def trajectory_next(trajectory):
batch.init_process("bstmViewTrajectoryNextProcess")
batch.set_input_from_db(0, trajectory)
batch.run_process()
(id, type) = batch.commit_output(0)
cam = dbvalue(id, type)
return cam
def merge(scene, cpu_cache, p_threshold, time):
batch.init_process("bstmCppMergeTTProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cpu_cache)
batch.set_input_float(2, p_threshold)
batch.set_input_float(3, time)
batch.run_process()
def refine_time(scene, cpu_cache, change_prob_t, time):
batch.init_process("bstmCppRefineTTProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cpu_cache)
batch.set_input_float(2, change_prob_t)
batch.set_input_float(3, time)
batch.run_process()
def create_stream_cache(self, imgs, interval=1, types="", max_gb=6.0):
# write image identifiers to file
# imgRange = range(0, len(imgs), interval);
# num_imgs = len(imgRange);
image_id_fname = self.model_dir + "/image_list.txt"
fd = open(image_id_fname, "w")
print >> fd, len(imgs)
# for i in imgRange:
# print >>fd, "img_%05d"%i
for img in imgs:
fname, fextension = splitext(img)
bname = basename(fname)
print >> fd, bname
fd.close()
# write type identifiers into file
type_id_fname = self.model_dir + "/type_names_list.txt"
fd2 = open(type_id_fname, "w")
print >>fd2, 4
print >>fd2, "aux0"
print >>fd2, "aux1"
print >>fd2, "aux2"
print >>fd2, "aux3"
fd2.close()
# open the stream cache, this is a read-only cache
batch.init_process("bstmCreateStreamCacheProcess")
batch.set_input_from_db(0, self.scene)
batch.set_input_string(1, type_id_fname)
batch.set_input_string(2, image_id_fname)
batch.set_input_float(3, max_gb)
batch.run_process()
(cache_id, cache_type) = batch.commit_output(0)
self.str_cache = batch.dbvalue(cache_id, cache_type)
def remove_from_db(dbvals):
if not isinstance(dbvals, (list, tuple)):
dbvals = [dbvals]
for dbval in dbvals:
batch.init_process("bbasRemoveFromDbProcess")
batch.set_input_unsigned(0, dbval.id)
batch.run_process()
def refine(scene, cpu_cache, p_threshold, time):
batch.init_process("bstmCppRefineSpacetimeProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cpu_cache)
batch.set_input_float(2, p_threshold)
batch.set_input_float(3, time)
batch.run_process()
def change_btw_frames(scene, cpu_cache, time0, time1):
batch.init_process("bstmCppChangeBtwFramesProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cpu_cache)
batch.set_input_float(2, time0)
batch.set_input_float(3, time1)
batch.run_process()
def trajectory_size(trajectory):
batch.init_process("bstmViewTrajectorySizeProcess")
batch.set_input_from_db(0, trajectory)
batch.run_process()
(id, type) = batch.commit_output(0)
size = batch.get_output_unsigned(id)
batch.remove_data(id)
return size
def write_cache(cache, do_clear=0):
if cache.type == "bstm_cache_sptr":
batch.init_process("bstmWriteCacheProcess")
batch.set_input_from_db(0, cache)
batch.set_input_bool(1, do_clear)
batch.run_process()
else:
print "ERROR: Cache type needs to be bstm_cache_sptr, not ", cache.type
def load_scene(scene_str):
# print("Loading a Scene from file: ", scene_str);
batch.init_process("bstmLoadSceneProcess")
batch.set_input_string(0, scene_str)
batch.run_process()
(scene_id, scene_type) = batch.commit_output(0)
scene = dbvalue(scene_id, scene_type)
return scene
def load_cpp(scene_str):
scene = load_scene(scene_str)
batch.init_process("bstmCreateCacheProcess")
batch.set_input_from_db(0, scene)
batch.set_input_string(1, "lru")
batch.run_process()
(id, type) = batch.commit_output(0)
cache = bstm_register.dbvalue(id, type)
return scene, cache
def ocl_info():
# print("Init Manager");
batch.init_process("boclInitManagerProcess")
batch.run_process()
