def init_scene(self, scene_file, scene_name, device):
scene_path = scene_root + "/" + scene_name
if not os.path.exists(scene_path):
print "SCENE NOT FOUND! ", scene_path
sys.exit(-1)
scene = boxm2_scene_adaptor(scene_path, device)
return scene
def updateScene(self, stepNum):
# Should initialize a GPU
scenePath = os.path.abspath(self.config.uSceneFileName)
scene = boxm2_scene_adaptor(scenePath, "gpu0")
# Get list of imgs and cams
imgsDir = os.path.abspath(
os.path.join(self.config.NVMOutputDirName, "imgs"))
camsDir = os.path.abspath(
os.path.join(self.config.NVMOutputDirName, "cams"))
if False == os.path.isdir(imgsDir):
log("The folder %s does not exist." % (imgsDir))
return -stepNum
if False == os.path.isdir(camsDir):
log("The folder %s does not exist." % (camsDir))
return -stepNum
imgFiles = getAllFilesInSubDirs(imgsDir)
camFiles = getAllFilesInSubDirs(camsDir)
if len(imgFiles) != len(camFiles):
log("The number of files in %s is %d." % (imgsDir, len(imgFiles)))
log("The number of fiels in %s is %d." % (camsDir, len(camFiles)))
log("These numbers should match and they do not.")
return -stepNum
if len(imgFiles) == 0:
log("No image files were found in %s." % (imgsDir))
return -stepNum
imgFiles.sort()
camFiles.sort()
# Make two passes over the image set
for p in xrange(0, self.config.updateScenePassCount):
frames = range(0, len(imgFiles), 1)
if self.config.randomizeUpdateOrder:
random.shuffle(frames)
for idx, i in enumerate(frames):
pcam = load_perspective_camera(
os.path.join(camsDir, camFiles[i]))
img, ni, nj = load_image(os.path.join(imgsDir, imgFiles[i]))
scene.update(pcam, img, 1, "", "gpu0")
if 0 == (idx % 15
): #No idea what is special about the magic number 15
scene.refine()
scene.write_cache()
return 0
def updateScene(self, stepNum):
# Should initialize a GPU
scenePath = os.path.abspath(self.config.uSceneFileName)
scene = boxm2_scene_adaptor(scenePath, "gpu0")
# Get list of imgs and cams
imgsDir = os.path.abspath(os.path.join(
self.config.NVMOutputDirName, "imgs"))
camsDir = os.path.abspath(os.path.join(
self.config.NVMOutputDirName, "cams"))
if False == os.path.isdir(imgsDir):
log("The folder %s does not exist." % (imgsDir))
return -stepNum
if False == os.path.isdir(camsDir):
log("The folder %s does not exist." % (camsDir))
return -stepNum
imgFiles = getAllFilesInSubDirs(imgsDir)
camFiles = getAllFilesInSubDirs(camsDir)
if len(imgFiles) != len(camFiles):
log("The number of files in %s is %d." % (imgsDir, len(imgFiles)))
log("The number of fiels in %s is %d." % (camsDir, len(camFiles)))
log("These numbers should match and they do not.")
