def init_region(self, anchor=None):
"""
Set the anchor and Initialize the local region.
:param anchor:
:return:
"""
"""
# Set the anchor.
"""
if anchor is None:
print('Random anchor')
for panoId in sorted(self.fileMeta['id2GPS']):
print('anchor is:', panoId, self.fileMeta['id2GPS'][panoId])
self.anchorId, self.anchorLat, self.anchorLon = \
panoId, float(self.fileMeta['id2GPS'][panoId][0]), float(self.fileMeta['id2GPS'][panoId][1])
self.anchorECEF = base_process.geo_2_ecef(
self.anchorLat, self.anchorLon, 22)
break
else:
print('use the anchor')
print('anchor is:', anchor['anchorId'], anchor['anchorLat'],
anchor['anchorLon'])
self.anchorId, self.anchorLat, self.anchorLon = \
anchor['anchorId'], anchor['anchorLat'], anchor['anchorLon']
self.anchorECEF = base_process.geo_2_ecef(self.anchorLat,
self.anchorLon, 22)
"""
# Initialize the local region anchor_matrix and anchor_yaw
"""
try:
pano_id_dir = os.path.join(self.dataDir, self.anchorId)
panorama = scipy.misc.imread(pano_id_dir + '.jpg').astype(np.float)
with open(pano_id_dir + '.json') as data_file:
pano_meta = json.load(data_file)
sv3d = StreetView3D(pano_meta, panorama, self.d_height,
self.d_width)
sv3d.create_ptcloud_bilinear_depth(self.sphericalRay)
sv3d.global_adjustment()
sv3d.local_adjustment(self.anchorECEF)
# TODO: reduce some redundant work
# self.sv3D_Dict[self.anchorId] = sv3d
self.anchorMatrix = np.dot(sv3d.matrix_local,
sv3d.matrix_global)
self.anchorYaw = sv3d.yaw
data_file.close()
except FileNotFoundError:
print('no anchor file QQ')
def init_region(self, anchor=None):
"""
Initialize the local region
Find the anchor
:return:
"""
if anchor is None:
print('Random anchor')
panoId = self.fileMeta['panoList'][0]
print('anchor is:', panoId, self.fileMeta['id2GPS'][panoId])
self.anchorId, self.anchorLat, self.anchorLon = \
panoId, float(self.fileMeta['id2GPS'][panoId][0]), float(self.fileMeta['id2GPS'][panoId][1])
self.anchorECEF = base_process.geo_2_ecef(self.anchorLat, self.anchorLon, 22)
else:
print('use the anchor')
print('anchor is:', anchor['anchorId'], anchor['anchorLat'], anchor['anchorLon'])
self.anchorId, self.anchorLat, self.anchorLon = \
anchor['anchorId'], anchor['anchorLat'], anchor['anchorLon']
self.anchorECEF = base_process.geo_2_ecef(self.anchorLat, self.anchorLon, 22)
# The anchor
try:
pano_id_dir = os.path.join(self.dataDir, self.anchorId)
panorama = scipy.misc.imread(pano_id_dir + '.jpg').astype(np.float)
with open(pano_id_dir + '.json') as data_file:
pano_meta = json.load(data_file)
sv3d = StreetView3D(pano_meta, panorama)
sv3d.create_ptcloud(self.sphericalRay)
sv3d.global_adjustment()
sv3d.local_adjustment(self.anchorECEF)
# TODO: reduce some redundant work
self.sv3D_Dict[self.anchorId] = sv3d
self.anchorMatrix = np.dot(sv3d.matrix_local, sv3d.matrix_global)
self.anchorYaw = sv3d.yaw
data_file.close()
except FileNotFoundError:
print('no anchor file QQ')
self.QQ = True
def create_trajectory(self):
keyframe_2_id = sorted(self.fileMeta['keyframe_2_id'])
keyframe_num = len(keyframe_2_id)
data = np.zeros(pano_num, dtype=[('a_position', np.float32, 3), ('a_color', np.float32, 3)])
idx = 0
for panoid in id_2_gps:
gps = id_2_gps[panoid]
ecef = base_process.geo_2_ecef(float(gps[0]), float(gps[1]), 22) - self.anchorECEF
# TODO: ecef v.s. x-y plane
data['a_position'][idx] = np.asarray(ecef, dtype=np.float32)
idx += 1
data['a_color'] = [0, 1, 0]
self.trajectoryData = data
def create_topology_bfs(self):
id_2_gps = self.fileMeta['id2GPS']
pano_list = self.fileMeta['panoList']
pano_len = self.fileMeta['cur'] + 1
