def rational_cam_img_to_global(camera,
i,
j,
init_lon=-1.0,
init_lat=-1.0,
init_elev=-1.0,
pl_elev=-1.0,
error_tol=0.05):
bvxm_batch.init_process("vpglRationalImgToGlobalProcess")
bvxm_batch.set_input_from_db(0, camera)
bvxm_batch.set_input_unsigned(1, i)
bvxm_batch.set_input_unsigned(2, j)
bvxm_batch.set_input_double(3, init_lon)
bvxm_batch.set_input_double(4, init_lat)
bvxm_batch.set_input_double(5, init_elev)
bvxm_batch.set_input_double(6, pl_elev)
bvxm_batch.set_input_double(7, error_tol)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
lon = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
lat = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(2)
elev = bvxm_batch.get_output_double(id)
return lon, lat, elev
else:
return -1.0, -1.0, -1.0
def affine_rectify_images(img1,
affine_cam1,
img2,
affine_cam2,
min_x,
min_y,
min_z,
max_x,
max_y,
max_z,
n_points=100):
bvxm_batch.init_process("vpglAffineRectifyImagesProcess")
bvxm_batch.set_input_from_db(0, img1)
bvxm_batch.set_input_from_db(1, affine_cam1)
bvxm_batch.set_input_from_db(2, img2)
bvxm_batch.set_input_from_db(3, affine_cam2)
bvxm_batch.set_input_double(4, min_x)
bvxm_batch.set_input_double(5, min_y)
bvxm_batch.set_input_double(6, min_z)
bvxm_batch.set_input_double(7, max_x)
bvxm_batch.set_input_double(8, max_y)
bvxm_batch.set_input_double(9, max_z)
bvxm_batch.set_input_unsigned(10, n_points)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_img1 = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_cam1 = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(2)
out_img2 = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(3)
out_cam2 = dbvalue(id, type)
return out_img1, out_cam1, out_img2, out_cam2
def test_classifier_clouds2(tclsf,
dictionary_name,
image_resource,
i,
j,
width,
height,
block_size,
percent_cat_name,
category_id_file=""):
bvxm_batch.init_process("sdetTextureClassifySatelliteCloudsProcess2")
bvxm_batch.set_input_from_db(0, tclsf)
bvxm_batch.set_input_string(1, dictionary_name)
bvxm_batch.set_input_from_db(2, image_resource)
bvxm_batch.set_input_unsigned(3, i)
bvxm_batch.set_input_unsigned(4, j)
bvxm_batch.set_input_unsigned(5, width)
bvxm_batch.set_input_unsigned(6, height)
bvxm_batch.set_input_unsigned(7, block_size)
bvxm_batch.set_input_string(8, category_id_file)
bvxm_batch.set_input_string(9, percent_cat_name)
status = bvxm_batch.run_process()
if status:
(out_id, out_type) = bvxm_batch.commit_output(0)
out_crop = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(1)
out_id_map = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(2)
out_rgb_map = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(3)
percent = bvxm_batch.get_output_float(out_id)
bvxm_batch.remove_data(out_id)
return out_crop, out_id_map, out_rgb_map, percent
else:
return 0, 0, 0, 100
def rpc_registration(world,
cropped_cam,
cropped_edge_image,
uncertainty,
shift_3d_flag=0,
scale=0,
is_uncertainty_float=0):
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, shift_3d_flag)
if is_uncertainty_float == 1:
print "uncertainty = ", uncertainty
bvxm_batch.set_input_float(4, uncertainty)
else:
bvxm_batch.set_input_from_db(4, uncertainty)
bvxm_batch.set_input_unsigned(5, scale)
bvxm_batch.run_process()
(cam_id, cam_type) = bvxm_batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
(expected_edge_image_id,
expected_edge_image_type) = bvxm_batch.commit_output(1)
expected_edge_image = dbvalue(expected_edge_image_id,
expected_edge_image_type)
(offset_u_id, offset_u_type) = bvxm_batch.commit_output(2)
offset_u = bvxm_batch.get_output_double(offset_u_id)
(offset_v_id, offset_v_type) = bvxm_batch.commit_output(3)
offset_v = bvxm_batch.get_output_double(offset_v_id)
return cam, expected_edge_image, offset_u, offset_v
def save_occupancy_raw(world, filename, app_model, scale=0):
bvxm_batch.init_process("bvxmSaveOccupancyRawProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_string(1,filename);
bvxm_batch.set_input_unsigned(2, scale);
bvxm_batch.set_input_string(3, app_model);
bvxm_batch.run_process();
def affine_rectify_images2(img1, affine_cam1, local_rational_cam1, img2, affine_cam2, local_rational_cam2, min_x, min_y, min_z, max_x, max_y, max_z, output_path_H1, output_path_H2, local_ground_plane_height = 5, n_points=100):
