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 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 create_scene(scene_params_xml):
batch.init_process("bvxmCreateVoxelWorldProcess")
# "./bvxmCreateVoxelWorldProcess.xml"
batch.set_params_process(scene_params_xml)
status = batch.run_process()
if status != 1:
raise Exception('Error creating scene from ' + scene_params_xml)
(world_id, world_type) = batch.commit_output(0)
world = dbvalue(world_id, world_type)
return world
def create_scene(scene_params_xml):
batch.init_process("bvxmCreateVoxelWorldProcess")
# "./bvxmCreateVoxelWorldProcess.xml"
batch.set_params_process(scene_params_xml)
status = batch.run_process()
if status != 1:
raise Exception('Error creating scene from ' + scene_params_xml)
(world_id, world_type) = batch.commit_output(0)
world = dbvalue(world_id, world_type)
return world
def roi_init(image_filename, cam, world, roi_init_params_xml, is_all_bits=False):
batch.init_process("bvxmRoiInitProcess")
batch.set_input_string(0, image_filename)
batch.set_input_from_db(1, cam)
batch.set_input_from_db(2, world)
batch.set_input_bool(3, is_all_bits)
# "bvxmRoiInitProcess.xml")
batch.set_params_process(roi_init_params_xml)
statuscode = batch.run_process()
if statuscode:
(cropped_cam_id, cropped_cam_type) = batch.commit_output(0)
cropped_cam = dbvalue(cropped_cam_id, cropped_cam_type)
(cropped_image_id, cropped_image_type) = batch.commit_output(1)
cropped_image = dbvalue(cropped_image_id, cropped_image_type)
(uncertainty_id, uncertainty_type) = batch.commit_output(2)
uncertainty = dbvalue(uncertainty_id, uncertainty_type)
return statuscode, cropped_cam, cropped_image, uncertainty
else:
return statuscode, dbvalue(0, ""), dbvalue(0, ""), dbvalue(0, "")
def roi_init(image_filename,
cam,
world,
roi_init_params_xml,
is_all_bits=False):
batch.init_process("bvxmRoiInitProcess")
batch.set_input_string(0, image_filename)
batch.set_input_from_db(1, cam)
batch.set_input_from_db(2, world)
batch.set_input_bool(3, is_all_bits)
# "bvxmRoiInitProcess.xml")
batch.set_params_process(roi_init_params_xml)
statuscode = batch.run_process()
if statuscode:
(cropped_cam_id, cropped_cam_type) = batch.commit_output(0)
cropped_cam = dbvalue(cropped_cam_id, cropped_cam_type)
(cropped_image_id, cropped_image_type) = batch.commit_output(1)
cropped_image = dbvalue(cropped_image_id, cropped_image_type)
(uncertainty_id, uncertainty_type) = batch.commit_output(2)
uncertainty = dbvalue(uncertainty_id, uncertainty_type)
return statuscode, cropped_cam, cropped_image, uncertainty
else:
return statuscode, dbvalue(0, ""), dbvalue(0, ""), dbvalue(0, "")