topology = np.zeros((pano_len, 3), dtype=np.float32)
for idx in range(0, pano_len):
gps = id_2_gps[pano_list[idx]]
lat, lon = float(gps[0]), float(gps[1])
ecef = np.array(base_process.geo_2_ecef(lat, lon, 22))
if idx == 0:
self.anchorECEF = ecef
matrix = np.eye(4, dtype=np.float32)
# Change xy-plan to ecef coordinate
glm.rotate(matrix, 90, 0, 1, 0)
glm.rotate(matrix, 90, 1, 0, 0)
glm.rotate(matrix, lat, 0, -1, 0)
glm.rotate(matrix, lon, 0, 0, 1)
self.anchorMatrix = matrix
else:
topology[idx, :] = ecef - self.anchorECEF
topology = base_process.sv3d_apply_m4(topology, m4=np.linalg.inv(self.anchorMatrix))
id_2_gps = self.fileMeta['id2GPS']
pano_num = len(id_2_gps)
data = np.zeros(pano_num, dtype=[('a_position', np.float32, 3), ('a_color', np.float32, 3)])
idx = 0
for panoid in id_2_gps:
gps = id_2_gps[panoid]
ecef = base_process.geo_2_ecef(float(gps[0]), float(gps[1]), 22) - self.anchorECEF
# TODO: ecef v.s. x-y plane
data['a_position'][idx] = np.asarray(ecef, dtype=np.float32)
idx += 1
data['a_color'] = [0, 1, 0]
data['a_position'] = base_process.sv3d_apply_m4(data=data['a_position'],
m4=np.linalg.inv(self.anchorMatrix))
self.topologyData = data
def create_topology(self):
id_2_gps = self.fileMeta['id2GPS']
pano_num = len(id_2_gps)
data = np.zeros(pano_num, dtype=[('a_position', np.float32, 3), ('a_color', np.float32, 3)])
idx = 0
for panoid in id_2_gps:
gps = id_2_gps[panoid]
ecef = base_process.geo_2_ecef(float(gps[0]), float(gps[1]), 22) - self.anchorECEF
# TODO: ecef v.s. x-y plane
data['a_position'][idx] = np.asarray(ecef, dtype=np.float32)
idx += 1
data['a_color'] = [0, 1, 0]
data['a_position'] = base_process.sv3d_apply_m4(data=data['a_position'],
m4=np.linalg.inv(self.anchorMatrix))
self.topologyData = data
def __init__(self, pano_meta, panorama):
self.panoMeta, self.panorama = pano_meta, panorama
self.depthHeader, self.depthMapIndices, self.depthMapPlanes = {}, [], []
self.depthMap, self.ptCLoudData, self.ptCLoudDataGnd, self.ptCLoudDataGndGrid = None, None, None, None
self.normal_map, self.gnd_indices = None, None
self.lat, self.lon, self.yaw = float(pano_meta['Lat']), float(pano_meta['Lon']), float(pano_meta['ProjectionPanoYawDeg'])
self.ecef = base_process.geo_2_ecef(self.lat, self.lon, 22)
self.decode_depth_map(pano_meta['rawDepth'])
if self.depthHeader['panoHeight'] != 256 or self.depthHeader['panoWidth'] != 512:
print("The depthMap's size of id:%s is unusual: (%d, %d)"
% (self.panoMeta['panoId'], self.depthHeader['panoHeight'], self.depthHeader['panoWidth']))
self.matrix_global = np.eye(4, dtype=np.float32)
self.matrix_local = np.eye(4, dtype=np.float32)
self.matrix_offs = np.eye(4, dtype=np.float32)
self.indices_split, self.plane_split, self.gnd_con, self.non_con, self.all_con = None, None, None, None, None
self.gnd_plane, self.all_plane = [], []
#!/usr/bin/python3
# ==============================================================
# demo for chane coordinate(lat, lon, h) <--> (x, y, z)
# ==============================================================
import google_parse
import base_process
fileID = 'NovelView_small'
"""
# 2. parse raw depth
"""
sv3DRegion = google_parse.StreetView3DRegion(fileID)
#sv3DRegion.init_region(anchor=None)
sv3DRegion.create_topoloy()
# All single location
topology_data = sv3DRegion.topologyData
sv3DRegion.create_region()
for key in sv3DRegion.sv3D_Dict:
sv = sv3DRegion.sv3D_Dict[key]
lat, lon = sv.lat, sv.lon
lat, lon, h = base_process.ecef_2_geo(sv.ecef[0], sv.ecef[1], sv.ecef[2])
x, y, z = base_process.geo_2_ecef(lat, lon, h)
break