return -stepNum
if len(imgFiles) == 0:
log("No image files were found in %s." % (imgsDir))
return -stepNum
imgFiles.sort()
camFiles.sort()
# Make two passes over the image set
for p in xrange(0, self.config.updateScenePassCount):
frames = range(0, len(imgFiles), 1)
if self.config.randomizeUpdateOrder:
random.shuffle(frames)
for idx, i in enumerate(frames):
pcam = load_perspective_camera(
os.path.join(camsDir, camFiles[i]))
img, ni, nj = load_image(os.path.join(imgsDir, imgFiles[i]))
scene.update(pcam, img, 1, "", "gpu0")
if 0 == (idx % 15): # No idea what is special about the magic number 15
scene.refine()
scene.write_cache()
return 0
default="out.ply",
help="specify point file (.ply, .pcd...)",
)
(options, args) = parser.parse_args()
print options
print args
######################################################
# initialize scene
scene_root = scene_registry.scene_root(options.scene)
scene_path = scene_root + "/" + options.xml
if not os.path.exists(scene_path):
print "Cannot find file: ", scene_path
sys.exit(-1)
os.chdir(scene_root)
scene = boxm2_scene_adaptor(scene_path)
# generate point cloud
boxm2_batch.init_process("boxm2ExtractPointCloudProcess")
boxm2_batch.set_input_from_db(0, scene.scene)
boxm2_batch.set_input_from_db(1, scene.cpu_cache)
boxm2_batch.set_input_float(2, options.prob)
# prob threshold
boxm2_batch.run_process()
boxm2_batch.init_process("boxm2ExportOrientedPointCloudProcess")
boxm2_batch.set_input_from_db(0, scene.scene)
boxm2_batch.set_input_from_db(1, scene.cpu_cache)
boxm2_batch.set_input_string(2, options.output)
boxm2_batch.run_process()
scene_root = scene_registry.scene_root( options.scene ); # model_name = options.xml if not os.path.exists(scene_root + "/" + model_name): print "Cannot find file: ", scene_root+"/"+model_name sys.exit(-1) GPU = options.gpu; MAX_FRAMES = options.maxFrames NI=1280 NJ=720 ################################# #should initialize a GPU os.chdir(scene_root); scene_path = os.getcwd() + "/" + model_name scene = boxm2_scene_adaptor(scene_path, GPU); (sceneMin, sceneMax) = scene.bounding_box(); #init trajectory startInc = 38.0; endInc = 38.0; radius = max(options.radius, 1.4*(sceneMax[0]-sceneMin[0])); trajectory = init_trajectory(scene.scene, startInc, endInc, radius, NI, NJ); trajDir = os.getcwd() + "/trajectory/" if not os.path.exists(trajDir): os.mkdir(trajDir); ################# # UPDATE LOOP ################# for x in range(0, MAX_FRAMES, 1):
#"change_imgs/results_thresh.25/",
#"change_imgs/results_rb/",
#"change_imgs/results_thresh.75/",
#"change_imgs/results_max_batch/",
#"change_imgs/results_max_online/",
"change_imgs/results_fixed/",
"change_imgs/results_fixed_multires/",
]
#######################################################
#IMAGE_NUM = "046831"
IMAGE_NUM = "045361"
#load up opencl scene
scene_path = "../model_fixed/uscene.xml"
scene = boxm2_scene_adaptor(scene_path, False, "gpu")
#in image and gradients
inPath = "/home/acm/data/visualsfm/apts/change/imgs/" + IMAGE_NUM + ".png"
inImg, ni, nj = load_image(inPath)
greyImg = convert_image(inImg, "grey")
inDx, inDy, inMag = gradient(greyImg)
#expected image
inCamPath = "/home/acm/data/visualsfm/apts/change/cams_krt/" + IMAGE_NUM + "_cam.txt"
inCam = load_perspective_camera(inCamPath)
expImg = scene.render(inCam)
expDx, expDy, expMag = gradient(expImg)
#change image -> blob image
changePath = "/home/acm/data/visualsfm/apts/change/change_imgs/results_fixed_multires/cd_5x5/cd_" + IMAGE_NUM + ".tiff"
import os, sys
from os.path import basename, splitext
import numpy
import pylab
from glob import glob
from change.helpers import *
#################################
# Set some update parameters
GPU = True