(id, type) = batch.commit_output(0)
mgr = dbvalue(id, type)
print("Get OCL info")
batch.init_process("bocl_info_process")
batch.set_input_from_db(0, mgr)
batch.run_process()
def boxm2_clear_cache(cache):
if cache.type == "boxm2_cache_sptr":
batch.init_process("boxm2ClearCacheProcess")
batch.set_input_from_db(0, cache)
batch.run_process()
elif cache.type == "boxm2_opencl_cache_sptr":
batch.init_process("boxm2ClearOpenclCacheProcess")
batch.set_input_from_db(0, cache)
batch.run_process()
else:
print "ERROR: Cache type needs to be boxm2_cache_sptr, not ", cache.type
def clear_cache(cache):
if cache.type == "bstm_cache_sptr":
batch.init_process("bstmClearCacheProcess")
batch.set_input_from_db(0, cache)
batch.run_process()
elif cache.type == "bstm_opencl_cache_sptr":
batch.init_process("bstmOclClearCacheProcess")
batch.set_input_from_db(0, cache)
batch.run_process()
else:
print "ERROR: Cache type needs to be bstm_cache_sptr, not ", cache.type
def ocl_batch_compute_normal_albedo(
self, img_id_list, metadata_filename_list, atmospheric_params_filename_list):
batch.init_process(
"bstmOclBatchComputeNormalAlbedoArrayProcess")
batch.set_input_from_db(0, self.device)
batch.set_input_from_db(1, self.scene)
batch.set_input_from_db(2, self.opencl_cache)
batch.set_input_string(3, img_id_list)
batch.set_input_string(4, metadata_filename_list)
batch.set_input_string(5, atmospheric_params_filename_list)
batch.run_process()
def label_change(scene, device, cache, cam, change_img, change_t, label, time):
batch.init_process("bstmOclLabelRayProcess")
batch.set_input_from_db(0, device)
batch.set_input_from_db(1, scene)
batch.set_input_from_db(2, cache)
batch.set_input_from_db(3, cam)
batch.set_input_from_db(4, change_img)
batch.set_input_float(5, change_t)
batch.set_input_float(6, time)
batch.set_input_int(7, label)
batch.run_process()
def init_trajectory(scene, startInc, endInc, radius, ni=1280, nj=720):
batch.init_process("bstmViewInitTrajectoryProcess")
batch.set_input_from_db(0, scene)
batch.set_input_double(1, float(startInc)) # incline0
batch.set_input_double(2, float(endInc)) # incline1
batch.set_input_double(3, float(radius)) # radius
batch.set_input_unsigned(4, ni) # ni
batch.set_input_unsigned(5, nj) # nj
batch.run_process()
(id, type) = batch.commit_output(0)
trajectory = dbvalue(id, type)
return trajectory
def scene_statistics(scene, cache):
batch.init_process("bstmSceneStatisticsProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cache)
batch.run_process()
(s1_id, s1_type) = batch.commit_output(0)
(s2_id, s2_type) = batch.commit_output(1)
(s3_id, s3_type) = batch.commit_output(2)
s1 = batch.get_output_float(s1_id)
s2 = batch.get_output_float(s2_id)
s3 = batch.get_output_unsigned(s3_id)
return [s1, s2, s3]
def transform(self, tx, ty, tz, rx, ry, rz, scale):
batch.init_process("bstmTransformModelProcess")
batch.set_input_from_db(0, self.scene)
batch.set_input_float(1, tx)
batch.set_input_float(2, ty)
batch.set_input_float(3, tz)
batch.set_input_float(4, rx)
batch.set_input_float(5, ry)
batch.set_input_float(6, rz)
batch.set_input_float(7, scale)
batch.run_process()
return
def cpu_batch_paint(self, imgs, cams):
if (self.str_cache is None):
self.create_stream_cache(imgs)
# sigma norm table?
under_estimation_probability = 0.2
batch.init_process("bstaSigmaNormTableProcess")
batch.set_input_float(0, under_estimation_probability)
batch.run_process()
(id, type) = batch.commit_output(0)
n_table = batch.dvalue(id, type)
# loop over images creating aux data
for idx in range(0, len(imgs)):
# load cam/img
img, ni, nj = vil.load_image(imgs[idx])
pcam = vpgl.load_perspective_camera(cams[idx])
gcam = vpgl.persp2gen(pcam, ni, nj)