bvxm_batch.init_process("vpglAffineRectifyImagesProcess2");
bvxm_batch.set_input_from_db(0, img1);
bvxm_batch.set_input_from_db(1, affine_cam1);
bvxm_batch.set_input_from_db(2, local_rational_cam1);
bvxm_batch.set_input_from_db(3, img2);
bvxm_batch.set_input_from_db(4, affine_cam2);
bvxm_batch.set_input_from_db(5, local_rational_cam2);
bvxm_batch.set_input_double(6, min_x);
bvxm_batch.set_input_double(7, min_y);
bvxm_batch.set_input_double(8, min_z);
bvxm_batch.set_input_double(9, max_x);
bvxm_batch.set_input_double(10, max_y);
bvxm_batch.set_input_double(11, max_z);
bvxm_batch.set_input_unsigned(12, n_points);
bvxm_batch.set_input_double(13, local_ground_plane_height);
bvxm_batch.set_input_string(14, output_path_H1);
bvxm_batch.set_input_string(15, output_path_H2);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
out_img1 = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(1);
out_cam1 = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(2);
out_img2 = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(3);
out_cam2 = dbvalue(id, type);
return out_img1, out_cam1, out_img2, out_cam2
def affine_rectify_images2(img1, affine_cam1, local_rational_cam1, img2, affine_cam2, local_rational_cam2, min_x, min_y, min_z, max_x, max_y, max_z, output_path_H1, output_path_H2, local_ground_plane_height=5, n_points=100):
bvxm_batch.init_process("vpglAffineRectifyImagesProcess2")
bvxm_batch.set_input_from_db(0, img1)
bvxm_batch.set_input_from_db(1, affine_cam1)
bvxm_batch.set_input_from_db(2, local_rational_cam1)
bvxm_batch.set_input_from_db(3, img2)
bvxm_batch.set_input_from_db(4, affine_cam2)
bvxm_batch.set_input_from_db(5, local_rational_cam2)
bvxm_batch.set_input_double(6, min_x)
bvxm_batch.set_input_double(7, min_y)
bvxm_batch.set_input_double(8, min_z)
bvxm_batch.set_input_double(9, max_x)
bvxm_batch.set_input_double(10, max_y)
bvxm_batch.set_input_double(11, max_z)
bvxm_batch.set_input_unsigned(12, n_points)
bvxm_batch.set_input_double(13, local_ground_plane_height)
bvxm_batch.set_input_string(14, output_path_H1)
bvxm_batch.set_input_string(15, output_path_H2)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_img1 = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_cam1 = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(2)
out_img2 = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(3)
out_cam2 = dbvalue(id, type)
return out_img1, out_cam1, out_img2, out_cam2
def add_to_filter_bank(tclsf, img_name, plane, filter_folder):
bvxm_batch.init_process("sdetAddtoFilterBankProcess");
bvxm_batch.set_input_from_db(0,tclsf); # classifier instance
bvxm_batch.set_input_string(1,img_name);
bvxm_batch.set_input_unsigned(2,plane); ## pass which plane to extract the gauss response from
bvxm_batch.set_input_string(3,filter_folder);
bvxm_batch.run_process();
def interpolate_perspective_cameras(cam0, cam1, ncams, outdir):
bvxm_batch.init_process("vpglInterpolatePerspectiveCamerasProcess")
bvxm_batch.set_input_from_db(0, cam0)
bvxm_batch.set_input_from_db(1, cam1)
bvxm_batch.set_input_unsigned(2, ncams)
bvxm_batch.set_input_string(3, outdir)
return bvxm_batch.run_process()
def interpolate_perspective_cameras(cam0,cam1,ncams,outdir):
bvxm_batch.init_process("vpglInterpolatePerspectiveCamerasProcess");
bvxm_batch.set_input_from_db(0, cam0);
bvxm_batch.set_input_from_db(1, cam1);
bvxm_batch.set_input_unsigned(2, ncams);
bvxm_batch.set_input_string(3, outdir);
return bvxm_batch.run_process();
def test_classifier_clouds2(tclsf, dictionary_name, image_resource, i, j, width, height, block_size, percent_cat_name, category_id_file=""):
bvxm_batch.init_process("sdetTextureClassifySatelliteCloudsProcess2")
bvxm_batch.set_input_from_db(0, tclsf)
bvxm_batch.set_input_string(1, dictionary_name)
bvxm_batch.set_input_from_db(2, image_resource)
bvxm_batch.set_input_unsigned(3, i)
bvxm_batch.set_input_unsigned(4, j)
bvxm_batch.set_input_unsigned(5, width)
bvxm_batch.set_input_unsigned(6, height)
bvxm_batch.set_input_unsigned(7, block_size)
bvxm_batch.set_input_string(8, category_id_file)
bvxm_batch.set_input_string(9, percent_cat_name)
