update paths for change detection and rendering

Author: manuelli

modules/dense_correspondence_manipulation/change_detection/change_detection.py

@@ -76,6 +76,20 @@ class ChangeDetection(object):
 
     def __init__(self, app, view, cameraIntrinsics=None, debug=True,
         data_directory=None):
+        """
+        This shouldn't be called directly. Should only be called via the staticmethod from_data_folder
+
+        :param app:
+        :type app:
+        :param view:
+        :type view:
+        :param cameraIntrinsics:
+        :type cameraIntrinsics:
+        :param debug:
+        :type debug:
+        :param data_directory: The 'processed' subfolder of a top level log folder
+        :type data_directory:
+        """
 
         self.app = app
         self.views = dict()
@@ -119,23 +133,6 @@ def __init__(self, app, view, cameraIntrinsics=None, debug=True,
         # dock.setMinimumWidth(300)
         # dock.setMinimumHeight(300)
 
-        if data_directory is not None:
-            self.data_dir = data_directory
-            self.loadData()
-
-    def loadData(self):
-        """
-        Load the relevant data from the folder.
-
-        Key pieces of data are 
-        - background reconstruction
-        - foreground reconstruction
-        - images (depth and rgb)
-        - camera pose data
-        - camera intrinsics
-        """
-        self.image_dir = os.path.join(self.data_dir, 'images')
-
     @property
     def background_reconstruction(self):
         return self._background_reconstruction
@@ -502,7 +499,7 @@ def from_data_folder(data_folder, config=None, globalsDict=None, background_data
         app = globalsDict['app']
 
 
-        camera_info_file = os.path.join(data_folder, 'processed', 'images', 'camera_info.yaml')
+        camera_info_file = os.path.join(data_folder, 'images', 'camera_info.yaml')
         camera_intrinsics = utils.CameraIntrinsics.from_yaml_file(camera_info_file)
         changeDetection = ChangeDetection(app, view, cameraIntrinsics=camera_intrinsics)
         changeDetection.foreground_reconstruction = foreground_reconstruction

modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py

@@ -322,6 +322,17 @@ def visualize_reconstruction(self, view, vis_uncropped=False, name=None):
 
     @staticmethod
     def from_data_folder(data_folder, config=None, name=None):
+        """
+
+        :param data_folder: The 'processed' subfolder of a top level log folder
+        :type data_folder:
+        :param config:
+        :type config:
+        :param name:
+        :type name:
+        :return:
+        :rtype:
+        """
         fr = TSDFReconstruction()
         fr.data_dir = data_folder
 
@@ -332,14 +343,14 @@ def from_data_folder(data_folder, config=None, name=None):
             print "no config passed in, loading default"
             config = FusionReconstruction.load_default_config()
 
-        pose_data_filename = os.path.join(data_folder, 'processed', 'images', 'pose_data.yaml')
-        camera_info_filename = os.path.join(data_folder, 'processed', 'images', 'camera_info.yaml')
+        pose_data_filename = os.path.join(data_folder, 'images', 'pose_data.yaml')
+        camera_info_filename = os.path.join(data_folder, 'images', 'camera_info.yaml')
 
         fr.config = config
         fr.name = name
         fr.kinematics_pose_data = utils.getDictFromYamlFilename(pose_data_filename)
         fr.camera_info = utils.getDictFromYamlFilename(camera_info_filename)
 
-        fr.reconstruction_filename = os.path.join(fr.data_dir, 'processed', 'fusion_mesh.ply')
+        fr.reconstruction_filename = os.path.join(fr.data_dir, 'fusion_mesh.ply')
         fr.setup()
         return fr

modules/dense_correspondence_manipulation/scripts/batch_run_change_detection_pipeline.py

@@ -20,7 +20,8 @@ def main():
 
     for idx, dir in enumerate(list_of_dirs):
 
-        data_folder = os.path.join(parent_folder, dir)
+        log_folder = os.path.join(parent_folder, dir)
+        data_folder = os.path.join(log_folder, 'processed')
 
         if not os.path.isdir(data_folder):
             continue

modules/dense_correspondence_manipulation/scripts/run_change_detection.py

@@ -18,7 +18,7 @@ def run(data_folder, config_file=CONFIG_FILE, debug=False, globalsDict=None,
         background_scene_data_folder=None):
     """
     Runs the change detection pipeline
-    :param data_dir:
+    :param data_dir: The 'processed' subfolder of a top-level log folder
     :param config_file:
     :return:
     """

modules/dense_correspondence_manipulation/scripts/run_change_detection_pipeline.py

@@ -50,6 +50,7 @@ def already_ran_change_detection(processed_dir):
     return (os.path.isfile(file_to_check_1) and os.path.isfile(file_to_check_2))
 
 def run_on_all_subfolders(directory, config_file):
+    print "running on all subfolders"
 
     for dir in sorted(os.listdir(directory)):
         full_dir = os.path.join(directory, dir)