if args.plot_profile:
figProfile = plt.figure()
axProfile = figProfile.add_subplot(111)
axProfile.set_title('Intensity Profile')
axProfile.hold(True)
# project 3d point into each image, and gather intensities
values = []
idx = []
# for point_idx, point in zip(range(len(points3d)),points3d):
point_idx=4
point=points3d[point_idx]
for im_idx in range(len(imgs)):
cam = vpgl.load_perspective_camera(cams[im_idx])
imgView,ni,nj = vil.load_image(imgs[im_idx]) #vxl image view
imgPoint = vpgl.project_point(cam, point[0], point[1], point[2])
u = imgPoint[0]
v = imgPoint[1]
val = vil.pixel(imgView, imgPoint)
if val > 0.0: #2-d coordinates may fall outside of image
values.append(val)
idx.append(im_idx)
axProfile.plot(idx,values, '--*')
# print "Values: ", values
im_idx = args.idx
fig = plt.figure()
plt.hold(True)
def run_build_voxel_model_bp(self,
image_collection_id,
scene_id,
bbox,
skip_frames,
cleanup=True,
history=None):
from distutils.dir_util import remove_tree
from shutil import move
import random
from vsi.tools.redirect import StdRedirect, Logger as LoggerWrapper
from voxel_globe.meta import models
from voxel_globe.tools.camera import get_krt
import voxel_globe.tools
from boxm2_scene_adaptor import boxm2_scene_adaptor
from vil_adaptor import load_image
from vpgl_adaptor import load_perspective_camera
from voxel_globe.tools.wget import download as wget
from vsi.vxl.create_scene_xml import create_scene_xml
from vsi.tools.dir_util import copytree
with StdRedirect(
open(
os.path.join(voxel_globe.tools.log_dir(), self.request.id) +
'_out.log', 'w'),
open(
os.path.join(voxel_globe.tools.log_dir(), self.request.id) +
'_err.log', 'w')):
openclDevice = os.environ['VIP_OPENCL_DEVICE']
opencl_memory = os.environ.get('VIP_OPENCL_MEMORY', None)
if opencl_memory:
opencl_memory = int(opencl_memory)
scene = models.Scene.objects.get(id=scene_id)
imageCollection = models.ImageCollection.objects.get(\
id=image_collection_id).history(history)
imageList = imageCollection.images.all()
with voxel_globe.tools.task_dir('voxel_world') as processing_dir:
logger.warning(bbox)
if bbox['geolocated']:
create_scene_xml(
openclDevice,
3,
float(bbox['voxel_size']),
lla1=(float(bbox['x_min']), float(bbox['y_min']),
float(bbox['z_min'])),
lla2=(float(bbox['x_max']), float(bbox['y_max']),
float(bbox['z_max'])),
origin=scene.origin,
model_dir='.',
number_bins=1,
output_file=open(os.path.join(processing_dir, 'scene.xml'),
'w'),
n_bytes_gpu=opencl_memory)
else:
create_scene_xml(
openclDevice,
3,
float(bbox['voxel_size']),
lvcs1=(float(bbox['x_min']), float(bbox['y_min']),
float(bbox['z_min'])),
lvcs2=(float(bbox['x_max']), float(bbox['y_max']),
float(bbox['z_max'])),
origin=scene.origin,
model_dir='.',
number_bins=1,
output_file=open(os.path.join(processing_dir, 'scene.xml'),
'w'),
n_bytes_gpu=opencl_memory)
counter = 1
imageNames = []
cameraNames = []
os.mkdir(os.path.join(processing_dir, 'local'))
#Prepping
for image in imageList:
self.update_state(state='INITIALIZE',
meta={
'stage': 'image fetch',
'i': counter,
'total': len(imageList)
})
image = image.history(history)
(K, R, T, o) = get_krt(image.history(history), history=history)
krtName = os.path.join(processing_dir, 'local',
'frame_%05d.krt' % counter)
with open(krtName, 'w') as fid:
print >> fid, (("%0.18f " * 3 + "\n") * 3) % (
K[0, 0], K[0, 1], K[0, 2], K[1, 0], K[1, 1], K[1, 2],
K[2, 0], K[2, 1], K[2, 2])
print >> fid, (("%0.18f " * 3 + "\n") * 3) % (
R[0, 0], R[0, 1], R[0, 2], R[1, 0], R[1, 1], R[1, 2],
R[2, 0], R[2, 1], R[2, 2])
print >> fid, ("%0.18f " * 3 + "\n") % (T[0, 0], T[1, 0],
T[2, 0])
imageName = image.originalImageUrl