status = bvxm_batch.run_process()
if status:
(out_id, out_type) = bvxm_batch.commit_output(0)
out_crop = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(1)
out_id_map = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(2)
out_rgb_map = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(3)
percent = bvxm_batch.get_output_float(out_id)
bvxm_batch.remove_data(out_id)
return out_crop, out_id_map, out_rgb_map, percent
else:
return 0, 0, 0, 100
def save_occupancy_raw(world, filename, app_model, scale=0):
bvxm_batch.init_process("bvxmSaveOccupancyRawProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_string(1, filename)
bvxm_batch.set_input_unsigned(2, scale)
bvxm_batch.set_input_string(3, app_model)
bvxm_batch.run_process()
def generate_ndsm(land_geocam,
land_img_file,
geo_index_txt,
h_map_folder,
ground_txt,
dem_folder,
max_h_limit=254.0,
window_size=30):
bvxm_batch.init_process("volmNdsmGenearationProcess")
bvxm_batch.set_input_from_db(0, land_geocam)
bvxm_batch.set_input_string(1, land_img_file)
bvxm_batch.set_input_string(2, geo_index_txt)
bvxm_batch.set_input_string(3, h_map_folder)
bvxm_batch.set_input_unsigned(4, window_size)
bvxm_batch.set_input_float(5, max_h_limit)
bvxm_batch.set_input_string(6, ground_txt)
bvxm_batch.set_input_string(7, dem_folder)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
out_ndsm = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_dsm = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(2)
out_cam = dbvalue(id, type)
return out_ndsm, out_dsm, out_cam
else:
return None, None, None
def add_to_filter_bank(tclsf, img_name, plane, filter_folder, is_gauss_smooth = True):
bvxm_batch.init_process("sdetAddtoFilterBankProcess");
bvxm_batch.set_input_from_db(0,tclsf); # classifier instance
bvxm_batch.set_input_string(1,img_name);
bvxm_batch.set_input_unsigned(2,plane); ## pass which plane to extract the gauss response from
bvxm_batch.set_input_string(3,filter_folder);
bvxm_batch.set_input_bool(4,is_gauss_smooth)
bvxm_batch.run_process();
def update_edges(world, cropped_cam, cropped_edge_image, update_params_xml, scale=0):
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);
bvxm_batch.set_input_unsigned(3,0);
bvxm_batch.set_params_process(update_params_xml); # "./bvxmUpdateEdgesProcess.xml");
bvxm_batch.run_process();
def generate_height_map_from_ply(ply_folder, ni, nj):
bvxm_batch.init_process("volmGenerateHeightMapFromPlyProcess")
bvxm_batch.set_input_string(0, ply_folder)
bvxm_batch.set_input_unsigned(1, ni)
bvxm_batch.set_input_unsigned(2, nj)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out = dbvalue(id, type)
return out
def load_geotiff_cam2(filename, ni, nj):
bvxm_batch.init_process("vpglLoadGeoCameraProcess2")
bvxm_batch.set_input_string(0, filename)
bvxm_batch.set_input_unsigned(1, ni)
bvxm_batch.set_input_unsigned(2, nj)
bvxm_batch.run_process()
(c_id, c_type) = bvxm_batch.commit_output(0)
cam = dbvalue(c_id, c_type)
return cam
def add_to_filter_bank(tclsf, img_name, plane, filter_folder, filter_name, is_gauss_smooth = True):
bvxm_batch.init_process("sdetAddtoFilterBankProcess");
bvxm_batch.set_input_from_db(0,tclsf); # classifier instance
bvxm_batch.set_input_string(1,img_name);
bvxm_batch.set_input_unsigned(2,plane); ## pass which plane to extract the gauss response from
bvxm_batch.set_input_string(3,filter_folder);
bvxm_batch.set_input_string(4,filter_name); ## pass a unique name to be used to write to filter_folder
bvxm_batch.set_input_bool(5,is_gauss_smooth)
bvxm_batch.run_process();
def generate_height_map_from_ply(ply_folder, ni, nj):
bvxm_batch.init_process("volmGenerateHeightMapFromPlyProcess")
bvxm_batch.set_input_string(0, ply_folder);
bvxm_batch.set_input_unsigned(1, ni);
bvxm_batch.set_input_unsigned(2, nj);
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0);
out = dbvalue(id, type);
return out
def load_geotiff_cam2(filename, ni, nj):
bvxm_batch.init_process("vpglLoadGeoCameraProcess2");
bvxm_batch.set_input_string(0, filename);
bvxm_batch.set_input_unsigned(1, ni);
bvxm_batch.set_input_unsigned(2, nj);
bvxm_batch.run_process();
(c_id,c_type) = bvxm_batch.commit_output(0);
cam = dbvalue(c_id,c_type);
