def compute_transformed_box(min_pt, max_pt, matrix_as_array):
boxm2_batch.init_process("vpglTransformBoxProcess")
boxm2_batch.set_input_double_array(0, min_pt)
boxm2_batch.set_input_double_array(1, max_pt)
boxm2_batch.set_input_double_array(2, matrix_as_array)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
out_min_pt = boxm2_batch.get_output_double_array(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(1)
out_max_pt = boxm2_batch.get_output_double_array(id)
boxm2_batch.remove_data(id)
return out_min_pt, out_max_pt
def convert_local_to_global_coordinates_array(lvcs,x,y,z):
boxm2_batch.init_process('vpglConvertLocalToGlobalCoordinatesArrayProcess');
boxm2_batch.set_input_from_db(0,lvcs);
boxm2_batch.set_input_double_array(1,x);
boxm2_batch.set_input_double_array(2,y);
boxm2_batch.set_input_double_array(3,z);
boxm2_batch.run_process();
(id,type) = boxm2_batch.commit_output(0);
lat = boxm2_batch.get_output_double_array(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(1);
lon = boxm2_batch.get_output_double_array(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(2);
el = boxm2_batch.get_output_double_array(id);
boxm2_batch.remove_data(id);
return (lat,lon,el);
def convert_local_to_global_coordinates_array(lvcs, x, y, z):
boxm2_batch.init_process('vpglConvertLocalToGlobalCoordinatesArrayProcess')
boxm2_batch.set_input_from_db(0, lvcs)
boxm2_batch.set_input_double_array(1, x)
boxm2_batch.set_input_double_array(2, y)
boxm2_batch.set_input_double_array(3, z)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
lat = boxm2_batch.get_output_double_array(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(1)
lon = boxm2_batch.get_output_double_array(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(2)
el = boxm2_batch.get_output_double_array(id)
boxm2_batch.remove_data(id)
return (lat, lon, el)
def create_perspective_camera_krt(k, r, t):
''' Take a k(3x3), r(3x3), and t(3) numpy array and returns a database object
k, r, t can also be a flattened list
'''
if type(k) != list:
k = k.flatten().tolist()
if type(r) != list:
r = r.flatten().tolist()
if type(t) != list:
t = t.flatten().tolist()
boxm2_batch.init_process("vpglCreatePerspectiveCameraProcess5");
boxm2_batch.set_input_double_array(0, k);
boxm2_batch.set_input_double_array(1, r);
boxm2_batch.set_input_double_array(2, t);
boxm2_batch.run_process();
(db_id,db_type) = boxm2_batch.commit_output(0);
cam = dbvalue(db_id,db_type);
return cam;
def create_perspective_camera_krt(k, r, t):
''' Take a k(3x3), r(3x3), and t(3) numpy array and returns a database object
k, r, t can also be a flattened list
'''
if type(k) != list:
k = k.flatten().tolist()
if type(r) != list:
r = r.flatten().tolist()
if type(t) != list:
t = t.flatten().tolist()
boxm2_batch.init_process("vpglCreatePerspectiveCameraProcess5")
boxm2_batch.set_input_double_array(0, k)
boxm2_batch.set_input_double_array(1, r)
boxm2_batch.set_input_double_array(2, t)
boxm2_batch.run_process()
(db_id, db_type) = boxm2_batch.commit_output(0)
cam = dbvalue(db_id, db_type)
return cam
def compute_transformation(pts0_xs, pts0_ys, pts0_zs, pts1_xs, pts1_ys,
pts1_zs, input_cam_folder, output_cam_folder):
boxm2_batch.init_process("vpglTransformSpaceProcess")
boxm2_batch.set_input_double_array(0, pts0_xs)
boxm2_batch.set_input_double_array(1, pts0_ys)
boxm2_batch.set_input_double_array(2, pts0_zs)
boxm2_batch.set_input_double_array(3, pts1_xs)
boxm2_batch.set_input_double_array(4, pts1_ys)
boxm2_batch.set_input_double_array(5, pts1_zs)
boxm2_batch.set_input_string(6, input_cam_folder)
boxm2_batch.set_input_string(7, output_cam_folder)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
matrix_as_array = boxm2_batch.get_output_double_array(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(1)
scale = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
return matrix_as_array, scale