RGB = False
#################################
#load up opencl scene
scene_path = "../model/rscene.xml"
scene = boxm2_scene_adaptor(scene_path, RGB, "gpu")
## move the apperance out the way
move_appearance(os.getcwd() + "/../model/")
#grab all change images
allImgs = glob(os.getcwd() + "/imgs/*.png")
allImgs.sort()
allCams = glob(os.getcwd() + "/cams_krt/*.txt")
allCams.sort()
#load up GT images, grab the corresponding imgs and cams
#gts = glob(os.getcwd() + "/gt/*.png"); gts.sort();
#imgs = []; cams = []
for idx, img in enumerate(allImgs):
imgnum, ext = os.path.splitext(basename(img))
print saveout
print "STD_OUT is being redirected"
set_stdout(options.std_file)
#################################
# Initialize a GPU
#################################
print "Initializing DEVICE"
os.chdir(scene_root)
scene_path = os.getcwd() + "/" + SCENE_NAME
if not os.path.exists(scene_path):
print "SCENE NOT FOUND! ", scene_path
sys.exit(5)
scene = boxm2_scene_adaptor(scene_path, DEVICE)
#################################
# refine
#################################
ncells = scene.refine()
if ncells < 0:
print "Refined Failed, clearing cache and exiting:"
scene.clear_cache()
boxm2_batch.clear()
sys.exit(1)
#################################
# write and clear cache before exiting
#################################
sys.exit(-1)
#output frame size
NI, NJ = 1280, 720
# ensure trajectory images can be written out
trajDir = os.getcwd() + "/spiral/"
if not os.path.exists(trajDir):
os.mkdir(trajDir)
camDir = os.getcwd() + "/spiral_cams/"
if not os.path.exists(camDir):
os.mkdir(camDir)
#should initialize a GPU
os.chdir(scene_root)
scene = boxm2_scene_adaptor(scene_path, options.gpu)
(sceneMin, sceneMax) = scene.bounding_box()
#init trajectory, look at center point - this can drift
startInc, endInc = [int(x) for x in options.incline.split(":")]
if options.radius > 0.0:
radius = options.radius
else:
radius = 1.4 * (sceneMax[0] - sceneMin[0])
modCenter = numpy.add(sceneMax, sceneMin) / 2.0
#Generate camera params - fLenght, ppoint
fLength = math.sqrt(NI * NI + NJ * NJ)
ppoint = (NI / 2, NJ / 2)
###########################################
if len(imgs) != len(cams) :
print "CAMS NOT ONE TO ONE WITH IMAGES"
sys.exit();
#the folder where expected images are saved
expected_img_dir = boxm2_dir + "/expectedImgs"
if not os.path.isdir(expected_img_dir + '/'):
os.mkdir(expected_img_dir + '/');
list = range(0,len(imgs),1);
#delete *.bin files in the folder
deleteAllFiles(boxm2_dir)
scene = boxm2_scene_adaptor(boxm2_dir + "/scene.xml", "gpu0");
#choosen a cam to render the expected images
render_cam = load_perspective_camera(cams[0]);
#do a few iterations over the images while refining the octree
NUM_ITER = 4
for iter in range(NUM_ITER):
random.shuffle(list);
#do linear randomized pass
for idx, image_number in enumerate(list):
#refine the octree every 10th iteration
if idx % 10 == 9:
print "REFINING OCTREE"
import random, os, sys, scene_registry;
from boxm2_scene_adaptor import *;
from optparse import OptionParser
#scene is given as first arg, figure out paths #
parser = OptionParser()
parser.add_option("-s", "--scene", action="store", type="string", dest="scene", help="specify scene name")
parser.add_option("-x", "--xmlfile", action="store", type="string", dest="xml", default="uscene.xml", help="scene.xml file name (model/uscene.xml, model_fixed/scene.xml, rscene.xml)")
parser.add_option("-g", "--gpu", action="store", type="string", dest="gpu", default="gpu1", help="specify gpu (gpu0, gpu1, etc)")
parser.add_option("-t", "--thresh", action="store", type="float", dest="thresh", default=.3, help="Specify refine probability threshold")