return cam;
def render_height_map_with_cam(world, input_cam, ni, nj):
bvxm_batch.init_process("bvxmHeightmapProcess");
bvxm_batch.set_input_from_db(0,input_cam);
bvxm_batch.set_input_unsigned(1,ni);
bvxm_batch.set_input_unsigned(2,nj);
bvxm_batch.set_input_from_db(3,world);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
out_d_img = dbvalue(id, type);
return out_d_img
def render_height_map_with_cam(world, input_cam, ni, nj):
bvxm_batch.init_process("bvxmHeightmapProcess")
bvxm_batch.set_input_from_db(0, input_cam)
bvxm_batch.set_input_unsigned(1, ni)
bvxm_batch.set_input_unsigned(2, nj)
bvxm_batch.set_input_from_db(3, world)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_d_img = dbvalue(id, type)
return out_d_img
def update_edges(world, cropped_cam, cropped_edge_image, edge_prob_mask_size=21, edge_prob_mask_sigma=1.0, scale=0):
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);
bvxm_batch.set_input_unsigned(3,0);
bvxm_batch.set_input_int(4, edge_prob_mask_size)
bvxm_batch.set_input_float(5, edge_prob_mask_sigma)
# bvxm_batch.set_params_process(update_params_xml); # "./bvxmUpdateEdgesProcess.xml");
bvxm_batch.run_process();
def render_uncertainty_img(input_cam, ni, nj, world):
bvxm_batch.init_process("bvxmUncertaintyProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_from_db(1, input_cam)
bvxm_batch.set_input_unsigned(2, ni)
bvxm_batch.set_input_unsigned(3, nj)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
def render_uncertainty_img(input_cam, ni, nj, world):
bvxm_batch.init_process("bvxmUncertaintyProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_from_db(1, input_cam)
bvxm_batch.set_input_unsigned(2, ni)
bvxm_batch.set_input_unsigned(3, nj)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
def convert_reflectance_to_digital_count(reflectance_image, metadata, atmospheric_params, normalize_0_1 = False, max_digital_count = 2047):
bvxm_batch.init_process("bradConvertReflectanceToDigitalCountProcess")
bvxm_batch.set_input_from_db(0,reflectance_image)
bvxm_batch.set_input_from_db(1,metadata)
bvxm_batch.set_input_from_db(2,atmospheric_params)
bvxm_batch.set_input_bool(3,normalize_0_1)
bvxm_batch.set_input_unsigned(4,max_digital_count)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
output_img = dbvalue(id,type)
return output_img
def render_height_map_with_cam(world, input_cam, ni, nj, is_negate=False):
bvxm_batch.init_process("bvxmHeightmapProcess")
bvxm_batch.set_input_from_db(0, input_cam)
bvxm_batch.set_input_unsigned(1, ni)
bvxm_batch.set_input_unsigned(2, nj)
bvxm_batch.set_input_from_db(3, world)
bvxm_batch.set_input_bool(4, is_negate)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_d_img = dbvalue(id, type)
return out_d_img
def load_geotiff_cam(tfw_filename, lvcs=0, utm_zone=0, utm_hemisphere=0):
bvxm_batch.init_process("vpglLoadGeoCameraProcess")
bvxm_batch.set_input_string(0, tfw_filename)
if lvcs != 0:
bvxm_batch.set_input_from_db(1, lvcs)
bvxm_batch.set_input_int(2, utm_zone)
bvxm_batch.set_input_unsigned(3, utm_hemisphere)
bvxm_batch.run_process()
(c_id, c_type) = bvxm_batch.commit_output(0)
cam = dbvalue(c_id, c_type)
return cam
def load_geotiff_cam(tfw_filename, lvcs=0, utm_zone=0, utm_hemisphere=0):
bvxm_batch.init_process("vpglLoadGeoCameraProcess");
bvxm_batch.set_input_string(0, tfw_filename);
if lvcs != 0:
bvxm_batch.set_input_from_db(1, lvcs);
bvxm_batch.set_input_int(2, utm_zone);
bvxm_batch.set_input_unsigned(3, utm_hemisphere);
bvxm_batch.run_process();
(c_id,c_type) = bvxm_batch.commit_output(0);
cam = dbvalue(c_id,c_type);
return cam;
def convert_reflectance_to_digital_count(reflectance_image, metadata, atmospheric_params, normalize_0_1 = False, max_digital_count = 2047):
bvxm_batch.init_process("bradConvertReflectanceToDigitalCountProcess")
bvxm_batch.set_input_from_db(0,reflectance_image)
bvxm_batch.set_input_from_db(1,metadata)
bvxm_batch.set_input_from_db(2,atmospheric_params)
bvxm_batch.set_input_bool(3,normalize_0_1)
bvxm_batch.set_input_unsigned(4,max_digital_count)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
output_img = dbvalue(id,type)
return output_img
def render_height_map_expected_with_cam(world, input_cam, ni, nj):
