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 create_scene_large_scale(roi_kml,
scene_root,
world_dir,
dem_folder,
world_size=500.0,
voxel_size=1.0,
height_diff=120.0,
height_sub=25.0,
extension=500.0,
land_folder=""):
batch.init_process("bvxmCreateSceneXmlLargeScaleProcess")
batch.set_input_string(0, roi_kml)
batch.set_input_string(1, scene_root)
batch.set_input_string(2, world_dir)
batch.set_input_string(3, dem_folder)
batch.set_input_string(4, land_folder)
batch.set_input_float(5, world_size)
batch.set_input_float(6, voxel_size)
batch.set_input_float(7, height_diff)
batch.set_input_float(8, height_sub)
batch.set_input_float(9, extension)
status = batch.run_process()
if status:
(id, type) = batch.commit_output(0)
n_scenes = batch.get_output_unsigned(id)
batch.remove_data(id)
return n_scenes
else:
return 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 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 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 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 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 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 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 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 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 init_float_img(ni, nj, np, val):
bvxm_batch.init_process("vilInitFloatImageProcess")
bvxm_batch.set_input_unsigned(0, ni)
bvxm_batch.set_input_unsigned(1, nj)
bvxm_batch.set_input_unsigned(2, np)
bvxm_batch.set_input_float(3, val)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def bvxm_stretch_image(img, min_value, max_value, output_type_str='float'):
bvxm_batch.init_process("vilStretchImageProcess")
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.set_input_string(3, output_type_str)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def init_float_img(ni,nj,np,val):
bvxm_batch.init_process("vilInitFloatImageProcess")
bvxm_batch.set_input_unsigned(0,ni)
bvxm_batch.set_input_unsigned(1,nj)
bvxm_batch.set_input_unsigned(2,np)
bvxm_batch.set_input_float(3,val)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
def bvxm_stretch_image(img, min_value, max_value, output_type_str='float'):
bvxm_batch.init_process("vilStretchImageProcess")
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.set_input_string(3,output_type_str)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
def image_to_vrml_points(out_e_img, out_h_img, output_filename, prob_thres, max_scene_height):
batch.init_process("bvrmlImageToPointsProcess")
batch.set_input_from_db(0, out_e_img)
batch.set_input_from_db(1, out_h_img)
batch.set_input_string(2, output_filename)
batch.set_input_float(3, prob_thres)
batch.set_input_float(4, max_scene_height)
batch.run_process()
(id, type) = batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
def dilate_image_disk(in_img, disk_size):
bvxm_batch.init_process("vilImageDilateDiskProcess")
bvxm_batch.set_input_from_db(0, in_img)
bvxm_batch.set_input_float(1, disk_size)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
else:
return None
def update_edges(world, cropped_cam, cropped_edge_image, edge_prob_mask_size=21, edge_prob_mask_sigma=1.0, scale=0):
batch.init_process("bvxmUpdateEdgesProcess")
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_unsigned(3, 0)
batch.set_input_int(4, edge_prob_mask_size)
batch.set_input_float(5, edge_prob_mask_sigma)
# batch.set_params_process(update_params_xml); #
# "./bvxmUpdateEdgesProcess.xml");
batch.run_process()
def dilate_image_disk(in_img, disk_size):
bvxm_batch.init_process("vilImageDilateDiskProcess")
bvxm_batch.set_input_from_db(0, in_img)