extension = os.path.splitext(imageName)[1]
localName = os.path.join(processing_dir, 'local',
'frame_%05d%s' % (counter, extension))
wget(imageName, localName, secret=True)
counter += 1
imageNames.append(localName)
cameraNames.append(krtName)
variance = 0.06
vxl_scene = boxm2_scene_adaptor(
os.path.join(processing_dir, "scene.xml"), openclDevice)
current_level = 0
loaded_imgs = []
loaded_cams = []
for i in range(0, len(imageNames), skip_frames):
logger.debug("i: %d img name: %s cam name: %s", i,
imageNames[i], cameraNames[i])
self.update_state(state='PRELOADING',
meta={
'stage': 'image load',
'i': i,
'total': len(imageNames)
})
img, ni, nj = load_image(imageNames[i])
loaded_imgs.append(img)
pcam = load_perspective_camera(cameraNames[i])
loaded_cams.append(pcam)
refine_cnt = 5
refine_device = openclDevice[0:3]
if refine_device == 'cpu':
refine_device = 'cpp'
for rfk in range(0, refine_cnt, 1):
pair = zip(loaded_imgs, loaded_cams)
random.shuffle(pair)
for idx, (img, cam) in enumerate(pair):
self.update_state(state='PROCESSING',
meta={
'stage': 'update',
'i': rfk + 1,
'total': refine_cnt,
'image': idx + 1,
'images': len(loaded_imgs)
})
logger.debug("refine_cnt: %d, idx: %d", rfk, idx)
vxl_scene.update(cam,
img,
True,
True,
None,
openclDevice[0:3],
variance,
tnear=1000.0,
tfar=100000.0)
for bp_index in range(2):
pass #height map update?
logger.debug("writing cache: %d", rfk)
vxl_scene.write_cache()
logger.debug("wrote cache: %d", rfk)
if rfk < refine_cnt - 1:
self.update_state(state='PROCESSING',
meta={
'stage': 'refine',
'i': rfk,
'total': refine_cnt
})
logger.debug("refining %d...", rfk)
vxl_scene.refine(0.3, refine_device)
vxl_scene.write_cache()
with open(os.path.join(processing_dir, "scene_color.xml"),
'w') as fid:
lines = open(os.path.join(processing_dir, "scene.xml"),
'r').readlines()
lines = [
line.replace('boxm2_mog3_grey', 'boxm2_gauss_rgb').replace(
'boxm2_num_obs', 'boxm2_num_obs_single')
for line in lines
]
fid.writelines(lines)
vxl_scene = boxm2_scene_adaptor(
os.path.join(processing_dir, "scene_color.xml"), openclDevice)
for idx, (img, cam) in enumerate(pair):
self.update_state(state='PROCESSING',
meta={
'stage': 'color_update',
'i': rfk + 1,
'total': refine_cnt,
'image': idx + 1,
'images': len(loaded_imgs)
})
logger.debug("color_paint idx: %d", idx)
vxl_scene.update(cam,
img,
False,
False,
None,
openclDevice[0:3],
tnear=1000.0,
tfar=100000.0)
vxl_scene.write_cache()
with voxel_globe.tools.storage_dir(
'voxel_world') as voxel_world_dir:
copytree(processing_dir,
voxel_world_dir,
ignore=lambda x, y: ['images'])
models.VoxelWorld.create(
name='%s world (%s)' %
(imageCollection.name, self.request.id),
origin=scene.origin,
directory=voxel_world_dir,
service_id=self.request.id).save()
def run_build_voxel_model(self, image_collection_id, scene_id, bbox,
skip_frames, cleanup=True, history=None):
from distutils.dir_util import remove_tree
from shutil import move
import random
from vsi.tools.redirect import Redirect, Logger as LoggerWrapper
from voxel_globe.meta import models
from voxel_globe.tools.camera import get_krt
import voxel_globe.tools
from boxm2_scene_adaptor import boxm2_scene_adaptor
from vil_adaptor import load_image
from vpgl_adaptor import load_perspective_camera
from voxel_globe.tools.wget import download as wget
from vsi.vxl.create_scene_xml import create_scene_xml
from vsi.tools.dir_util import copytree, mkdtemp
with Redirect(stdout_c=LoggerWrapper(logger, lvl=logging.INFO),
stderr_c=LoggerWrapper(logger, lvl=logging.WARNING)):
openclDevice = os.environ['VIP_OPENCL_DEVICE']
opencl_memory = os.environ.get('VIP_OPENCL_MEMORY', None)
scene = models.Scene.objects.get(id=scene_id)