bvxm_batch.init_process("bvxmHeightmapExpectedProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_from_db(1, input_cam)
bvxm_batch.set_input_unsigned(2, ni)
bvxm_batch.set_input_unsigned(3, nj)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_h_img = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_var_img = dbvalue(id, type)
return out_h_img, out_var_img
def render_height_map_expected_with_cam(world, input_cam, ni, nj):
bvxm_batch.init_process("bvxmHeightmapExpectedProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_from_db(1, input_cam)
bvxm_batch.set_input_unsigned(2, ni)
bvxm_batch.set_input_unsigned(3, nj)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_h_img = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_var_img = dbvalue(id, type)
return out_h_img, out_var_img
def update_edges(world,
cropped_cam,
cropped_edge_image,
update_params_xml,
scale=0):
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)
bvxm_batch.set_input_unsigned(3, 0)
bvxm_batch.set_params_process(update_params_xml)
# "./bvxmUpdateEdgesProcess.xml");
bvxm_batch.run_process()
def test_classifier(tclsf, block_size, category_id_file=""):
bvxm_batch.init_process("sdetTextureClassifierProcess2");
bvxm_batch.set_input_from_db(0, tclsf);
bvxm_batch.set_input_unsigned(1, block_size);
bvxm_batch.set_input_string(2, category_id_file);
bvxm_batch.run_process();
(out_id, out_type)=bvxm_batch.commit_output(0);
out = dbvalue(out_id, out_type);
(out_id, out_type)=bvxm_batch.commit_output(1);
out_color = dbvalue(out_id, out_type);
(out_id, out_type)=bvxm_batch.commit_output(2);
out_id = dbvalue(out_id, out_type);
return out, out_color, out_id
def geo_cam_img_to_global(geocam, i, j):
bvxm_batch.init_process("vpglGeoImgToGlobalProcess")
bvxm_batch.set_input_from_db(0, geocam)
bvxm_batch.set_input_unsigned(1, i)
bvxm_batch.set_input_unsigned(2, j)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
lon = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
lat = bvxm_batch.get_output_double(id)
return lon, lat
else:
return 0.0, 0.0
def compute_affine_from_local_rational(cropped_cam, min_x, min_y, min_z, max_x, max_y, max_z, n_points=100):
bvxm_batch.init_process("vpglComputeAffineFromRationalProcess")
bvxm_batch.set_input_from_db(0, cropped_cam)
bvxm_batch.set_input_double(1, min_x)
bvxm_batch.set_input_double(2, min_y)
bvxm_batch.set_input_double(3, min_z)
bvxm_batch.set_input_double(4, max_x)
bvxm_batch.set_input_double(5, max_y)
bvxm_batch.set_input_double(6, max_z)
bvxm_batch.set_input_unsigned(7, n_points)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_cam = dbvalue(id, type)
return out_cam
def compute_affine_from_local_rational(cropped_cam, min_x, min_y, min_z, max_x, max_y, max_z, n_points=100):
bvxm_batch.init_process("vpglComputeAffineFromRationalProcess");
bvxm_batch.set_input_from_db(0, cropped_cam);
bvxm_batch.set_input_double(1, min_x);
bvxm_batch.set_input_double(2, min_y);
bvxm_batch.set_input_double(3, min_z);
bvxm_batch.set_input_double(4, max_x);
bvxm_batch.set_input_double(5, max_y);
bvxm_batch.set_input_double(6, max_z);
bvxm_batch.set_input_unsigned(7, n_points);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
out_cam = dbvalue(id, type);
return out_cam
def classify_image(eig, h_no, h_atmos, input_image_filename, tile_ni, tile_nj):
bvxm_batch.init_process("bradClassifyImageProcess");
bvxm_batch.set_input_from_db(0, eig);
bvxm_batch.set_input_from_db(1, h_no);
bvxm_batch.set_input_from_db(2, h_atmos);
bvxm_batch.set_input_string(3, input_image_filename);
bvxm_batch.set_input_unsigned(4, tile_ni);
bvxm_batch.set_input_unsigned(5, tile_nj);
bvxm_batch.run_process();
(vid, vtype) = bvxm_batch.commit_output(0);
q_img = dbvalue(vid, vtype);
(vid, vtype) = bvxm_batch.commit_output(1);
q_img_orig_size = dbvalue(vid, vtype);
return q_img, q_img_orig_size
def geo_cam_img_to_global(geocam, i, j):
bvxm_batch.init_process("vpglGeoImgToGlobalProcess")
bvxm_batch.set_input_from_db(0, geocam)
bvxm_batch.set_input_unsigned(1, i)
bvxm_batch.set_input_unsigned(2, j)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
lon = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