# assumes that ground-truth changes are marked as polygonal regions via tools in bwm_main and saved as binary files
# by Ozge C. Ozcanli
# 11/16/2008
import bvxm_batch
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
# number of images with correct cameras.
num_cam = 2
normalize_and_save = 0
# first creat an empty world.
print("Creating Voxel World")
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
bvxm_batch.set_params_process("./world_model_params.xml")
bvxm_batch.run_process()
voxel_world_id = bvxm_batch.commit_output(0)
python_path = "./"
change_type = "sewage"
import os
import shutil
output_path = python_path + "testing_output/"
# if os.path.exists(output_path):
# shutil.rmtree(output_path);
# os.mkdir(output_path);
if os.path.exists(output_path) != 1:
os.mkdir(output_path)
# Created by Vishal Jain
# Nov 10, 2009
# LEMS, Brown University
#############################################################################
import brl_init
import bvxm_batch as batch
dbvalue = brl_init.register_batch(batch)
f = open('images.txt', 'r')
image_fnames = f.readlines()
f.close()
print("Creating Voxel World")
batch.init_process("bvxmCreateVoxelWorldProcess")
batch.set_params_process("./bvxmCreateVoxelWorldProcess.xml")
batch.set_input_string(1, "ocp_opinion")
batch.run_process()
(world_id, world_type) = batch.commit_output(0)
world = dbvalue(world_id, world_type)
for i in range(0, len(image_fnames), 1):
image_fnames[i] = image_fnames[i].strip()
batch.init_process("vpglLoadRationalCameraNITFProcess")
batch.set_input_string(0, image_fnames[i])
batch.run_process()
(cam_id, cam_type) = batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
batch.init_process("bvxmRoiInitProcess")
"""
This is a sample script by Ozge C Ozcanli
02/19/2008
"""
import bvxm_batch
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
print("Creating Voxel World")
# clon CreateVoxelWorldProcess and make it the current process
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
# call the parse method of the current process
bvxm_batch.set_params_process(
"D:/projects/lockheed-voxel-world/CreateVoxelWorldProcess.xml")
# run the current process
bvxm_batch.run_process()
world_id = bvxm_batch.commit_output(0)
import glob
image_fnames = glob.glob(
"Z:/video/ieden/image_pvd_helicopter/seq2/images/*.png")
camera_fnames = glob.glob(
"Z:/video/ieden/image_pvd_helicopter/seq2/cameras/*.txt")
print("Loading Camera")
bvxm_batch.init_process("bvxmLoadProjCameraProcess")
bvxm_batch.set_input_string(0, camera_fnames[1])
bvxm_batch.run_process()
cam_id = bvxm_batch.commit_output(0)
# by Ozge C. Ozcanli
# 11/16/2008
import bvxm_batch
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
# number of images with correct cameras.
num_cam = 2
normalize_and_save = 0
# first creat an empty world.
print("Creating Voxel World")
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
bvxm_batch.set_params_process("./world_model_params.xml")
bvxm_batch.run_process()
voxel_world_id = bvxm_batch.commit_output(0)
python_path = "./"
change_type = "sewage"
import os
import shutil
output_path = python_path + "testing_output_rec/"
if os.path.exists(output_path) != 1:
os.mkdir(output_path)
# list of the images
f = open("testing_images.txt", 'r')
import bvxm_batch
bvxm_batch.register_processes();
bvxm_batch.register_datatypes();
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
f=open('images.txt', 'r')
image_fnames=f.readlines();
f.close();
print("Creating Voxel World");
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess");
bvxm_batch.set_params_process("./bvxmCreateVoxelWorldProcess.xml");
bvxm_batch.set_input_string(1,"ocp_opinion");
bvxm_batch.run_process();
(world_id,world_type)= bvxm_batch.commit_output(0);
world = dbvalue(world_id,world_type);
for i in range(0,len(image_fnames),1):
image_fnames[i] = image_fnames[i].strip();
bvxm_batch.init_process("vpglLoadRationalCameraNITFProcess");
bvxm_batch.set_input_string(0,image_fnames[i]);
bvxm_batch.run_process();
(cam_id,cam_type)=bvxm_batch.commit_output(0);
cam = dbvalue(cam_id,cam_type);
bvxm_batch.init_process("bvxmRoiInitProcess");
import bvxm_batch as batch
dbvalue = brl_init.register_batch(batch)
python_path = "./"
#voxel_world_path = "./edges_0.vox";
num_train = 20
skip_list = [8, 14, 15, 18, 23, 29]
# printing the database
batch.print_db()
# first creat an empty world.
print("Creating Voxel World")
batch.init_process("bvxmCreateVoxelWorldProcess")
batch.set_params_process("./world_model_params.xml")
batch.run_process()
voxel_world_id = batch.commit_output(0)
# list of the images
f = open('./full_hiafa_images.txt', 'r')
image_fnames = f.readlines()
f.close()
# list of corrected cameras
f = open('./full_hiafa_cam.txt', 'r')
cam_fnames = f.readlines()
f.close()
# number of images used to compute the voxel grid to correct the cameras.
num_train = 5
import bvxm_batch
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
python_path = "./"
# number of images used to compute the voxel grid to correct the cameras.
num_train = 5
# first creat an empty world.
print("Creating Voxel World")
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
bvxm_batch.set_params_process("./world_model_params.xml")
bvxm_batch.run_process()
voxel_world_id = bvxm_batch.commit_output(0)
########################################
#LIDAR update
print("Writing World")
bvxm_batch.init_process("bvxmSaveOccupancyRaw")
bvxm_batch.set_input_from_db(0, voxel_world_id)
bvxm_batch.set_input_string(1, "./world.raw")
bvxm_batch.run_process()
print("Creating Lidar")
bvxm_batch.init_process("bvxmLidarInitProcess")
bvxm_batch.set_params_process("lidar_params.xml")
bvxm_batch.set_input_string(
0, "E:/LIDAR/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif")
bvxm_batch.set_input_string(
1, "E:/LIDAR/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif")
import bvxm_batch
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
python_path = "./"
