evaluate_planes.py

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#!/usr/bin/env python

import roslib
roslib.load_manifest('semanticmodel')

import hand_planes
import sys
from semanticmodel import db
import mongo_ros as mr
import semanticmodel.msg as smm

def main():
    if len(sys.argv)!=3:
        print "Usage: {0} BAG_ID RUN_ID".format(sys.argv[0])
        return 1

    planes = hand_planes.meters[int(sys.argv[1])]
    run_id = 'run{0}'.format(sys.argv[2])
    coll_name = db.collection_name(run_id, 'planes')
    coll = mr.MessageCollection('semantic_world_model', coll_name, smm.Planes)
    m = coll.find_one({})[0]
    print "There are {0} planes".format(len(m.planes))

if __name__=='__main__':
    sys.exit(main())