def get_number_of_planes(img):
bvxm_batch.init_process("vilGetNumberOfPlanesProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
n_planes = bvxm_batch.get_output_unsigned(id)
return n_planes
def histogram_equalize(img):
bvxm_batch.init_process("vilHistogramEqualizeProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_equalized = dbvalue(id, type)
return img_equalized
def rgb_to_grey(img):
bvxm_batch.init_process("vilRGBToGreyProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
outimg = dbvalue(id, type)
return outimg
def fill_holes(img):
bvxm_batch.init_process("vilFillHolesInRegionsProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
outimg = dbvalue(id, type)
return outimg
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 save_occupancy_raw(world, filename, app_model, scale=0):
batch.init_process("bvxmSaveOccupancyRawProcess")
batch.set_input_from_db(0, world)
batch.set_input_string(1, filename)
batch.set_input_unsigned(2, scale)
batch.set_input_string(3, app_model)
batch.run_process()
def fill_holes(img):
bvxm_batch.init_process("vilFillHolesInRegionsProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
outimg = dbvalue(id, type);
return outimg
def model_dir(scene):
batch.init_process("bvxmSceneModelDirProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
model_dir = batch.get_output_string(id)
return model_dir
def get_number_of_planes(img):
bvxm_batch.init_process("vilGetNumberOfPlanesProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
n_planes = bvxm_batch.get_output_unsigned(id)
return n_planes;
def rgb_to_grey(img):
bvxm_batch.init_process("vilRGBToGreyProcess");
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
outimg = dbvalue(id, type);
return outimg
def debayer(img):
bvxm_batch.init_process("vilDebayerBGGRToRGBProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
outimg = dbvalue(id, type)
return outimg
def histogram_equalize(img):
bvxm_batch.init_process("vilHistogramEqualizeProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
img_equalized = dbvalue(id, type);
return img_equalized;
def scale_and_offset_values(img, scale, offset):
bvxm_batch.init_process("vilScaleAndOffsetValuesProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, scale)
bvxm_batch.set_input_float(2, offset)
bvxm_batch.run_process()
return
def debayer(img):
bvxm_batch.init_process("vilDebayerBGGRToRGBProcess")
bvxm_batch.set_input_from_db(0,img);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
outimg = dbvalue(id,type);
return outimg;
def scale_and_offset_values(img,scale,offset):
bvxm_batch.init_process("vilScaleAndOffsetValuesProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_float(1,scale)
bvxm_batch.set_input_float(2,offset)
bvxm_batch.run_process()
return
def image_mean(img):
bvxm_batch.init_process("vilImageMeanProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
mean_val = bvxm_batch.get_output_float(id)
bvxm_batch.remove_data(id)
return mean_val
def median_filter(img, operator_half_size):
bvxm_batch.init_process("vilMedianFilterProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_int(1, operator_half_size)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
def create_ortho_camera(world, is_utm=False):
batch.init_process("bvxmCreateOrthoCameraProcess")
batch.set_input_from_db(0, world)
batch.set_input_bool(1, is_utm)
batch.run_process()
(id, type) = batch.commit_output(0)
ortho_cam = dbvalue(id, type)
return ortho_cam
def bvxm_detect_edges(cropped_image, edge_params_xml):
batch.init_process("bvxmDetectEdgesProcess")
batch.set_input_from_db(0, cropped_image)
batch.set_params_process(edge_params_xml)
batch.run_process()
(cropped_edge_image_id, cropped_edge_image) = batch.commit_output(0)
cropped_edge_image = dbvalue(cropped_edge_image_id, cropped_edge_image)
return cropped_edge_image
def convert_image(img, type="byte"):
bvxm_batch.init_process("vilConvertPixelTypeProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_string(1, type)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
cimg = dbvalue(id, type)
return cimg
def detect_shadow_rgb(img,threshold) :
bvxm_batch.init_process("vilShadowDetectionProcess");
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_float(1, threshold);
bvxm_batch.run_process();
(o_id,o_type) = bvxm_batch.commit_output(0);
region_img = dbvalue(o_id,o_type);
return region_img;
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 image_entropy(img, block_size = 5):
bvxm_batch.init_process("vilBlockEntropyProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_unsigned(1, block_size);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
entropy_img = dbvalue(id, type);
return entropy_img;
def detect_shadow_rgb(img, threshold):
bvxm_batch.init_process("vilShadowDetectionProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, threshold)
bvxm_batch.run_process()
(o_id, o_type) = bvxm_batch.commit_output(0)
region_img = dbvalue(o_id, o_type)
return region_img
def get_plane(img, plane_id):
bvxm_batch.init_process("vilGetPlaneProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_unsigned(1, plane_id)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_plane = dbvalue(id, type)
return img_plane
def image_mean(img):
bvxm_batch.init_process("vilImageMeanProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
mean_val = bvxm_batch.get_output_float(id)
bvxm_batch.remove_data(id)
return mean_val
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 median_filter(img, operator_half_size):
bvxm_batch.init_process("vilMedianFilterProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_int(1, operator_half_size)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def combine_eo_ir(eo_img,ir_img):
bvxm_batch.init_process("vilEOIRCombineProcess")
bvxm_batch.set_input_from_db(0,eo_img)
bvxm_batch.set_input_from_db(1,ir_img)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
def combine_eo_ir(eo_img, ir_img):
bvxm_batch.init_process("vilEOIRCombineProcess")
bvxm_batch.set_input_from_db(0, eo_img)
bvxm_batch.set_input_from_db(1, ir_img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def convert_image(img, type="byte") :