bvxm_batch.set_input_float(1, disk_size)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
else:
return None
def image_to_vrml_points(out_e_img, out_h_img, output_filename, prob_thres,
max_scene_height):
batch.init_process("bvrmlImageToPointsProcess")
batch.set_input_from_db(0, out_e_img)
batch.set_input_from_db(1, out_h_img)
batch.set_input_string(2, output_filename)
batch.set_input_float(3, prob_thres)
batch.set_input_float(4, max_scene_height)
batch.run_process()
(id, type) = batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
def threshold_image_inside(img, min_thres, max_thres, threshold_inside=True):
bvxm_batch.init_process("vilThresholdImageInsideProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, min_thres)
bvxm_batch.set_input_float(2, max_thres)
bvxm_batch.set_input_bool(3, threshold_inside)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
else:
return None
def threshold_image_inside(img, min_thres, max_thres, threshold_inside=True):
bvxm_batch.init_process("vilThresholdImageInsideProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, min_thres)
bvxm_batch.set_input_float(2, max_thres)
bvxm_batch.set_input_bool(3, threshold_inside)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
else:
return None
def detect_shadow_ridge(region_img, blob_size_t, sun_angle):
bvxm_batch.init_process("vilShadowRidgeDetectionProcess")
bvxm_batch.set_input_from_db(0, region_img)
bvxm_batch.set_input_int(1, blob_size_t)
bvxm_batch.set_input_float(2, sun_angle)
bvxm_batch.run_process()
(o_id, o_type) = bvxm_batch.commit_output(0)
region_img = dbvalue(o_id, o_type)
(o_id, o_type) = bvxm_batch.commit_output(1)
out_img = dbvalue(o_id, o_type)
(o_id, o_type) = bvxm_batch.commit_output(2)
dist_img = dbvalue(o_id, o_type)
return region_img, out_img, dist_img
def detect_shadow_ridge(region_img,blob_size_t, sun_angle) :
bvxm_batch.init_process("vilShadowRidgeDetectionProcess");
bvxm_batch.set_input_from_db(0,region_img)
bvxm_batch.set_input_int(1, blob_size_t);
bvxm_batch.set_input_float(2, sun_angle);
bvxm_batch.run_process();
(o_id,o_type) = bvxm_batch.commit_output(0);
region_img = dbvalue(o_id,o_type);
(o_id,o_type) = bvxm_batch.commit_output(1);
out_img = dbvalue(o_id,o_type);
(o_id,o_type) = bvxm_batch.commit_output(2);
dist_img = dbvalue(o_id,o_type);
return region_img, out_img, dist_img;
def edge_detection(img, noise_multiplier = 1.5, smooth = 1.5, auto_threshold = False, junctionp = False, aggressive_junc_closure = False ):
bvxm_batch.init_process("vilEdgeDetectionProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_float(1, noise_multiplier);
bvxm_batch.set_input_float(2, smooth);
bvxm_batch.set_input_bool(3, auto_threshold);
bvxm_batch.set_input_bool(4, junctionp);
bvxm_batch.set_input_bool(5, aggressive_junc_closure);
status = bvxm_batch.run_process();
if status:
(id, type) = bvxm_batch.commit_output(0);
edge_img = dbvalue(id, type);
return edge_img;
else:
return 0;
def update_edges(world,
cropped_cam,
cropped_edge_image,
edge_prob_mask_size=21,
edge_prob_mask_sigma=1.0,
scale=0):
batch.init_process("bvxmUpdateEdgesProcess")
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_unsigned(3, 0)
batch.set_input_int(4, edge_prob_mask_size)
batch.set_input_float(5, edge_prob_mask_sigma)
# batch.set_params_process(update_params_xml); #
# "./bvxmUpdateEdgesProcess.xml");
batch.run_process()
def generate_xyz_from_dem_multi(world, img_folder, geoid_height, fill_in_value=-1.0):
batch.init_process("bvxmDemToXYZProcess2")
batch.set_input_from_db(0, world)
batch.set_input_string(1, img_folder)
batch.set_input_double(2, geoid_height)
batch.set_input_float(3, fill_in_value)
