def batch_paint(self, imgs, cams, device_string=""):
# verify stream cache
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)
# call batch paint process
if device_string == "":
batch.init_process("bstmOclPaintBatchProcess")
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, self.str_cache)
batch.set_input_from_db(4, n_table)
batch.run_process()
elif device_string == "cpu":
print "Can't use CPU for Paint Batch 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()
# write out afterwards
self.write_cache()
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 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 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 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 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 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 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 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 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 refine_scene_around_geometry(
self, filter_v, n_times, p_thresh, use_gpu):
if self.opencl_cache.type == "bstm_opencl_cache_sptr":
print("Refining around surface geometry")
batch.init_process(
"bstm_ocl_refine_scene_around_geometry_process")
batch.set_input_from_db(0, self.scene)
batch.set_input_from_db(1, self.opencl_cache)
batch.set_input_from_db(2, self.device)
batch.set_input_from_db(3, filter_v)
batch.set_input_int(4, n_times)
# use negative value to refine all
batch.set_input_float(5, p_thresh)
batch.set_input_bool(6, use_gpu)
return batch.run_process()
else:
print "ERROR: Cache type not recognized: ", cache.type
return False
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 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 filter_changes(scene, cpu_cache, time):
batch.init_process("bstmCppMajorityFilterProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cpu_cache)
batch.set_input_float(2, time)
batch.run_process()
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 copy_data_to_future(scene, cpu_cache, time):
batch.init_process("bstmCppCopyDataToFutureProcess")
batch.set_input_from_db(0, scene)
batch.set_input_from_db(1, cpu_cache)
batch.set_input_float(2, time)
batch.run_process()