my_conf[key] = val
print(my_conf)
return my_conf
class test(object):
def __init__(self, Obj1_url, Obj2_url, init_R_T, pipline, pipline_variables, my_test, evaluation_list, show_results=False, save_results=False, dir_name=None):
if not os.path.exists("pipline_modules/"+pipline+".py") :
print("Error ! cannot find "+pipline+" module in pipline_modules")
if save_results:
date = datetime.datetime.now()
timestampStr = date.strftime("%d-%b-%Y__%H_%M_%S_%f")
if not dir_name:
dir = "test_"+timestampStr
path = os.path.join("results", dir)
else:
path = os.path.join("results",dir_name)
self.results_path = path
if not os.path.exists(path):
os.mkdir(path)
self.Obj1_url = Obj1_url
self.Obj2_url = Obj2_url
self.pipline_variables = pipline_variables
self.init_R_T = init_R_T
self.pipline_name = pipline
self.test_name = my_test
self.my_pipline = importlib.import_module(str("pipline_modules."+pipline))
self.my_test = importlib.import_module(str("test_modules."+my_test))
self.evaluation_list = [importlib.import_module(str("evaluation_modules."+my_eval)) for my_eval in evaluation_list]
self.show_results = show_results
self.save_results = save_results
def run(self):
# try:
Obj1 = self.my_pipline.run(self.Obj1_url,self.pipline_variables)
Obj2 = self.my_pipline.run(self.Obj2_url,self.pipline_variables)
R,T = self.init_R_T
RM = Obj2.pcd.get_rotation_matrix_from_xyz(R)
Obj2 = self.change_rotation_translation(Obj2,self.init_R_T)
self.result_transformation = self.my_test.run(Obj1,Obj2)
if self.show_results:
self.draw_registration_result_original_color(Obj1,Obj2,self.result_transformation)
if self.save_results:
self.save_objects_with_registration(Obj1,Obj2,self.result_transformation)
return self.evalute((RM,T),self.result_transformation)
# except:
# return -1,-1
def evalute(self,RotationMatrix_and_Translation,result_transformation):
results = dict()
for eval in self.evaluation_list:
tmp_res = eval.run(RotationMatrix_and_Translation,self.result_transformation)
for key,val in tmp_res.items():
results[key] = val
return results
def change_rotation_translation(self,Obj,init_R_T):
R,T = init_R_T
RM = Obj.pcd.get_rotation_matrix_from_xyz((R[0], R[1], R[2]))
Obj.pcd.rotate(RM, center=(0, 0, 0))
Obj.pcd.translate((T[0], T[1], T[2]))
return Obj
def draw_registration_result_original_color(self, obj1, obj2, transformation):
obj1.pcd.colors = o3d.utility.Vector3dVector(np.asarray([(0,1,0) for _ in obj1.pcd.points]).astype(np.float))
obj2.pcd.colors = o3d.utility.Vector3dVector(np.asarray([(0,0,1) for _ in obj2.pcd.points]).astype(np.float))
obj2.pcd.transform(transformation)
o3d.visualization.draw_geometries([obj2.pcd, obj1.pcd])
def save_objects_with_registration(self, obj1, obj2, transformation):
obj1.pcd.colors = o3d.utility.Vector3dVector(np.asarray([(0,1,0) for _ in obj1.pcd.points]).astype(np.float))
obj2.pcd.colors = o3d.utility.Vector3dVector(np.asarray([(0,0,1) for _ in obj2.pcd.points]).astype(np.float))
obj2.pcd.transform(transformation)
o3d.io.write_point_cloud(self.results_path+"/Obj1.ply", obj1.pcd, compressed=True)
o3d.io.write_point_cloud(self.results_path+"/Obj2.ply", obj2.pcd, compressed=True)