result = batch.run_process()
if result:
(xi_id, xi_type) = batch.commit_output(0)
x_img = dbvalue(xi_id, xi_type)
(yi_id, yi_type) = batch.commit_output(1)
y_img = dbvalue(yi_id, yi_type)
(zi_id, zi_type) = batch.commit_output(2)
z_img = dbvalue(zi_id, zi_type)
else:
x_img = 0
y_img = 0
z_img = 0
return x_img, y_img, z_img
def create_scene_large_scale(roi_kml, scene_root, world_dir, dem_folder, world_size=500.0, voxel_size=1.0, height_diff=120.0, height_sub=25.0, extension = 500.0, land_folder=""):
batch.init_process("bvxmCreateSceneXmlLargeScaleProcess")
batch.set_input_string(0, roi_kml)
batch.set_input_string(1, scene_root)
batch.set_input_string(2, world_dir)
batch.set_input_string(3, dem_folder)
batch.set_input_string(4, land_folder)
batch.set_input_float(5, world_size)
batch.set_input_float(6, voxel_size)
batch.set_input_float(7, height_diff)
batch.set_input_float(8, height_sub)
batch.set_input_float(9, extension)
status = batch.run_process()
if status:
(id, type) = batch.commit_output(0)
n_scenes = batch.get_output_unsigned(id)
batch.remove_data(id)
return n_scenes
else:
return 0
def edge_detection(img,
noise_multiplier=1.5,
smooth=1.5,
auto_threshold=False,
junctionp=False,
aggressive_junc_closure=False):
bvxm_batch.init_process("vilEdgeDetectionProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, noise_multiplier)
bvxm_batch.set_input_float(2, smooth)
bvxm_batch.set_input_bool(3, auto_threshold)
bvxm_batch.set_input_bool(4, junctionp)
bvxm_batch.set_input_bool(5, aggressive_junc_closure)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
edge_img = dbvalue(id, type)
return edge_img
else:
return 0
def generate_xyz_from_dem_multi(world,
img_folder,
geoid_height,
fill_in_value=-1.0):
batch.init_process("bvxmDemToXYZProcess2")
batch.set_input_from_db(0, world)
batch.set_input_string(1, img_folder)
batch.set_input_double(2, geoid_height)
batch.set_input_float(3, fill_in_value)
result = batch.run_process()
if result:
(xi_id, xi_type) = batch.commit_output(0)
x_img = dbvalue(xi_id, xi_type)
(yi_id, yi_type) = batch.commit_output(1)
y_img = dbvalue(yi_id, yi_type)
(zi_id, zi_type) = batch.commit_output(2)
z_img = dbvalue(zi_id, zi_type)
else:
x_img = 0
y_img = 0
z_img = 0
return x_img, y_img, z_img
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
mask_img_id = batch.commit_output(0)
print("Convert density to prob map")
batch.init_process("brecDensityToProbMapProcess")
batch.set_params_process("./density_to_prob_map_params.xml")
batch.set_input_from_db(0, out_img_id)
batch.run_process()
prob_map_id = batch.commit_output(0)
for j in range(j_size):
print("Threshold prob map")
batch.init_process("brecProbMapThresholdProcess")
batch.set_input_from_db(0, prob_map_id)
batch.set_input_from_db(1, mask_img_id)
batch.set_input_from_db(2, cropped_image_id)
batch.set_input_float(3, j_arr[j])
batch.run_process()
thres_img_id = batch.commit_output(0)
print("Saving Thresholded Image")
batch.init_process("SaveImageViewProcess")
batch.set_input_from_db(0, thres_img_id)
batch.set_input_string(
1, output_path + "thres" + str(i) + "_" + str(j_arr[j]) + ".png")
batch.run_process()
# ground-truth polygons for change areas need to be prepared via tools in bwm_main and saved as binary files
# each test image need to have a separate parameter xml file that records the test image dimensions after ROI cropping process
# polygonal regions need to be marked wrt to cropped ROI coordinate
# frame (i.e. first crop the image, then open the cropped version in
# bwm_main for ground-truthing)
gt_mask_id = bvxm_batch.commit_output(1);
print("Saving GT Image");
bvxm_batch.init_process("SaveImageViewProcess");
