data=sfm3DRegion.trajectoryData,
name='programTrajectory',
point_size=5,
matrix=sfm3DRegion.matrix)
if needAlign:
programSFM3DRegion.align_flip()
programTrajectory.align_flip()
"""
Create the global metric point cloud,
then set the region anchor
"""
# anchor is sorted and pick the first one
# now load the anchor that had been stored
anchor = dashCamFileProcess.get_trajectory_anchor(fileID)
fileID += mapType
sv3DRegion = google_parse.StreetView3DRegion(fileID)
sv3DRegion.init_region(anchor=anchor)
if createSV:
sv3DRegion.create_topoloy()
sv3DRegion.create_region_time(start=7, end=10)
#sv3DRegion.create_region()
pano_length = len(sv3DRegion.panoramaList)
anchor_inv = np.linalg.inv(sv3DRegion.anchorMatrix)
zero_vec, pano_ori_set, dis_len_set = [0, 0, 0, 1], np.zeros(
(pano_length, 3)), np.zeros((pano_length))
# Initialize the pano according to location(lat, lon)
for i in range(0, pano_length):
sv3D = sv3DRegion.sv3D_Time[i]
sv3D.apply_global_adjustment(
) # Absolute position on earth (lat, lon, yaw)
sv3D.apply_local_adjustment(
point_size=5,
matrix=sfm3DRegion.matrix)
if needAlign:
programSFM3DRegion.align_flip()
programTrajectory.align_flip()
"""
Create the global metric point cloud, then set the region anchor.
"""
if createSV:
"""
Create Region.
"""
# Anchor was stored by sorting region and picking the first one. Now load the anchor that had been stored.
anchor = dashCamFileProcess.get_trajectory_anchor(fileID)
sv3DRegion = google_parse.StreetView3DRegion(fileID + mapType,
d_height=texture_height,
d_width=texture_width)
sv3DRegion.init_region(anchor=anchor)
# Create point cloud
sv3DRegion.create_topology()
sv3DRegion.create_region_time_bilinear_depth(start=8, end=9)
"""
Fine tune Region. (Originally for alignment. Now for finding the nearest panoram.)
"""
# Store metadata of the created region
pano_length = len(sv3DRegion.panoramaList)
anchor_inv = np.linalg.inv(sv3DRegion.anchorMatrix)
zero_vec, pano_ori_set, dis_len_set = [0, 0, 0, 1], np.zeros(
(pano_length, 3)), np.zeros(pano_length)
# Initialize the pano according to location(lat, lon)
for i in range(0, pano_length):