# number of images used to compute the voxel grid to correct the cameras.
num_train = 5
# first creat an empty world.
print("Creating Voxel World")
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
bvxm_batch.set_params_process("./world_model_params.xml")
bvxm_batch.run_process()
voxel_world_id = bvxm_batch.commit_output(0)
########################################
# LIDAR update
print("Writing World")
bvxm_batch.init_process("bvxmSaveOccupancyRaw")
bvxm_batch.set_input_from_db(0, voxel_world_id)
bvxm_batch.set_input_string(1, "./world.raw")
bvxm_batch.run_process()
print("Creating Lidar")
bvxm_batch.init_process("bvxmLidarInitProcess")
bvxm_batch.set_params_process("lidar_params.xml")
bvxm_batch.set_input_string(
0, "E:/LIDAR/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif")
bvxm_batch.set_input_string(
1, "E:/LIDAR/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif")
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
python_path = "./"
#voxel_world_path = "./edges_0.vox";
num_train = 20
skip_list = [8, 14, 15, 18, 23, 29]
# printing the database
bvxm_batch.print_db()
# first creat an empty world.
print("Creating Voxel World")
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
bvxm_batch.set_params_process("./world_model_params.xml")
bvxm_batch.run_process()
voxel_world_id = bvxm_batch.commit_output(0)
# list of the images
f = open('./full_hiafa_images.txt', 'r')
image_fnames = f.readlines()
f.close()
# list of corrected cameras
f = open('./full_hiafa_cam.txt', 'r')
cam_fnames = f.readlines()
f.close()
# number of images used to compute the voxel grid to correct the cameras.
num_train = 5
import bvxm_batch
bvxm_batch.register_processes()
bvxm_batch.register_datatypes()
class dbvalue:
def __init__(self, index, type):
self.id = index # unsigned integer
self.type = type # string
print("Creating Voxel World")
bvxm_batch.init_process("bvxmCreateVoxelWorldProcess")
bvxm_batch.set_params_process("./bvxmCreateVoxelWorldProcess.xml")
bvxm_batch.run_process()
(world_id, world_type) = bvxm_batch.commit_output(0)
world = dbvalue(world_id, world_type)
lidar_1st_image_original = "C:/test_images/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif"
lidar_2nd_image_original = "C:/test_images/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif"
bvxm_batch.init_process("bvxmLidarInitProcess")
bvxm_batch.set_input_string(0, lidar_1st_image_original)
bvxm_batch.set_input_string(1, lidar_2nd_image_original)
bvxm_batch.set_input_from_db(2, world)
bvxm_batch.run_process()
(lidar_camera_id, lidar_camera_type) = bvxm_batch.commit_output(0)
lidar_camera = dbvalue(lidar_camera_id, lidar_camera_type)
(lidar_1st_image_id, lidar_1st_image_type) = bvxm_batch.commit_output(1)
lidar_1st_image = dbvalue(lidar_1st_image_id, lidar_1st_image_type)
(lidar_2nd_image_id, lidar_2nd_image_type) = bvxm_batch.commit_output(2)
input_dir = "/Users/isa/Experiments/CapitolSFM/capitol_rotated"
output_dir = "/Users/isa/Experiments/CapitolSFM/smaller_capitol"
print("Load Grid World");
bvxm_batch.init_process("bvxmLoadGridProcess");
bvxm_batch.set_input_string(0,input_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);
world = dbvalue(world_id,world_type);
print("Crop Voxel World");
bvxm_batch.init_process("bvxmCropGridProcess");
bvxm_batch.set_params_process(output_dir +"/crop_grid_params.xml");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_string(1, output_dir +"/KL_gaussf1.vox");
bvxm_batch.run_process();
(crop_world_id,crop_world_type)= bvxm_batch.commit_output(0);
crop_world = dbvalue(crop_world_id,crop_world_type);
print("Writing World");
bvxm_batch.init_process("bvxmSaveGridRawProcess");
bvxm_batch.set_input_from_db(0,crop_world);
bvxm_batch.set_input_string(1,output_dir + "/KL_gaussf1.raw");
bvxm_batch.run_process();
print("Load Grid World");
bvxm_batch.init_process("bvxmLoadGridProcess");
bvxm_batch.set_input_string(0,input_dir + "/MPM_gaussf1.vox");