bvxm_batch.init_process("vilConvertPixelTypeProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_string(1, type);
bvxm_batch.run_process();
(id,type) = bvxm_batch.commit_output(0);
cimg = dbvalue(id,type);
return cimg;
def get_plane(img, plane_id):
bvxm_batch.init_process("vilGetPlaneProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_unsigned(1, plane_id);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
img_plane = dbvalue(id, type);
return img_plane;
def image_size(img):
bvxm_batch.init_process('vilImageSizeProcess')
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
ni = bvxm_batch.get_output_unsigned(id)
(id,type) = bvxm_batch.commit_output(1)
nj = bvxm_batch.get_output_unsigned(id)
return ni,nj
def bvxm_truncate_image(img, min_value, max_value):
bvxm_batch.init_process("vilTruncateImageProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, min_value)
bvxm_batch.set_input_float(2, max_value)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def threshold_image(img, value, threshold_above=True):
bvxm_batch.init_process("vilThresholdImageProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, value)
bvxm_batch.set_input_bool(2, threshold_above)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
def gradient_angle(Ix, Iy):
bvxm_batch.init_process('vilGradientAngleProcess')
bvxm_batch.set_input_from_db(0, Ix)
bvxm_batch.set_input_from_db(1, Iy)
bvxm_batch.run_process()
#x image
(id, type) = bvxm_batch.commit_output(0)
angleImg = dbvalue(id, type)
return angleImg
def threshold_image(img, value, threshold_above=True):
bvxm_batch.init_process("vilThresholdImageProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_float(1,value)
bvxm_batch.set_input_bool(2,threshold_above)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
mask = dbvalue(id,type)
return mask
def pixel(img, point):
bvxm_batch.init_process("vilPixelValueProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_int(1, int(point[0]))
bvxm_batch.set_input_int(2, int(point[1]))
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
val = bvxm_batch.get_output_float(id)
return val
def next_frame(rawStream) :
bvxm_batch.init_process("bilReadFrameProcess")
bvxm_batch.set_input_from_db(0,rawStream);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
img = dbvalue(id,type);
#(id, type) = bvxm_batch.commit_output(1);
#time = bvxm_batch.get_output_unsigned(id);
return img
def image_range(img):
bvxm_batch.init_process('vilImageRangeProcess')
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
minVal = bvxm_batch.get_output_float(id)
(id,type) = bvxm_batch.commit_output(1)
maxVal = bvxm_batch.get_output_float(id)
return minVal, maxVal
def gradient_angle(Ix, Iy) :
bvxm_batch.init_process('vilGradientAngleProcess')
bvxm_batch.set_input_from_db(0,Ix)
bvxm_batch.set_input_from_db(1,Iy)
bvxm_batch.run_process()
#x image
(id,type) = bvxm_batch.commit_output(0)
angleImg = dbvalue(id,type)
return angleImg
def mask_image_using_id(img, id_img, input_id):
bvxm_batch.init_process("vilMaskImageUsingIDsProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_from_db(1, id_img);
bvxm_batch.set_input_unsigned(2, input_id);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
masked_img = dbvalue(id, type);
return masked_img;
def undistort_image(img, param_file, iters):
bvxm_batch.init_process("vilUndistortImageProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_string(1, param_file)
bvxm_batch.set_input_int(2, iters)
bvxm_batch.run_process()
(o_id, o_type) = bvxm_batch.commit_output(0)
out_img = dbvalue(o_id, o_type)
return out_img
def binary_img_op(img1, img2, operation="sum"):
bvxm_batch.init_process("vilBinaryImageOpProcess")
bvxm_batch.set_input_from_db(0, img1)
bvxm_batch.set_input_from_db(1, img2)
bvxm_batch.set_input_string(2, operation)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out = dbvalue(id, type)
return out
def image_entropy(img, block_size=5, bins=16):
bvxm_batch.init_process("vilBlockEntropyProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_unsigned(1, block_size)
bvxm_batch.set_input_unsigned(2, bins)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
entropy_img = dbvalue(id, type)
return entropy_img
def bvxm_truncate_image(img,min_value,max_value):
bvxm_batch.init_process("vilTruncateImageProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_float(1,min_value)
bvxm_batch.set_input_float(2,max_value)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
def pixel(img, point):
bvxm_batch.init_process("vilPixelValueProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_int(1, int(point[0]))
bvxm_batch.set_input_int(2, int(point[1]))
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
val = bvxm_batch.get_output_float(id)
return val
def binary_img_op(img1, img2, operation="sum"):
bvxm_batch.init_process("vilBinaryImageOpProcess")
bvxm_batch.set_input_from_db(0,img1)
bvxm_batch.set_input_from_db(1,img2)
bvxm_batch.set_input_string(2,operation)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
out = dbvalue(id, type);
return out
def mask_image_using_id(img, id_img, input_id):
bvxm_batch.init_process("vilMaskImageUsingIDsProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_from_db(1, id_img)
bvxm_batch.set_input_unsigned(2, input_id)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
masked_img = dbvalue(id, type)
return masked_img
def image_size(img):
bvxm_batch.init_process('vilImageSizeProcess')
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
ni = bvxm_batch.get_output_unsigned(id)
(id, type) = bvxm_batch.commit_output(1)
nj = bvxm_batch.get_output_unsigned(id)
return ni, nj
def image_range(img):
bvxm_batch.init_process('vilImageRangeProcess')
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
minVal = bvxm_batch.get_output_float(id)
(id, type) = bvxm_batch.commit_output(1)
maxVal = bvxm_batch.get_output_float(id)
return minVal, maxVal
def undistort_image(img, param_file, iters) :
bvxm_batch.init_process("vilUndistortImageProcess");
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_string(1, param_file);
bvxm_batch.set_input_int(2, iters);
bvxm_batch.run_process();
(o_id,o_type) = bvxm_batch.commit_output(0);
out_img = dbvalue(o_id,o_type);
return out_img;