lat = bvxm_batch.get_output_double(id)
return lon, lat
else:
return 0.0, 0.0
def image_mutual_info(image1, image2, min_val, max_val, n_bins):
bvxm_batch.init_process("bripImageMutualInfoProcess")
bvxm_batch.set_input_from_db(0, image1)
bvxm_batch.set_input_from_db(1, image2)
bvxm_batch.set_input_double(2, min_val)
bvxm_batch.set_input_double(3, max_val)
bvxm_batch.set_input_unsigned(4, n_bins)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
mutual_info = bvxm_batch.get_output_double(id)
return mutual_info
else:
return -1.0
def classify_image(eig, h_no, h_atmos, input_image_filename, tile_ni, tile_nj):
bvxm_batch.init_process("bradClassifyImageProcess")
bvxm_batch.set_input_from_db(0, eig)
bvxm_batch.set_input_from_db(1, h_no)
bvxm_batch.set_input_from_db(2, h_atmos)
bvxm_batch.set_input_string(3, input_image_filename)
bvxm_batch.set_input_unsigned(4, tile_ni)
bvxm_batch.set_input_unsigned(5, tile_nj)
bvxm_batch.run_process()
(vid, vtype) = bvxm_batch.commit_output(0)
q_img = dbvalue(vid, vtype)
(vid, vtype) = bvxm_batch.commit_output(1)
q_img_orig_size = dbvalue(vid, vtype)
return q_img, q_img_orig_size
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):
bvxm_batch.init_process("bvxmCreateSceneXmlProcess")
bvxm_batch.set_input_string(0, scene_xml)
bvxm_batch.set_input_string(1, world_dir)
bvxm_batch.set_input_float(2, corner_x)
bvxm_batch.set_input_float(3, corner_y)
bvxm_batch.set_input_float(4, corner_z)
bvxm_batch.set_input_unsigned(5, dim_x)
bvxm_batch.set_input_unsigned(6, dim_y)
bvxm_batch.set_input_unsigned(7, dim_z)
bvxm_batch.set_input_float(8, voxel_size)
bvxm_batch.set_input_from_db(9, lvcs)
bvxm_batch.set_input_string(10, lvcs_file)
bvxm_batch.set_input_float(11, min_ocp_prob)
bvxm_batch.set_input_float(12, max_ocp_prob)
bvxm_batch.set_input_unsigned(13, max_scale)
return bvxm_batch.run_process()
def image_mutual_info(image1, image2, min_val, max_val, n_bins):
bvxm_batch.init_process("bripImageMutualInfoProcess")
bvxm_batch.set_input_from_db(0, image1)
bvxm_batch.set_input_from_db(1, image2)
bvxm_batch.set_input_double(2, min_val)
bvxm_batch.set_input_double(3, max_val)
bvxm_batch.set_input_unsigned(4, n_bins)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
mutual_info = bvxm_batch.get_output_double(id)
return mutual_info
else:
return -1.0
def render_ortho_edgemap(world, scale=0):
print("Rendering ortho edge map");
bvxm_batch.init_process("bvxmEdgemapOrthoProcess");
bvxm_batch.set_input_from_db(0,world);
bvxm_batch.set_input_unsigned(1,0); ## scale
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
out_e_img = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(1);
out_e_img_byte = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(2);
out_h_img = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(3);
ortho_cam = dbvalue(id, type);
return out_e_img, out_e_img_byte, out_h_img, ortho_cam
def update_edges(world,
cropped_cam,
cropped_edge_image,
edge_prob_mask_size=21,
edge_prob_mask_sigma=1.0,
scale=0):
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)
bvxm_batch.set_input_unsigned(3, 0)
bvxm_batch.set_input_int(4, edge_prob_mask_size)
bvxm_batch.set_input_float(5, edge_prob_mask_sigma)
# bvxm_batch.set_params_process(update_params_xml); # "./bvxmUpdateEdgesProcess.xml");
bvxm_batch.run_process()
def load_perspective_camera_from_kml_file(NI, NJ, kml_file) :
bvxm_batch.init_process("vpglLoadPerspCameraFromKMLFileProcess");
bvxm_batch.set_input_unsigned(0, NI);
bvxm_batch.set_input_unsigned(1, NJ);
bvxm_batch.set_input_string(2, kml_file);
bvxm_batch.run_process();
(id,type) = bvxm_batch.commit_output(0);
cam = dbvalue(id,type);
(id,type) = bvxm_batch.commit_output(1);
longitude = bvxm_batch.get_output_double(id);
(id,type) = bvxm_batch.commit_output(2);
latitude = bvxm_batch.get_output_double(id);
(id,type) = bvxm_batch.commit_output(3);
altitude = bvxm_batch.get_output_double(id);
return cam, longitude, latitude, altitude;
def load_perspective_camera_from_kml_file(NI, NJ, kml_file):
bvxm_batch.init_process("vpglLoadPerspCameraFromKMLFileProcess")
bvxm_batch.set_input_unsigned(0, NI)
bvxm_batch.set_input_unsigned(1, NJ)
