def rpc_registration(world,
cropped_cam,
cropped_edge_image,
uncertainty,
shift_3d_flag=0,
scale=0,
is_uncertainty_float=0):
batch.init_process("bvxmRpcRegistrationProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cropped_cam)
batch.set_input_from_db(2, cropped_edge_image)
batch.set_input_bool(3, shift_3d_flag)
if is_uncertainty_float == 1:
print "uncertainty = ", uncertainty
batch.set_input_float(4, uncertainty)
else:
batch.set_input_from_db(4, uncertainty)
batch.set_input_unsigned(5, scale)
batch.run_process()
(cam_id, cam_type) = batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
(expected_edge_image_id, expected_edge_image_type) = batch.commit_output(1)
expected_edge_image = dbvalue(expected_edge_image_id,
expected_edge_image_type)
(offset_u_id, offset_u_type) = batch.commit_output(2)
offset_u = batch.get_output_double(offset_u_id)
(offset_v_id, offset_v_type) = batch.commit_output(3)
offset_v = batch.get_output_double(offset_v_id)
return cam, expected_edge_image, offset_u, offset_v
def img_registration_by_rmse(src_img, tgr_img, sx, sy, sz = 0.0, pixel_res=1.0, invalid_pixel=-9999.0, mask_img=None):
bvxm_batch.init_process("vilImageRegistrationProcess")
bvxm_batch.set_input_from_db(0, src_img)
bvxm_batch.set_input_from_db(1, tgr_img)
bvxm_batch.set_input_unsigned(2,sx)
bvxm_batch.set_input_unsigned(3,sy)
bvxm_batch.set_input_double(4, sz)
bvxm_batch.set_input_double(5, pixel_res)
bvxm_batch.set_input_float(6,invalid_pixel)
if mask_img:
bvxm_batch.set_input_from_db(7,mask_img)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
trans_x = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
trans_y = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(2)
trans_z = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(3)
rmse_z = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(4)
var_z = bvxm_batch.get_output_double(id)
return trans_x, trans_y, trans_z, rmse_z, var_z
else:
return -1.0, -1.0, -1.0, -1.0, -1.0
def img_registration_by_rmse(src_img,
tgr_img,
sx,
sy,
sz=0.0,
pixel_res=1.0,
invalid_pixel=-9999.0,
mask_img=None):
bvxm_batch.init_process("vilImageRegistrationProcess")
bvxm_batch.set_input_from_db(0, src_img)
bvxm_batch.set_input_from_db(1, tgr_img)
bvxm_batch.set_input_unsigned(2, sx)
bvxm_batch.set_input_unsigned(3, sy)
bvxm_batch.set_input_double(4, sz)
bvxm_batch.set_input_double(5, pixel_res)
bvxm_batch.set_input_float(6, invalid_pixel)
if mask_img:
bvxm_batch.set_input_from_db(7, mask_img)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
trans_x = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
trans_y = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(2)
trans_z = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(3)
rmse_z = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(4)
var_z = bvxm_batch.get_output_double(id)
return trans_x, trans_y, trans_z, rmse_z, var_z
else:
return -1.0, -1.0, -1.0, -1.0, -1.0
def scene_origin(scene):
batch.init_process("bvxmSceneOriginProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
lower_left_lon = batch.get_output_double(id)
(id, type) = batch.commit_output(1)
lower_left_lat = batch.get_output_double(id)
(id, type) = batch.commit_output(2)
lower_left_z = batch.get_output_double(id)
return lower_left_lon, lower_left_lat, lower_left_z
def scene_origin(scene):
batch.init_process("bvxmSceneOriginProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
lower_left_lon = batch.get_output_double(id)
(id, type) = batch.commit_output(1)
lower_left_lat = batch.get_output_double(id)
(id, type) = batch.commit_output(2)
lower_left_z = batch.get_output_double(id)
return lower_left_lon, lower_left_lat, lower_left_z
def img_sum(img, plane_index=0):
bvxm_batch.init_process("vilImageSumProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_unsigned(1, plane_index)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
value = bvxm_batch.get_output_double(id)
return value
def img_sum(img, plane_index=0):
bvxm_batch.init_process("vilImageSumProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_unsigned(1,plane_index)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
value = bvxm_batch.get_output_double(id)
return value
def box_2d_intersection(in_kml, out_kml=""):
bvxm_batch.init_process("bvgl2DBoxIntersectionProcess")
bvxm_batch.set_input_string(0, in_kml)
