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household_objects_db_update.py

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#
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# \author Aitor Aldoma
#
# Connects to the household_objects and call for
# generate_views_vfh for the models for which views and vfh descriptors
# havent been yet generated...
# To execute this script: python scripts/household_objects_db_update.py 
#

import psycopg2
import sys
import os
import pickle
import dbutils

try:
        connection = psycopg2.connect(database="household_objects", user="willow", password="willow", host="wgs36")
except:
        print "I am unable to connect to the database."

cur = connection.cursor()

DB_PATH=dbutils.getPlyModelsRoot(cur)
ITERATION = int(sys.argv[2])

#read models in a directory
directory = sys.argv[1]
query = ""
for f in os.listdir(directory):
        if os.path.isfile(os.path.join(directory, f)) and f.endswith(".ply"):
                db_path = "ply/" + f
                query = query + "fp.file_path_path = '" + db_path + "' OR "

print query[0:-4]
final_query = "SELECT fp.file_path_path,om.original_model_id from original_model as om, file_path as fp WHERE fp.original_model_id = om.original_model_id AND fp.file_type = 'GEOMETRY_BINARY_PLY' AND (" + query[0:-4] + ") ORDER BY om.original_model_id "

try:
        cur.execute(final_query)
        #9463 - all except the new models..
        #cur.execute("""SELECT fp.file_path_path,om.original_model_id from original_model as om, file_path as fp WHERE fp.original_model_id = om.original_model_id AND fp.file_type = 'GEOMETRY_BINARY_PLY' ORDER BY om.original_model_id""") 
except:
        print "I can't SELECT from original_model"

rows = cur.fetchall()
for row in rows:
        fnstr = DB_PATH + row[0]
        model_id = row[1] 

        cur.execute("""SELECT scaled_model_id,scaled_model_scale from scaled_model WHERE original_model_id = """ + str(model_id))
        scaled_models = cur.fetchall()
        for scaled_model in scaled_models:
                #parameters are the path to the ply file, the scaled_model_id and the scale_factor to apply to the ply model
                if not dbutils.checkViewsGenerated(cur, scaled_model[0], ITERATION):
                        scaled_factor = float(scaled_model[1]) * 0.001
                        print str(scaled_model[0]), model_id, fnstr
                        os.system("rosrun vfh_recognizer_db generate_views_vfh.py " + fnstr + " " + str(scaled_model[0]) + " " + str(scaled_factor) + " " + str(ITERATION))
                        print str(scaled_model[0]), model_id, fnstr

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vfh_recognizer_db
Author(s): Aitor Aldoma
autogenerated on Tue Mar 5 15:26:29 2013