imageCollection = models.ImageCollection.objects.get(\
id=image_collection_id).history(history);
imageList = imageCollection.images.all();
with voxel_globe.tools.task_dir('voxel_world') as processing_dir:
logger.warning(bbox)
if bbox['geolocated']:
create_scene_xml(openclDevice, 3, float(bbox['voxel_size']),
lla1=(float(bbox['x_min']), float(bbox['y_min']),
float(bbox['z_min'])),
lla2=(float(bbox['x_max']), float(bbox['y_max']),
float(bbox['z_max'])),
origin=scene.origin, model_dir='.', number_bins=1,
output_file=open(os.path.join(processing_dir, 'scene.xml'), 'w'),
n_bytes_gpu=opencl_memory)
else:
create_scene_xml(openclDevice, 3, float(bbox['voxel_size']),
lvcs1=(float(bbox['x_min']), float(bbox['y_min']),
float(bbox['z_min'])),
lvcs2=(float(bbox['x_max']), float(bbox['y_max']),
float(bbox['z_max'])),
origin=scene.origin, model_dir='.', number_bins=1,
output_file=open(os.path.join(processing_dir, 'scene.xml'), 'w'),
n_bytes_gpu=opencl_memory)
counter = 1;
imageNames = []
cameraNames = []
os.mkdir(os.path.join(processing_dir, 'local'))
#Prepping
for image in imageList:
self.update_state(state='INITIALIZE', meta={'stage':'image fetch',
'i':counter,
'total':len(imageList)})
image = image.history(history)
(K,R,T,o) = get_krt(image.history(history), history=history)
krtName = os.path.join(processing_dir, 'local', 'frame_%05d.krt' % counter)
with open(krtName, 'w') as fid:
print >>fid, (("%0.18f "*3+"\n")*3) % (K[0,0], K[0,1], K[0,2],
K[1,0], K[1,1], K[1,2], K[2,0], K[2,1], K[2,2]);
print >>fid, (("%0.18f "*3+"\n")*3) % (R[0,0], R[0,1], R[0,2],
R[1,0], R[1,1], R[1,2], R[2,0], R[2,1], R[2,2]);
print >>fid, ("%0.18f "*3+"\n") % (T[0,0], T[1,0], T[2,0]);
imageName = image.originalImageUrl;
extension = os.path.splitext(imageName)[1]
localName = os.path.join(processing_dir, 'local',
'frame_%05d%s' % (counter, extension));
wget(imageName, localName, secret=True)
counter += 1;
imageNames.append(localName)
cameraNames.append(krtName)
variance = 0.06
vxl_scene = boxm2_scene_adaptor(os.path.join(processing_dir, "scene.xml"),
openclDevice);
current_level = 0;
loaded_imgs = [];
loaded_cams = [];
for i in range(0, len(imageNames), skip_frames):
logger.debug("i: %d img name: %s cam name: %s", i, imageNames[i],
cameraNames[i])
self.update_state(state='PRELOADING', meta={'stage':'image load',
'i':i,
'total':len(imageNames)})
img, ni, nj = load_image(imageNames[i])
loaded_imgs.append(img)
pcam = load_perspective_camera(cameraNames[i])
loaded_cams.append(pcam)
refine_cnt = 5;
for rfk in range(0, refine_cnt, 1):
pair = zip(loaded_imgs, loaded_cams)
random.shuffle(pair)
for idx, (img, cam) in enumerate(pair):
self.update_state(state='PROCESSING', meta={'stage':'update',
'i':rfk+1, 'total':refine_cnt, 'image':idx+1,
'images':len(loaded_imgs)})
logger.debug("refine_cnt: %d, idx: %d", rfk, idx)
vxl_scene.update(cam,img,True,True,None,openclDevice[0:3],variance,
tnear = 1000.0, tfar = 100000.0);
logger.debug("writing cache: %d", rfk)
vxl_scene.write_cache();
logger.debug("wrote cache: %d", rfk)
if rfk < refine_cnt-1:
self.update_state(state='PROCESSING', meta={'stage':'refine',
'i':rfk,
'total':refine_cnt})
logger.debug("refining %d...", rfk)
refine_device = openclDevice[0:3]
if refine_device == 'cpu':
refine_device = 'cpp'
vxl_scene.refine(0.3, refine_device);
vxl_scene.write_cache();
voxel_world_dir = mkdtemp(dir=os.environ['VIP_STORAGE_DIR'])
copytree(processing_dir, voxel_world_dir, ignore=lambda x,y:['images'])
models.VoxelWorld.create(
name='%s world (%s)' % (imageCollection.name, self.request.id),
origin=scene.origin,
directory=voxel_world_dir,
service_id=self.request.id).save();