bvxm_batch.set_input_from_db(0,gt_byte_id);
bvxm_batch.set_input_string(1,output_path+"test_img_"+str(i)+"_gt.png");
bvxm_batch.run_process();
npasses = 1;
sigma = 0.05;
print("Updating change map");
bvxm_batch.init_process("brecUpdateChangesProcess");
bvxm_batch.set_input_from_db(0,out_img_id);
bvxm_batch.set_input_from_db(1,curr_image_id);
bvxm_batch.set_input_unsigned(2,npasses);
bvxm_batch.set_input_float(3,sigma);
bvxm_batch.run_process();
out_updated_img_id = bvxm_batch.commit_output(0);
out_updated_byte_img_id = bvxm_batch.commit_output(1);
print("Saving Image");
bvxm_batch.init_process("SaveImageViewProcess");
bvxm_batch.set_input_from_db(0,out_updated_byte_img_id);
bvxm_batch.set_input_string(1,output_path+"change_map_updated_n"+str(npasses)+"_sigma_"+str(sigma)+"_"+str(i)+".png");
bvxm_batch.run_process();
print("Run the ROC process");
bvxm_batch.init_process("brecProbMapROCProcess");
bvxm_batch.set_input_from_db(0,out_updated_img_id);
bvxm_batch.set_input_from_db(1,mask_img_id);
bvxm_batch.set_input_from_db(2,gt_mask_id);
print("Saving GT Image")
batch.init_process("SaveImageViewProcess")
batch.set_input_from_db(0, gt_byte_id)
batch.set_input_string(
1, output_path + "test_img_" + str(i) + "_gt.png")
batch.run_process()
npasses = 1
sigma = 0.05
print("Updating change map")
batch.init_process("brecUpdateChangesProcess")
batch.set_input_from_db(0, out_img_id)
batch.set_input_from_db(1, curr_image_id)
batch.set_input_unsigned(2, npasses)
batch.set_input_float(3, sigma)
batch.run_process()
out_updated_img_id = batch.commit_output(0)
out_updated_byte_img_id = batch.commit_output(1)
print("Saving Image")
batch.init_process("SaveImageViewProcess")
batch.set_input_from_db(0, out_updated_byte_img_id)
batch.set_input_string(1, output_path + "change_map_updated_n" + str(
npasses) + "_sigma_" + str(sigma) + "_" + str(i) + ".png")
batch.run_process()
print("Run the ROC process")
batch.init_process("brecProbMapROCProcess")
batch.set_input_from_db(0, out_updated_img_id)
batch.set_input_from_db(1, mask_img_id)
def create_scene_xml(scene_xml,
world_dir,
lvcs,
lvcs_file,
dim_x,
dim_y,
dim_z,
voxel_size=1.0,
corner_x=0.0,
corner_y=0.0,
corner_z=0.0,
min_ocp_prob=0.001,
max_ocp_prob=0.999,
max_scale=1):
batch.init_process("bvxmCreateSceneXmlProcess")
batch.set_input_string(0, scene_xml)
batch.set_input_string(1, world_dir)
batch.set_input_float(2, corner_x)
batch.set_input_float(3, corner_y)
batch.set_input_float(4, corner_z)
batch.set_input_unsigned(5, dim_x)
batch.set_input_unsigned(6, dim_y)
batch.set_input_unsigned(7, dim_z)
batch.set_input_float(8, voxel_size)
batch.set_input_from_db(9, lvcs)
batch.set_input_string(10, lvcs_file)
batch.set_input_float(11, min_ocp_prob)
batch.set_input_float(12, max_ocp_prob)
batch.set_input_unsigned(13, max_scale)
return batch.run_process()
data_dir = "/Users/isa/Experiments/CapitolSFM/few_windows";
output_dir = "/Users/isa/Experiments/CapitolSFM/few_windows";
if not os.path.isdir( output_dir + "/"):
os.mkdir( output_dir + "/");
#print("Load Voxel Grid");
#bvxm_batch.init_process("bvxmLoadGridProcess");
#bvxm_batch.set_input_string(0, data_dir +"/KL_gaussf1.vox");
#bvxm_batch.set_input_string(1,"bsta_gauss_f1");
#bvxm_batch.run_process();
#(world_id,world_type)= bvxm_batch.commit_output(0);
#app_grid = dbvalue(world_id,world_type);
print("Load Voxel Grid");
bvxm_batch.init_process("bvxmLoadGridProcess");
bvxm_batch.set_input_string(0, data_dir +"/ocp.vox");
bvxm_batch.set_input_string(1,"float");
bvxm_batch.run_process();
(world_id,world_type)= bvxm_batch.commit_output(0);
ocp_grid = dbvalue(world_id,world_type);
print("Writing Orientation Grid");