# create norm intensity (num rays...)
batch.init_process("bstmCppCreateNormIntensitiesProcess")
batch.set_input_from_db(0, self.scene)
batch.set_input_from_db(1, self.cpu_cache)
batch.set_input_from_db(2, gcam)
batch.set_input_from_db(3, img)
batch.set_input_string(4, "img_" + "%05d" % idx)
batch.run_process()
# create aux
batch.init_process("bstmCppCreateAuxDataOPT2Process")
batch.set_input_from_db(0, self.scene)
batch.set_input_from_db(1, self.cpu_cache)
batch.set_input_from_db(2, gcam)
batch.set_input_from_db(3, img)
batch.set_input_string(4, "img_" + "%05d" % idx)
batch.run_process()
self.write_cache(True)
batch.init_process("bstmCppBatchUpdateOPT2Process")
batch.set_input_from_db(0, self.scene)
batch.set_input_from_db(1, self.cpu_cache)
batch.set_input_from_db(2, self.str_cache)
batch.set_input_from_db(3, n_table)
batch.run_process()
# close the files so that they can be reloaded after the next iteration
batch.init_process("bstmStreamCacheCloseFilesProcess")
batch.set_input_from_db(0, self.str_cache)
batch.run_process()
self.write_cache()
def scene_bbox(scene):
batch.init_process("bstmSceneBboxProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
out = []
for outIdx in range(6):
(id, type) = batch.commit_output(outIdx)
pt = batch.get_output_double(id)
batch.remove_data(id)
out.append(pt)
minPt = (out[0], out[1], out[2])
maxPt = (out[3], out[4], out[5])
return (minPt, maxPt)
def update_change(scene, device, cache, cam, img, time, mask_img=None):
batch.init_process("bstmOclUpdateChangeProcess")
batch.set_input_from_db(0, device)
batch.set_input_from_db(1, scene)
batch.set_input_from_db(2, cache)
batch.set_input_from_db(3, cam)
batch.set_input_from_db(4, img)
batch.set_input_from_db(5, mask_img)
batch.set_input_float(6, time)
batch.run_process()
(id, type) = batch.commit_output(0)
cd_img = dbvalue(id, type)
return cd_img
def cpu_batch_compute_normal_albedo(
self, metadata_filename_list, atmospheric_params_filename_list):
batch.init_process("bstmCppBatchComputeNormalAlbedoProcess")
batch.set_input_from_db(0, self.scene)
batch.set_input_from_db(1, self.cpu_cache)
batch.set_input_from_db(2, self.str_cache)
batch.set_input_string(3, metadata_filename_list)
batch.set_input_string(4, atmospheric_params_filename_list)
batch.run_process()
# close the files so that they can be reloaded after the next iteration
batch.init_process("bstmStreamCacheCloseFilesProcess")
batch.set_input_from_db(0, self.str_cache)
batch.run_process()
def update_color(scene, device, cache, cam, img, time, mog_var=-1,
mask_img=None, update_alpha=True, update_changes_only=False):
batch.init_process("bstmOclUpdateColorProcess")
batch.set_input_from_db(0, device)
batch.set_input_from_db(1, scene)
batch.set_input_from_db(2, cache)
batch.set_input_from_db(3, cam)
batch.set_input_from_db(4, img)
batch.set_input_float(5, time)
batch.set_input_float(6, mog_var)
batch.set_input_from_db(7, mask_img)
batch.set_input_bool(8, update_alpha)
batch.set_input_bool(9, update_changes_only)
batch.run_process()
def render_expected_albedo_normal(self, camera, ni, nj):
batch.init_process("bstmOclRenderExpectedAlbedoNormalProcess")
batch.set_input_from_db(0, self.device)
batch.set_input_from_db(1, self.scene)
batch.set_input_from_db(2, self.opencl_cache)
batch.set_input_from_db(3, camera)
batch.set_input_unsigned(4, ni)
batch.set_input_unsigned(5, nj)
batch.run_process()
(id, type) = batch.commit_output(0)
exp_albedo = batch.dvalue(id, type)
(id, type) = batch.commit_output(1)
exp_normal = batch.dvalue(id, type)
(id, type) = batch.commit_output(2)
mask_image = batch.dvalue(id, type)
return(exp_albedo, exp_normal, mask_image)
def transform_to_scene(self, to_scene, trans, rot, scale):
if self.opencl_cache.type == "bstm_opencl_cache_sptr":
print("transforming scene")
batch.init_process("bstmVecfOclTransformSceneProcess")
batch.set_input_from_db(0, self.scene)
batch.set_input_from_db(1, to_scene)
batch.set_input_from_db(2, self.opencl_cache)
batch.set_input_double(3, trans[0])
batch.set_input_double(4, trans[1])
batch.set_input_double(5, trans[2])
batch.set_input_double(6, rot[0][0])