bvxm_batch.set_input_string(2, kml_file)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
cam = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
longitude = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(2)
latitude = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(3)
altitude = bvxm_batch.get_output_double(id)
return cam, longitude, latitude, altitude
def render_ortho_edgemap(world, scale=0):
print("Rendering ortho edge map")
bvxm_batch.init_process("bvxmEdgemapOrthoProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_unsigned(1, 0) # scale
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
out_e_img = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_e_img_byte = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(2)
out_h_img = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(3)
ortho_cam = dbvalue(id, type)
return out_e_img, out_e_img_byte, out_h_img, ortho_cam
def render_kml_polygon_mask(in_kml, image, ll_lon, ll_lat, ur_lon, ur_lat, mask_value = 255):
bvxm_batch.init_process("volmRenderKmlPolygonMaskProcess")
bvxm_batch.set_input_from_db(0, image)
bvxm_batch.set_input_double(1, ll_lon)
bvxm_batch.set_input_double(2, ll_lat)
bvxm_batch.set_input_double(3, ur_lon)
bvxm_batch.set_input_double(4, ur_lat)
bvxm_batch.set_input_string(5, in_kml)
bvxm_batch.set_input_unsigned(6, mask_value)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
out_cam = dbvalue(id, type)
return out_cam
else:
return None
def create_perspective_camera_from_kml(ni, nj, right_fov, top_fov, altitude, heading, tilt, roll, cent_x, cent_y):
bvxm_batch.init_process("vpglCreatePerspCameraFromKMLProcess")
bvxm_batch.set_input_unsigned(0, ni)
bvxm_batch.set_input_unsigned(1, nj)
bvxm_batch.set_input_double(2, right_fov)
bvxm_batch.set_input_double(3, top_fov)
bvxm_batch.set_input_double(4, altitude)
bvxm_batch.set_input_double(5, heading)
bvxm_batch.set_input_double(6, tilt)
bvxm_batch.set_input_double(7, roll)
bvxm_batch.set_input_double(8, cent_x)
bvxm_batch.set_input_double(9, cent_y)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
cam = dbvalue(id, type)
return cam
def create_perspective_camera_from_kml(ni, nj, right_fov, top_fov, altitude, heading, tilt, roll, cent_x, cent_y) :
bvxm_batch.init_process("vpglCreatePerspCameraFromKMLProcess");
bvxm_batch.set_input_unsigned(0, ni);
bvxm_batch.set_input_unsigned(1, nj);
bvxm_batch.set_input_double(2, right_fov);
bvxm_batch.set_input_double(3, top_fov);
bvxm_batch.set_input_double(4, altitude);
bvxm_batch.set_input_double(5, heading);
bvxm_batch.set_input_double(6, tilt);
bvxm_batch.set_input_double(7, roll);
bvxm_batch.set_input_double(8, cent_x);
bvxm_batch.set_input_double(9, cent_y);
bvxm_batch.run_process();
(id,type) = bvxm_batch.commit_output(0);
cam = dbvalue(id,type);
return cam;
def create_geotiff_cam(ll_lon, ll_lat, ur_lon, ur_lat, ni, nj, lvcs=0):
bvxm_batch.init_process("vpglCreateGeoCameraProcess")
bvxm_batch.set_input_double(0, ll_lon)
bvxm_batch.set_input_double(1, ll_lat)
bvxm_batch.set_input_double(2, ur_lon)
bvxm_batch.set_input_double(3, ur_lat)
bvxm_batch.set_input_unsigned(4, ni)
bvxm_batch.set_input_unsigned(5, nj)
if lvcs != 0:
bvxm_batch.set_input_from_db(6, lvcs)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
cam = dbvalue(id, type)
return cam
else:
return None
def create_geotiff_cam(ll_lon, ll_lat, ur_lon, ur_lat, ni, nj, lvcs = 0):
bvxm_batch.init_process("vpglCreateGeoCameraProcess")
bvxm_batch.set_input_double(0, ll_lon)
bvxm_batch.set_input_double(1, ll_lat)
bvxm_batch.set_input_double(2, ur_lon)
bvxm_batch.set_input_double(3, ur_lat)
bvxm_batch.set_input_unsigned(4, ni)
bvxm_batch.set_input_unsigned(5, nj)
if lvcs != 0:
bvxm_batch.set_input_from_db(6, lvcs)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
cam = dbvalue(id, type)
return cam
else:
return None
def write_scene_kml(scene, kml_filename, is_overwrite=True, r=255, g=255, b=255, a=0, name=""):
bvxm_batch.init_process("bvxmSceneKmlProcess")
bvxm_batch.set_input_from_db(0, scene)
bvxm_batch.set_input_string(1, kml_filename)
bvxm_batch.set_input_bool(2, is_overwrite)
bvxm_batch.set_input_unsigned(3, r)
bvxm_batch.set_input_unsigned(4, g)
