def map_tags_hybrid3(self, pixelmap, C):
tags = self.map_tags_camera()
accepted = []
outside = []
bad = []
obs = self.source.get_loc_dict()
for (tag, (_, pixel)) in tags:
location = geom.picknearestll(pixelmap, tag)
error = tag.xydistance(location)
if error < 2.0:
accepted.append((tag, (_, pixel)))
elif error < 15.0 or not geom.contains(pixel, self.image.size):
outside.append((tag, (_, pixel)))
else:
bad.append((tag, (999, pixel)))
cell = util.getclosestcell(self.lat, self.lon, C.dbdir)[0]
cellpath = os.path.join(C.dbdir, cell)
pm = reader.get_reader(C.params['descriptor'])\
.load_PointToViewsMap(cellpath, C.infodir)
for (tag, (_, pixel)) in outside:
vis, t = pm.hasView(C, tag.lat, tag.lon,\
self.lat, self.lon, self.yaw, 25)
emv = tag.emIsVisible(self.source, C, 25)
if (vis or emv):
if geom.norm_compatible(tag, self):
accepted.append((tag, (_, pixel)))
else:
bad.append((tag, (12, pixel)))
else:
bad.append((tag, (15, pixel)))
return accepted, bad
def map_tags_hybrid2(self, pixelmap, C):
"""Tags are filtered by using the image's pt cloud
when source tag is visible in the db image. Otherwise,
a combination of earthmine occlusion queries and
database occlusion queries are performed."""
tags = self.map_tags_camera(self.lat, self.lon)
accepted = []
outside = []
bad = []
THRESHOLD = 15
outside = tags # XXX
# for (tag, (_, pixel)) in tags:
# location = pixelmap[geom.picknearest(pixelmap, *pixel)]
# if location is None:
# if not geom.contains(pixel, self.image.size):
# outside.append((tag, (_, pixel)))
# else:
# bad.append((tag, (999, pixel)))
# else:
# dist = tag.xydistance(location)
# if dist < THRESHOLD:
# accepted.append((tag, (_, pixel)))
# elif not geom.contains(pixel, self.image.size):
# outside.append((tag, (_, pixel)))
# else:
# bad.append((tag, (999, pixel)))
cell = util.getclosestcell(self.lat, self.lon, C.dbdir)[0]
cellpath = os.path.join(C.dbdir, cell)
pm = reader.get_reader(C.params['descriptor'])\
.load_PointToViewsMap(cellpath, C.infodir)
for (tag, (_, pixel)) in outside:
vis, t = pm.hasView(C, tag.lat, tag.lon, self.lat, self.lon, self.yaw, 30)
emv = tag.emIsVisible(self.source, C, 30)
if (vis or emv):
if geom.norm_compatible(tag, self):
accepted.append((tag, (_, pixel)))
else:
bad.append((tag, (12, pixel)))
else:
bad.append((tag, (17, pixel)))
return accepted + bad
