def loadTargetImageMeta(self, src):
if True:
# FIX: currently doesnt correspond with what is shown
lblloader.load_image_meta(src, self.systemModel)
else:
self.systemModel.ast_x_rot.value = -83.88
self.systemModel.ast_y_rot.value = 74.38
self.systemModel.ast_z_rot.value = -77.98
self.systemModel.time.range = (1437391848.27 * 0.99,
1437391848.27 * 1.01)
self.systemModel.time.value = 1437391848.27
self.systemModel.x_off.value = -0.42
self.systemModel.x_rot.value = -49.39
self.systemModel.y_off.value = 2.47
self.systemModel.y_rot.value = 123.26
self.systemModel.z_off.value = -158.39
self.systemModel.z_rot.value = -96.62
self.update()
def costfun(x, debug=0, verbose=True):
set_params(x)
err = 0
for file, real in imgs.items():
lblloader.load_image_meta(os.path.join(sm.asteroid.image_db_path, file + '.LBL'), sm)
sm.swap_values_with_real_vals()
synth2 = ab.render(shadows=True, reflection=model, gamma=1)
err_img = (synth2.astype('float') - real)**2
lim = np.percentile(err_img, 99)
err_img[err_img > lim] = 0
err += np.mean(err_img)
if debug:
if debug%2:
cv2.imshow('real vs synthetic', np.concatenate((real.astype('uint8'), 255*np.ones((real.shape[0], 1), dtype='uint8'), synth2), axis=1))
if debug>1:
err_img = err_img**0.2
cv2.imshow('err', err_img/np.max(err_img))
cv2.waitKey()
err /= len(imgs)
if verbose:
print('%s => %f' % (', '.join(['%.4e' % i for i in np.array(x)*scales]), err))
return err
qfin = (q * q_crop.conj())
# light direction
light, err_angle = m.gl_light_rel_dir(err_q, discretize_tol)
self.latest_discretization_light_err_angle = err_angle if discretize_tol else False
return (x, y, z), qfin, light
if __name__ == '__main__':
sm = RosettaSystemModel(rosetta_batch='mtp006')
#img = 'ROS_CAM1_20140823T021833'
img = 'ROS_CAM1_20140822T020718'
#img = 'ROS_CAM1_20150606T213002' # 017
lblloader.load_image_meta(
os.path.join(sm.asteroid.image_db_path, img + '.LBL'), sm)
sm.swap_values_with_real_vals(),
textures = True
if True:
re = RenderEngine(sm.cam.width, sm.cam.height, antialias_samples=16)
#obj_idx = re.load_object(sm.asteroid.hires_target_model_file, smooth=False)
#obj_idx = re.load_object(os.path.join(BASE_DIR, 'data/original-shapemodels/CSHP_DV_130_01_HIRES_00200.obj'), smooth=False)
#obj_idx = re.load_object(os.path.join(BASE_DIR, 'data/original-shapemodels/dissolved_5deg_1.obj'), smooth=False)
obj_idx = re.load_object(os.path.join(
BASE_DIR,
'data/original-shapemodels/67P_C-G_shape_model_MALMER_2015_11_20-in-km.obj'
),
smooth=False)
textures = False
else:
def generate_system_state(self, sm, i):
# reset asteroid axis to true values
sm.asteroid.reset_to_defaults()
sm.asteroid_rotation_from_model()
if self._state_list is not None:
lblloader.load_image_meta(
os.path.join(self._state_db_path, self._state_list[i]+'.LBL'), sm)
return
for i in range(100):
## sample params from suitable distributions
##
# datetime dist: uniform, based on rotation period
time = np.random.uniform(*sm.time.range)
# spacecraft position relative to asteroid in ecliptic coords:
sc_lat = np.random.uniform(-math.pi/2, math.pi/2)
sc_lon = np.random.uniform(-math.pi, math.pi)
# s/c distance as inverse uniform distribution
if TestLoop.UNIFORM_DISTANCE_GENERATION:
sc_r = np.random.uniform(self.min_r, self.max_r)
else:
sc_r = 1/np.random.uniform(1/self.max_r, 1/self.min_r)