bvxm_batch.set_input_unsigned(5, b)
bvxm_batch.set_input_unsigned(6, a)
bvxm_batch.set_input_string(7, name)
bvxm_batch.run_process()
def test_classifier(tclsf, block_size, category_id_file="", category_name=""):
bvxm_batch.init_process("sdetTextureClassifierProcess2")
bvxm_batch.set_input_from_db(0, tclsf)
bvxm_batch.set_input_unsigned(1, block_size)
bvxm_batch.set_input_string(2, category_id_file)
bvxm_batch.set_input_string(3, category_name)
status = bvxm_batch.run_process()
if status:
(out_id, out_type) = bvxm_batch.commit_output(0)
out_max_prob = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(1)
out_color_img = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(2)
out_id_img = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(3)
out_cat_prob = dbvalue(out_id, out_type)
return out_max_prob, out_color_img, out_id_img, out_cat_prob
else:
return None, None, None, None
def test_classifier(tclsf, block_size, category_id_file="", category_name=""):
bvxm_batch.init_process("sdetTextureClassifierProcess2")
bvxm_batch.set_input_from_db(0, tclsf)
bvxm_batch.set_input_unsigned(1, block_size)
bvxm_batch.set_input_string(2, category_id_file)
bvxm_batch.set_input_string(3, category_name)
status = bvxm_batch.run_process()
if status:
(out_id, out_type) = bvxm_batch.commit_output(0)
out_max_prob = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(1)
out_color_img = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(2)
out_id_img = dbvalue(out_id, out_type)
(out_id, out_type) = bvxm_batch.commit_output(3)
out_cat_prob = dbvalue(out_id, out_type)
return out_max_prob, out_color_img, out_id_img, out_cat_prob
else:
return None, None, None, None
def generate_ndsm(land_geocam, land_img_file, geo_index_txt, h_map_folder, ground_txt, dem_folder, max_h_limit=254.0, window_size=30):
bvxm_batch.init_process("volmNdsmGenearationProcess")
bvxm_batch.set_input_from_db(0, land_geocam)
bvxm_batch.set_input_string(1, land_img_file)
bvxm_batch.set_input_string(2, geo_index_txt)
bvxm_batch.set_input_string(3, h_map_folder)
bvxm_batch.set_input_unsigned(4, window_size)
bvxm_batch.set_input_float(5, max_h_limit)
bvxm_batch.set_input_string(6, ground_txt)
bvxm_batch.set_input_string(7, dem_folder)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
out_ndsm = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
out_dsm = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(2)
out_cam = dbvalue(id, type)
return out_ndsm, out_dsm, out_cam
else:
return None, None, None
def rational_cam_img_to_global(camera, i, j, init_lon=-1.0, init_lat=-1.0, init_elev=-1.0, pl_elev = -1.0, error_tol = 0.05):
bvxm_batch.init_process("vpglRationalImgToGlobalProcess");
bvxm_batch.set_input_from_db(0, camera);
bvxm_batch.set_input_unsigned(1, i);
bvxm_batch.set_input_unsigned(2, j);
bvxm_batch.set_input_double(3, init_lon);
bvxm_batch.set_input_double(4, init_lat);
bvxm_batch.set_input_double(5, init_elev);
bvxm_batch.set_input_double(6, pl_elev);
bvxm_batch.set_input_double(7, error_tol);
status = bvxm_batch.run_process();
if status:
(id, type) = bvxm_batch.commit_output(0);
lon = bvxm_batch.get_output_double(id);
(id, type) = bvxm_batch.commit_output(1);
lat = bvxm_batch.get_output_double(id);
(id, type) = bvxm_batch.commit_output(2);
elev = bvxm_batch.get_output_double(id)
return lon, lat, elev
else:
return -1.0, -1.0, -1.0
def create_classifier(lambda0, lambda1, n_scales, scale_interval,
angle_interval, laplace_radius, gauss_radius, k,
n_samples):
bvxm_batch.init_process("sdetCreateTextureClassifierProcess")
bvxm_batch.set_input_float(0, lambda0)
# lambda0
bvxm_batch.set_input_float(1, lambda1)
# lambda1
bvxm_batch.set_input_unsigned(2, n_scales)
# n_scales
bvxm_batch.set_input_float(3, scale_interval)
# scale_interval
bvxm_batch.set_input_float(4, angle_interval)
# angle_interval
bvxm_batch.set_input_float(5, laplace_radius)
# laplace_radius
bvxm_batch.set_input_float(6, gauss_radius)
# gauss_radius
bvxm_batch.set_input_unsigned(7, k)
# k
bvxm_batch.set_input_unsigned(8, n_samples)
# number of samples
bvxm_batch.run_process()
(tclsf_id, tclsf_type) = bvxm_batch.commit_output(0)
tclsf = dbvalue(tclsf_id, tclsf_type)
return tclsf