bvxm_batch.init_process("bvxmSaveRGBAGridVrmlProcess");
bvxm_batch.set_input_from_db(0,ocp_grid);
bvxm_batch.set_input_float(1,0.3);
bvxm_batch.set_input_string(2,output_dir + "/ocp_s.wrl");
bvxm_batch.run_process();
bvxm_batch.run_process();
(cropped_edge_image_id,cropped_edge_image) = bvxm_batch.commit_output(0);
cropped_edge_image = dbvalue(cropped_edge_image_id,cropped_edge_image);
bvxm_batch.init_process("vilSaveImageViewProcess");
bvxm_batch.set_input_from_db(0,cropped_edge_image);
bvxm_batch.set_input_string(1,"output_cropped_edge_image_"+str_pad+str(i)+".jpg");
bvxm_batch.run_process();
if i<num_train:
bvxm_batch.init_process("bvxmUpdateEdgesProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_from_db(1,cropped_cam);
bvxm_batch.set_input_from_db(2,cropped_edge_image);
if i==0:
bvxm_batch.set_input_float(3,0);
else:
bvxm_batch.set_input_from_db(3,n_normal);
bvxm_batch.set_input_unsigned(4,0);
bvxm_batch.set_params_process("./bvxmUpdateEdgesProcess.xml");
bvxm_batch.run_process();
(n_normal_id,n_normal_type) = bvxm_batch.commit_output(0);
n_normal = dbvalue(n_normal_id,n_normal_type);
else:
bvxm_batch.init_process("bvxmRpcRegistrationProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_from_db(1,cropped_cam);
bvxm_batch.set_input_from_db(2,cropped_edge_image);
bvxm_batch.set_input_bool(3,0);
bvxm_batch.set_input_from_db(4,uncertainty);
bvxm_batch.set_input_from_db(5,n_normal);
def create_scene_xml(scene_xml, world_dir, lvcs, lvcs_file, dim_x, dim_y, dim_z, voxel_size=1.0, corner_x=0.0, corner_y=0.0, corner_z=0.0,
min_ocp_prob=0.001, max_ocp_prob=0.999, max_scale=1):
batch.init_process("bvxmCreateSceneXmlProcess")
batch.set_input_string(0, scene_xml)
batch.set_input_string(1, world_dir)
batch.set_input_float(2, corner_x)
batch.set_input_float(3, corner_y)
batch.set_input_float(4, corner_z)
batch.set_input_unsigned(5, dim_x)
batch.set_input_unsigned(6, dim_y)
batch.set_input_unsigned(7, dim_z)
batch.set_input_float(8, voxel_size)
batch.set_input_from_db(9, lvcs)
batch.set_input_string(10, lvcs_file)
batch.set_input_float(11, min_ocp_prob)
batch.set_input_float(12, max_ocp_prob)
batch.set_input_unsigned(13, max_scale)
return batch.run_process()
mask_img_id = bvxm_batch.commit_output(0)
print("Convert density to prob map")
bvxm_batch.init_process("brecDensityToProbMapProcess")
bvxm_batch.set_params_process("./density_to_prob_map_params.xml")
bvxm_batch.set_input_from_db(0, out_img_id)
bvxm_batch.run_process()
prob_map_id = bvxm_batch.commit_output(0)
for j in range(j_size):
print("Threshold prob map")
bvxm_batch.init_process("brecProbMapThresholdProcess")
bvxm_batch.set_input_from_db(0, prob_map_id)
bvxm_batch.set_input_from_db(1, mask_img_id)
bvxm_batch.set_input_from_db(2, cropped_image_id)
bvxm_batch.set_input_float(3, j_arr[j])
bvxm_batch.run_process()
thres_img_id = bvxm_batch.commit_output(0)
print("Saving Thresholded Image")
bvxm_batch.init_process("SaveImageViewProcess")
bvxm_batch.set_input_from_db(0, thres_img_id)
bvxm_batch.set_input_string(
1, output_path + "thres" + str(i) + "_" + str(j_arr[j]) + ".png")
bvxm_batch.run_process()
# ground-truth polygons for change areas need to be prepared via tools in bwm_main and saved as binary files
# each test image need to have a separate parameter xml file that records the test image dimensions after ROI cropping process
# polygonal regions need to be marked wrt to cropped ROI coordinate
# frame (i.e. first crop the image, then open the cropped version in
# bwm_main for ground-truthing)
print("Compass edge detector Image");
bvxm_batch.init_process("bilCompassEdgeDetectorProcess");
bvxm_batch.set_input_from_db(0,cropped_image);
bvxm_batch.set_input_unsigned(1,8);