bvxm_batch.set_input_string(1, out_kml)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
ll_lon = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
ll_lat = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(2)
ur_lon = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(3)
ur_lat = bvxm_batch.get_output_double(id)
return ll_lon, ll_lat, ur_lon, ur_lat
else:
return 0.0, 0.0, 0.0, 0.0
def scene_local_box(scene):
batch.init_process("bvxmSceneLocalBoxProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
lower_left_x = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(1)
lower_left_y = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(2)
upper_right_x = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(3)
upper_right_y = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(4)
voxel_size = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(5)
lower_left_z = batch.get_output_double(id) # min z
batch.remove_data(id)
(id, type) = batch.commit_output(6)
upper_right_z = batch.get_output_double(id) # max z
batch.remove_data(id)
return lower_left_x, lower_left_y, upper_right_x, upper_right_y, voxel_size, lower_left_z, upper_right_z
def scene_local_box(scene):
batch.init_process("bvxmSceneLocalBoxProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
lower_left_x = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(1)
lower_left_y = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(2)
upper_right_x = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(3)
upper_right_y = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(4)
voxel_size = batch.get_output_double(id)
batch.remove_data(id)
(id, type) = batch.commit_output(5)
lower_left_z = batch.get_output_double(id) # min z
batch.remove_data(id)
(id, type) = batch.commit_output(6)
upper_right_z = batch.get_output_double(id) # max z
batch.remove_data(id)
return lower_left_x, lower_left_y, upper_right_x, upper_right_y, voxel_size, lower_left_z, upper_right_z
def rpc_registration(world, cropped_cam, cropped_edge_image, uncertainty, shift_3d_flag=0, scale=0, is_uncertainty_float=0):
batch.init_process("bvxmRpcRegistrationProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cropped_cam)
batch.set_input_from_db(2, cropped_edge_image)
batch.set_input_bool(3, shift_3d_flag)
if is_uncertainty_float == 1:
print "uncertainty = ", uncertainty
batch.set_input_float(4, uncertainty)
else:
batch.set_input_from_db(4, uncertainty)
batch.set_input_unsigned(5, scale)
batch.run_process()
(cam_id, cam_type) = batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
(expected_edge_image_id, expected_edge_image_type) = batch.commit_output(1)
expected_edge_image = dbvalue(
expected_edge_image_id, expected_edge_image_type)
(offset_u_id, offset_u_type) = batch.commit_output(2)
offset_u = batch.get_output_double(offset_u_id)
(offset_v_id, offset_v_type) = batch.commit_output(3)
offset_v = batch.get_output_double(offset_v_id)
return cam, expected_edge_image, offset_u, offset_v
def scene_box(scene):
batch.init_process("bvxmSceneBoxProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
lower_left_lon = batch.get_output_double(id)
(id, type) = batch.commit_output(1)
lower_left_lat = batch.get_output_double(id)
(id, type) = batch.commit_output(2)
lower_left_elev = batch.get_output_double(id)
(id, type) = batch.commit_output(3)
upper_right_lon = batch.get_output_double(id)
(id, type) = batch.commit_output(4)
upper_right_lat = batch.get_output_double(id)
(id, type) = batch.commit_output(5)
upper_right_elev = batch.get_output_double(id)
return lower_left_lon, lower_left_lat, lower_left_elev, upper_right_lon, upper_right_lat, upper_right_elev
def scene_box(scene):
batch.init_process("bvxmSceneBoxProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
lower_left_lon = batch.get_output_double(id)
(id, type) = batch.commit_output(1)
lower_left_lat = batch.get_output_double(id)
(id, type) = batch.commit_output(2)
lower_left_elev = batch.get_output_double(id)
(id, type) = batch.commit_output(3)
upper_right_lon = batch.get_output_double(id)
(id, type) = batch.commit_output(4)
upper_right_lat = batch.get_output_double(id)
(id, type) = batch.commit_output(5)
upper_right_elev = batch.get_output_double(id)
return lower_left_lon, lower_left_lat, lower_left_elev, upper_right_lon, upper_right_lat, upper_right_elev