(options, args) = parser.parse_args()
print options
print args
# handle inputs
#scene is given as first arg, figure out paths
scene_root = scene_registry.scene_root( options.scene );
os.chdir(scene_root)
scene_path = os.getcwd() + "/" + options.xml
if not os.path.exists(scene_path):
print "SCENE NOT FOUND! ", scene_path
sys.exit(-1)
scene = boxm2_scene_adaptor (scene_path, options.gpu);
scene.refine(options.thresh);
scene.write_cache();
# handle inputs
parser = OptionParser()
parser.add_option("-s", "--scene", action="store", type="string", dest="scene", help="specify scene name")
parser.add_option("-x", "--xmlfile", action="store", type="string", dest="xml", default="model/uscene.xml", help="scene.xml file name (model/uscene.xml, model_fixed/scene.xml, rscene.xml)")
parser.add_option("-a", "--allImg", action="store_true", dest="allImg", default=False, help="render depth image for all available images")
(options, args) = parser.parse_args()
print options
print args
#scene
scene_root = scene_registry.scene_root( options.scene );
scene_path = scene_root + "/" + options.xml;
if not os.path.exists(scene_path):
print "Cannot find file: ", scene_path
sys.exit(-1)
scene = boxm2_scene_adaptor(scene_path, "gpu");
#render height map
hdir = os.getcwd() + "/height/"
if not os.path.exists(hdir):
os.makedirs(hdir)
z, var, x, y, prob, app = scene.render_height_map()
save_image(z, hdir + "z.tiff")
save_image(var, hdir + "var.tiff")
save_image(x, hdir + "x.tiff")
save_image(y, hdir + "y.tiff")
save_image(prob, hdir + "prob.tiff")
save_image(app, hdir + "appearance.tiff")
#if specified to render all images
if options.allImg:
from boxm2_scene_adaptor import *;
from bbas_adaptor import *;
from vil_adaptor import *;
from vpgl_adaptor import *;
import numpy, random, os, sys, math, scene_registry;
from optparse import OptionParser
if __name__ == "__main__":
# handle inputs
parser = OptionParser()
parser.add_option("-s", "--scene", action="store", type="string", dest="scene", help="specify scene name")
parser.add_option("-x", "--xmlfile", action="store", type="string", dest="xml", default="model/uscene.xml", help="scene.xml file name (model/uscene.xml, model_fixed/scene.xml, rscene.xml)")
(options, args) = parser.parse_args()
print options
print args
scene_root = scene_registry.scene_root( options.scene ); #
scene_path = scene_root + "/" + options.xml;
if not os.path.exists(scene_path):
print "Cannot find file: ", scene_path
sys.exit(-1)
#should initialize a GPU
scene = boxm2_scene_adaptor(scene_path);
(sceneMin, sceneMax) = scene.bounding_box();
print "Scene bounding box: ", sceneMin, " to ", sceneMax
dest="camera",
default="",
help="specify corresponding camera to use")
(options, args) = parser.parse_args()
print options
print args
############################################
# Create Scene
scene_root = scene_registry.scene_root(options.scene)
#
xmlPath = scene_root + "/" + options.xml
if not os.path.exists(xmlPath):
print "Cannot find file: ", xmlPath
sys.exit(-1)
scene = boxm2_scene_adaptor(xmlPath, options.gpu)
############################################
#search a bit for camera and image
imageDir = scene_root + "/nvm_out/imgs/"
if options.image == "" and os.path.exists(imageDir):
print "Using first image, guessing dir: ", imageDir
imGlob = glob.glob(imageDir + "/*")
if len(imGlob) > 0:
image_filename = imGlob[0]
else:
print "Can't find default image directory"
sys.exit(-1)
elif options.image != "":
print "Can't find default image directory"
sys.exit(-1)
scene_root = scene_registry.scene_root(options.scene)
#
model_name = options.xml
if not os.path.exists(scene_root + "/" + model_name):
print "Cannot find file: ", scene_root + "/" + model_name