bvxm_batch.set_input_double(2,2.0);
bvxm_batch.set_input_double(3,0.4);
bvxm_batch.run_process();
(cropped_edge_image_id,cropped_edge_image_type) = bvxm_batch.commit_output(0);
cropped_edge_image = dbvalue(cropped_edge_image_id,cropped_edge_image_type);
bvxm_batch.init_process("bvxmRpcRegistrationProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_from_db(1,cropped_cam);
bvxm_batch.set_input_from_db(2,cropped_edge_image);
bvxm_batch.set_input_bool(3,0);
bvxm_batch.set_input_float(4,25);
bvxm_batch.set_input_float(5,0);
bvxm_batch.set_input_unsigned(6,0);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
corrected_cam = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(1);
corrected_img = dbvalue(id, type);
cam_name_local="./camera"+str(i)+".txt";
print(" saving camera ");
bvxm_batch.init_process("vpglSaveRationalCameraProcess");
bvxm_batch.set_input_from_db(0,corrected_cam);
bvxm_batch.set_input_string(1,cam_name_local);
bvxm_batch.run_process();
batch.set_input_from_db(0, cropped_image)
batch.set_input_unsigned(1, 8)
batch.set_input_double(2, 2.0)
batch.set_input_double(3, 0.4)
batch.run_process()
(cropped_edge_image_id,
cropped_edge_image_type) = batch.commit_output(0)
cropped_edge_image = dbvalue(cropped_edge_image_id,
cropped_edge_image_type)
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, 0)
batch.set_input_float(4, 25)
batch.set_input_float(5, 0)
batch.set_input_unsigned(6, 0)
batch.run_process()
(id, type) = batch.commit_output(0)
corrected_cam = dbvalue(id, type)
(id, type) = batch.commit_output(1)
corrected_img = dbvalue(id, type)
cam_name_local = "./camera" + str(i) + ".txt"
print(" saving camera ")
batch.init_process("vpglSaveRationalCameraProcess")
batch.set_input_from_db(0, corrected_cam)
batch.set_input_string(1, cam_name_local)
batch.run_process()
bvxm_batch.set_input_string(1,"output_lidar_edges.tif");
bvxm_batch.run_process();
bvxm_batch.init_process("bvxmUpdateEdgesLidarProcess");
bvxm_batch.set_input_from_db(0,lidar_height);
bvxm_batch.set_input_from_db(1,lidar_edges);
bvxm_batch.set_input_from_db(2,lidar_edges_prob);
bvxm_batch.set_input_from_db(3,lidar_camera);
bvxm_batch.set_input_from_db(4,world);
bvxm_batch.set_input_unsigned(5,0);
bvxm_batch.run_process();
bvxm_batch.init_process("bvxmSaveEdgesRawProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_string(1,"output_edges.raw");
bvxm_batch.set_input_float(2,0);
bvxm_batch.set_input_unsigned(3,0);
bvxm_batch.run_process();
################## updating with LIDAR
print("Creating Lidar");
bvxm_batch.init_process("bvxmLidarInitProcess");
bvxm_batch.set_params_process("lidar_params.xml");
bvxm_batch.set_input_string(0,"C:/test_images/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif");
bvxm_batch.set_input_string(1,"C:/test_images/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif");
bvxm_batch.set_input_from_db(2,world);
bvxm_batch.run_process();
(cam_id,cam_type)=bvxm_batch.commit_output(0);
cam=dbvalue(cam_id,cam_type);
(lidar_id, lidar_type)=bvxm_batch.commit_output(1);
lidar=dbvalue(lidar_id, lidar_type);
print("Saving GT Image")
bvxm_batch.init_process("SaveImageViewProcess")
bvxm_batch.set_input_from_db(0, gt_byte_id)
bvxm_batch.set_input_string(
1, output_path + "test_img_" + str(i) + "_gt.png")
bvxm_batch.run_process()
npasses = 1
sigma = 0.05
print("Updating change map")
bvxm_batch.init_process("brecUpdateChangesProcess")
bvxm_batch.set_input_from_db(0, out_img_id)
bvxm_batch.set_input_from_db(1, curr_image_id)
bvxm_batch.set_input_unsigned(2, npasses)
bvxm_batch.set_input_float(3, sigma)
bvxm_batch.run_process()
out_updated_img_id = bvxm_batch.commit_output(0)