batch.set_input_double(7, rot[0][1])
batch.set_input_double(8, rot[0][2])
batch.set_input_double(9, rot[1][0])
batch.set_input_double(10, rot[1][1])
batch.set_input_double(11, rot[1][2])
batch.set_input_double(12, rot[2][0])
batch.set_input_double(13, rot[2][1])
batch.set_input_double(14, rot[2][2])
batch.set_input_double(15, scale[0])
batch.set_input_double(16, scale[1])
batch.set_input_double(17, scale[2])
return batch.run_process()
else:
print "ERROR: Cache type not recognized: ", self.opencl_cache.type
return False
def render_expected_image_naa(
self, camera, ni, nj, metadata, atmospheric_params):
batch.init_process("bstmOclRenderExpectedImageNAAProcess")
batch.set_input_from_db(0, self.device)
batch.set_input_from_db(1, self.scene)
batch.set_input_from_db(2, self.opencl_cache)
batch.set_input_from_db(3, camera)
batch.set_input_unsigned(4, ni)
batch.set_input_unsigned(5, nj)
batch.set_input_from_db(6, metadata)
batch.set_input_from_db(7, atmospheric_params)
batch.run_process()
(id, type) = batch.commit_output(0)
exp_image = batch.dvalue(id, type)
(id, type) = batch.commit_output(1)
mask_image = batch.dvalue(id, type)
return(exp_image, mask_image)
def export_pt_cloud(scene, cache, output_filename, prob_t, time, output_aux=True):
batch.init_process("bstmCppExtractPointCloudProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cache)
batch.set_input_float(2, prob_t)
batch.set_input_float(3, time)
batch.run_process()
batch.init_process("bstmCppExportPointCloudProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cache)
batch.set_input_string(2, output_filename)
batch.set_input_bool(3, output_aux)
batch.set_input_float(4, time)
batch.run_process()
return
def change_detect(scene, device, cache, cam, img, time,
mask_img=None, raybelief="", max_mode=False):
batch.init_process("bstmOclChangeDetectionProcess")
batch.set_input_from_db(0, device)
batch.set_input_from_db(1, scene)
batch.set_input_from_db(2, cache)
batch.set_input_from_db(3, cam)
batch.set_input_from_db(4, img)
batch.set_input_from_db(5, mask_img)
batch.set_input_string(6, raybelief)
batch.set_input_bool(7, max_mode)
batch.set_input_float(8, time)
batch.run_process()
(id, type) = batch.commit_output(0)
cd_img = dbvalue(id, type)
return cd_img
def describe_scene(scene):
batch.init_process("bstmDescribeSceneProcess")
batch.set_input_from_db(0, scene)
batch.run_process()
(id, type) = batch.commit_output(0)
dataPath = batch.get_output_string(id)
batch.remove_data(id)
(id, type) = batch.commit_output(1)
appType = batch.get_output_string(id)
batch.remove_data(id)
(id, type) = batch.commit_output(2)
voxel_size = batch.get_output_double(id)
batch.remove_data(id)
description = {'voxelLength': voxel_size,
'dataPath': dataPath,
'appType': appType}
return description
def render_change(scene, device, cache, cam, time=0, ni=1624, nj=1224):
if cache.type == "bstm_cache_sptr":
print "bstm_batch CPU render grey and vis not yet implemented"
return
elif cache.type == "bstm_opencl_cache_sptr" and device:
batch.init_process("bstmOclRenderExpectedChangeProcess")
batch.set_input_from_db(0, device)
batch.set_input_from_db(1, scene)
batch.set_input_from_db(2, cache)
batch.set_input_from_db(3, cam)
batch.set_input_unsigned(4, ni)
batch.set_input_unsigned(5, nj)
batch.set_input_float(6, time)
batch.run_process()
(id, type) = batch.commit_output(0)
exp_image = dbvalue(id, type)
return exp_image
else:
print "ERROR: Cache type not recognized: ", cache.type
def bundle2scene(bundle_file, img_dir, app_model="bstm_mog3_grey",
isalign=True, out_dir="", timeSteps=32):
if app_model == "bstm_mog3_grey":
nobs_model = "bstm_num_obs"
else:
print "ERROR appearance model not recognized!!!", app_model
return
# run process
batch.init_process("bstmBundleToSceneProcess")
batch.set_input_string(0, bundle_file)
batch.set_input_string(1, img_dir)
batch.set_input_string(2, app_model)
batch.set_input_string(3, nobs_model)
batch.set_input_bool(4, isalign)
batch.set_input_unsigned(5, timeSteps)
batch.set_input_string(6, out_dir)
batch.run_process()
(scene_id, scene_type) = batch.commit_output(0)
uscene = dbvalue(scene_id, scene_type)
return uscene