sys.exit(-1)
GPU = options.gpu
MAX_FRAMES = options.maxFrames
NI = 1280
NJ = 720
#################################
#should initialize a GPU
os.chdir(scene_root)
scene_path = os.getcwd() + "/" + model_name
scene = boxm2_scene_adaptor(scene_path, GPU)
(sceneMin, sceneMax) = scene.bounding_box()
#init trajectory
startInc = 38.0
endInc = 38.0
radius = max(options.radius, 1.4 * (sceneMax[0] - sceneMin[0]))
trajectory = init_trajectory(scene.scene, startInc, endInc, radius, NI, NJ)
trajDir = os.getcwd() + "/trajectory/"
if not os.path.exists(trajDir):
os.mkdir(trajDir)
#################
# UPDATE LOOP
#################
for x in range(0, MAX_FRAMES, 1):
from bbas_adaptor import remove_from_db
from glob import glob
#import matplotlib.pyplot as plt;
boxm2_batch.register_processes();
boxm2_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
#We assume the following scene structure
#model_dir/ : parent folder
#model_dir/boxm2_site : contains the 3d model
model_dir = "/data/3dv15_experiments/3d_scenes/capitol_2006/"
boxm2_dir = model_dir + "/boxm2_site"
if not os.path.isdir(boxm2_dir + '/'):
print "Invalid Site Dir"
sys.exit(-1);
scene = boxm2_scene_adaptor(boxm2_dir + "/scene.xml", "gpu0");
extract_cell_centers(scene.scene, scene.cpu_cache,prob_thresh = 0.05)
export_points_and_normals(scene.scene, scene.cpu_cache,boxm2_dir+"/pt.xyz")
raw_input("ENTER TO EXIT...")
boxm2_batch.clear()
parser.add_option("-x", "--xmlfile", action="store", type="string", dest="xml", default="model/uscene.xml", help="scene.xml file name (model/uscene.xml, model_fixed/scene.xml, rscene.xml)")
parser.add_option("-g", "--gpu", action="store", type="string", dest="gpu", default="gpu1", help="specify gpu (gpu0, gpu1, etc)")
parser.add_option("-i", "--image", action="store", type="string", dest="image", default="", help="specify which image or directory to use")
parser.add_option("-c", "--camera", action="store", type="string", dest="camera", default="", help="specify corresponding camera or directory to use")
(options, args) = parser.parse_args()
print options
print args
############################################
# Create Scene
scene_root = scene_registry.scene_root( options.scene ); #
xmlPath = scene_root + "/" + options.xml
if not os.path.exists(xmlPath):
print "Cannot find file: ", xmlPath
sys.exit(-1)
scene = boxm2_scene_adaptor(xmlPath, options.gpu);
############################################
#search a bit for camera and image
defImg = scene_root + "/nvm_out/imgs/"
defCam = scene_root + "/nvm_out/cams_krt/"
if os.path.exists(options.image) and os.path.exists(options.camera):
imageDir = options.image
camDir = options.camera
elif os.path.exists(defImg) and os.path.exists(defCam):
imageDir = defImg
camDir = defCam
else:
print "Can't find default image/cam dirs: ", defImg, defCam
sys.exit(-1)
print "Image Directory: ", imageDir
from boxm2_scene_adaptor import *; from vil_adaptor import *; from vpgl_adaptor import *; import random, os, sys; from glob import glob; ################################# # Set some update parameters RGB = False; GPU = True; ################################# #should initialize a GPU scene_path = os.getcwd() + "/model_batch/uscene.xml"; scene = boxm2_scene_adaptor (scene_path, RGB, "gpu1"); # Get list of imgs and cams imgs_dir = os.getcwd() + "/nvm_out/imgs/" cams_dir = os.getcwd() + "/nvm_out/cams_krt/" imgs = glob(imgs_dir + "/*.png"); imgs.sort(); cams = glob(cams_dir + "/*.txt"); cams.sort(); if len(imgs) != len(cams) : print "CAMS NOT ONE TO ONE WITH IMAGES" sys.exit(); #for idx in range(0, len(imgs)) : # print '--------------------------'; # print "processing image " + imgs[idx]; # # #load cam/img