out_updated_byte_img_id = bvxm_batch.commit_output(1)
print("Saving Image")
bvxm_batch.init_process("SaveImageViewProcess")
bvxm_batch.set_input_from_db(0, out_updated_byte_img_id)
bvxm_batch.set_input_string(
1, output_path + "change_map_updated_n" + str(npasses) +
"_sigma_" + str(sigma) + "_" + str(i) + ".png")
bvxm_batch.run_process()
print("Run the ROC process")
bvxm_batch.init_process("brecProbMapROCProcess")
bvxm_batch.set_input_from_db(0, out_updated_img_id)
print("Compass edge detector Image");
bvxm_batch.init_process("bilCompassEdgeDetectorProcess");
bvxm_batch.set_input_from_db(0,cropped_image);
bvxm_batch.set_input_unsigned(1,8);
bvxm_batch.set_input_double(2,2.0);
bvxm_batch.set_input_double(3,0.4);
bvxm_batch.run_process();
(cropped_edge_image_id,cropped_edge_image_type) = bvxm_batch.commit_output(0);
cropped_edge_image = dbvalue(cropped_edge_image_id,cropped_edge_image_type);
bvxm_batch.init_process("bvxmRpcRegistrationProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_from_db(1,cropped_cam);
bvxm_batch.set_input_from_db(2,cropped_edge_image);
bvxm_batch.set_input_bool(3,0);
bvxm_batch.set_input_float(4,25);
bvxm_batch.set_input_float(5,0);
bvxm_batch.set_input_unsigned(6,0);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
corrected_cam = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(1);
corrected_img = dbvalue(id, type);
cam_name_local="./camera"+str(i)+".txt";
print(" saving camera ");
bvxm_batch.init_process("vpglSaveRationalCameraProcess");
bvxm_batch.set_input_from_db(0,corrected_cam);
bvxm_batch.set_input_string(1,cam_name_local);
bvxm_batch.run_process();
bvxm_batch.set_input_string(1, "output_lidar_edges.tif")
bvxm_batch.run_process()
bvxm_batch.init_process("bvxmUpdateEdgesLidarProcess")
bvxm_batch.set_input_from_db(0, lidar_height)
bvxm_batch.set_input_from_db(1, lidar_edges)
bvxm_batch.set_input_from_db(2, lidar_edges_prob)
bvxm_batch.set_input_from_db(3, lidar_camera)
bvxm_batch.set_input_from_db(4, world)
bvxm_batch.set_input_unsigned(5, 0)
bvxm_batch.run_process()
bvxm_batch.init_process("bvxmSaveEdgesRawProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_string(1, "output_edges.raw")
bvxm_batch.set_input_float(2, 0)
bvxm_batch.set_input_unsigned(3, 0)
bvxm_batch.run_process()
# updating with LIDAR
print("Creating Lidar")
bvxm_batch.init_process("bvxmLidarInitProcess")
bvxm_batch.set_params_process("lidar_params.xml")
bvxm_batch.set_input_string(
0, "C:/test_images/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif")
bvxm_batch.set_input_string(
1, "C:/test_images/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif")
bvxm_batch.set_input_from_db(2, world)
bvxm_batch.run_process()
(cam_id, cam_type) = bvxm_batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
batch.init_process("bilCompassEdgeDetectorProcess")
batch.set_input_from_db(0, cropped_image)
batch.set_input_unsigned(1, 8)
batch.set_input_double(2, 2.0)
batch.set_input_double(3, 0.4)
batch.run_process()
(cropped_edge_image_id, cropped_edge_image_type) = batch.commit_output(0)
cropped_edge_image = dbvalue(
cropped_edge_image_id, cropped_edge_image_type)
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, 0)
batch.set_input_float(4, 25)
batch.set_input_float(5, 0)
batch.set_input_unsigned(6, 0)
batch.run_process()
(id, type) = batch.commit_output(0)
corrected_cam = dbvalue(id, type)
(id, type) = batch.commit_output(1)
corrected_img = dbvalue(id, type)
cam_name_local = "./camera" + str(i) + ".txt"
print(" saving camera ")
batch.init_process("vpglSaveRationalCameraProcess")
batch.set_input_from_db(0, corrected_cam)
batch.set_input_string(1, cam_name_local)
batch.run_process()