# same in cartesian coord
sc_ex_u, sc_ey_u, sc_ez_u = spherical_to_cartesian(sc_r, sc_lat, sc_lon)
sc_ex, sc_ey, sc_ez = sc_ex_u.value, sc_ey_u.value, sc_ez_u.value
# s/c to asteroid vector
sc_ast_v = -np.array([sc_ex, sc_ey, sc_ez])
# sc orientation: uniform, center of asteroid at edge of screen
if self._opzone_only:
# always get at least 50% of astroid in view, 5% of the time maximum offset angle
max_angle = rad(min(sm.cam.x_fov, sm.cam.y_fov)/2)
da = min(max_angle, np.abs(np.random.normal(0, max_angle/2)))
dd = np.random.uniform(0, 2*math.pi)
sco_lat = wrap_rads(-sc_lat + da*math.sin(dd))
sco_lon = wrap_rads(math.pi + sc_lon + da*math.cos(dd))
sco_rot = np.random.uniform(-math.pi, math.pi) # rotation around camera axis
else:
# follows the screen edges so that get more partial views, always at least 25% in view
# TODO: add/subtract some margin
sco_lat = wrap_rads(-sc_lat)
sco_lon = wrap_rads(math.pi + sc_lon)
sco_rot = np.random.uniform(-math.pi, math.pi) # rotation around camera axis
sco_q = ypr_to_q(sco_lat, sco_lon, sco_rot)
ast_ang_r = math.atan(sm.asteroid.mean_radius/1000/sc_r) # if asteroid close, allow s/c to look at limb
dx = max(rad(sm.cam.x_fov/2), ast_ang_r)
dy = max(rad(sm.cam.y_fov/2), ast_ang_r)
disturbance_q = ypr_to_q(np.random.uniform(-dy, dy), np.random.uniform(-dx, dx), 0)
sco_lat, sco_lon, sco_rot = q_to_ypr(sco_q * disturbance_q)
sco_q = ypr_to_q(sco_lat, sco_lon, sco_rot)
# sc_ast_p ecliptic => sc_ast_p open gl -z aligned view
sc_pos = q_times_v((sco_q * sm.sc2gl_q).conj(), sc_ast_v)
# get asteroid position so that know where sun is
# *actually barycenter, not sun
as_v = sm.asteroid.position(time)
elong, direc = solar_elongation(as_v, sco_q)
# limit elongation to always be more than set elong
if elong > rad(sm.min_elong):
break
if elong <= rad(sm.min_elong):
assert False, 'probable infinite loop'
# put real values to model
sm.time.value = time
sm.spacecraft_pos = sc_pos
sm.spacecraft_rot = (deg(sco_lat), deg(sco_lon), deg(sco_rot))
# save real values so that can compare later
sm.time.real_value = sm.time.value
sm.real_spacecraft_pos = sm.spacecraft_pos
sm.real_spacecraft_rot = sm.spacecraft_rot
sm.real_asteroid_axis = sm.asteroid_axis
# get real relative position of asteroid model vertices
sm.asteroid.real_sc_ast_vertices = sm.sc_asteroid_vertices()
ih, iw, cs = img.shape
m = cv2.moments(img[:,:,0], binaryImage=binary)
if np.isclose(m['m00'],0):
if is_scene:
raise PositioningException('No asteroid found')
else:
raise PositioningException('Algorithm failure: model moved out of view')
# image centroid
icx = m['m10']/m['m00']/iw*self._cam.width
icy = m['m01']/m['m00']/ih*self._cam.height
brightness = m['m00']/iw/ih*self._cam.width*self._cam.height
# pixel spreads
# used to model dimensions of asteroid parts visible in image
hr = math.sqrt(m['mu20']/m['m00']) if m['mu20']>0 else 1
vr = math.sqrt(m['mu02']/m['m00']) if m['mu02']>0 else 1
return icx, icy, brightness, hr, vr
if __name__ == '__main__':
sm = RosettaSystemModel()
lblloader.load_image_meta(sm.asteroid.sample_image_meta_file, sm)
re = RenderEngine(sm.view_width, sm.view_height)
obj_idx = re.load_object(sm.asteroid.real_shape_model)
DEBUG = True
algo = CentroidAlgo(sm, re, obj_idx)
algo.adjust_iteratively(sm.asteroid.sample_image_file, None)