def rpc_registration(world,
cropped_cam,
cropped_edge_image,
uncertainty,
shift_3d_flag=0,
scale=0,
is_uncertainty_float=0):
batch.init_process("bvxmRpcRegistrationProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cropped_cam)
batch.set_input_from_db(2, cropped_edge_image)
batch.set_input_bool(3, shift_3d_flag)
if is_uncertainty_float == 1:
print "uncertainty = ", uncertainty
batch.set_input_float(4, uncertainty)
else:
batch.set_input_from_db(4, uncertainty)
batch.set_input_unsigned(5, scale)
batch.run_process()
(cam_id, cam_type) = batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
(expected_edge_image_id, expected_edge_image_type) = batch.commit_output(1)
expected_edge_image = dbvalue(expected_edge_image_id,
expected_edge_image_type)
(offset_u_id, offset_u_type) = batch.commit_output(2)
offset_u = batch.get_output_double(offset_u_id)
(offset_v_id, offset_v_type) = batch.commit_output(3)
offset_v = batch.get_output_double(offset_v_id)
return cam, expected_edge_image, offset_u, offset_v
def create_ortho_camera(world, is_utm=False):
batch.init_process("bvxmCreateOrthoCameraProcess")
batch.set_input_from_db(0, world)
batch.set_input_bool(1, is_utm)
batch.run_process()
(id, type) = batch.commit_output(0)
ortho_cam = dbvalue(id, type)
return ortho_cam
def create_ortho_camera(world, is_utm=False):
batch.init_process("bvxmCreateOrthoCameraProcess")
batch.set_input_from_db(0, world)
batch.set_input_bool(1, is_utm)
batch.run_process()
(id, type) = batch.commit_output(0)
ortho_cam = dbvalue(id, type)
return ortho_cam
def threshold_image(img, value, threshold_above=True):
bvxm_batch.init_process("vilThresholdImageProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, value)
bvxm_batch.set_input_bool(2, threshold_above)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
def threshold_image(img, value, threshold_above=True):
bvxm_batch.init_process("vilThresholdImageProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_float(1,value)
bvxm_batch.set_input_bool(2,threshold_above)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
mask = dbvalue(id,type)
return mask
def render_height_map_with_cam(world, input_cam, ni, nj, is_negate=False):
batch.init_process("bvxmHeightmapProcess")
batch.set_input_from_db(0, input_cam)
batch.set_input_unsigned(1, ni)
batch.set_input_unsigned(2, nj)
batch.set_input_from_db(3, world)
batch.set_input_bool(4, is_negate)
batch.run_process()
(id, type) = batch.commit_output(0)
out_d_img = dbvalue(id, type)
return out_d_img
def render_height_map_with_cam(world, input_cam, ni, nj, is_negate=False):
batch.init_process("bvxmHeightmapProcess")
batch.set_input_from_db(0, input_cam)
batch.set_input_unsigned(1, ni)
batch.set_input_unsigned(2, nj)
batch.set_input_from_db(3, world)
batch.set_input_bool(4, is_negate)
batch.run_process()
(id, type) = batch.commit_output(0)
out_d_img = dbvalue(id, type)
return out_d_img
def write_scene_kml(scene, kml_filename, is_overwrite=True, r=255, g=255, b=255, a=0, name=""):
batch.init_process("bvxmSceneKmlProcess")
batch.set_input_from_db(0, scene)
batch.set_input_string(1, kml_filename)
batch.set_input_bool(2, is_overwrite)
batch.set_input_unsigned(3, r)
batch.set_input_unsigned(4, g)
batch.set_input_unsigned(5, b)
batch.set_input_unsigned(6, a)
batch.set_input_string(7, name)
batch.run_process()
def threshold_image_inside(img, min_thres, max_thres, threshold_inside=True):
bvxm_batch.init_process("vilThresholdImageInsideProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, min_thres)
bvxm_batch.set_input_float(2, max_thres)
bvxm_batch.set_input_bool(3, threshold_inside)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
else:
return None
def threshold_image_inside(img, min_thres, max_thres, threshold_inside=True):
bvxm_batch.init_process("vilThresholdImageInsideProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, min_thres)
bvxm_batch.set_input_float(2, max_thres)
bvxm_batch.set_input_bool(3, threshold_inside)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
else:
return None
def write_scene_kml(scene,
kml_filename,
is_overwrite=True,
r=255,
g=255,
b=255,
a=0,
name=""):
batch.init_process("bvxmSceneKmlProcess")
batch.set_input_from_db(0, scene)
batch.set_input_string(1, kml_filename)
batch.set_input_bool(2, is_overwrite)
batch.set_input_unsigned(3, r)
batch.set_input_unsigned(4, g)
batch.set_input_unsigned(5, b)
batch.set_input_unsigned(6, a)
batch.set_input_string(7, name)
batch.run_process()
def roi_init(image_filename, cam, world, roi_init_params_xml, is_all_bits=False):
batch.init_process("bvxmRoiInitProcess")
batch.set_input_string(0, image_filename)
batch.set_input_from_db(1, cam)
batch.set_input_from_db(2, world)
batch.set_input_bool(3, is_all_bits)
# "bvxmRoiInitProcess.xml")
batch.set_params_process(roi_init_params_xml)
statuscode = batch.run_process()
if statuscode:
(cropped_cam_id, cropped_cam_type) = batch.commit_output(0)
cropped_cam = dbvalue(cropped_cam_id, cropped_cam_type)
(cropped_image_id, cropped_image_type) = batch.commit_output(1)
cropped_image = dbvalue(cropped_image_id, cropped_image_type)
(uncertainty_id, uncertainty_type) = batch.commit_output(2)
uncertainty = dbvalue(uncertainty_id, uncertainty_type)
return statuscode, cropped_cam, cropped_image, uncertainty
else:
return statuscode, dbvalue(0, ""), dbvalue(0, ""), dbvalue(0, "")
def roi_init(image_filename,
cam,
world,
roi_init_params_xml,
is_all_bits=False):
batch.init_process("bvxmRoiInitProcess")
batch.set_input_string(0, image_filename)
batch.set_input_from_db(1, cam)
batch.set_input_from_db(2, world)
batch.set_input_bool(3, is_all_bits)
# "bvxmRoiInitProcess.xml")
batch.set_params_process(roi_init_params_xml)
statuscode = batch.run_process()
if statuscode:
(cropped_cam_id, cropped_cam_type) = batch.commit_output(0)
cropped_cam = dbvalue(cropped_cam_id, cropped_cam_type)
(cropped_image_id, cropped_image_type) = batch.commit_output(1)
cropped_image = dbvalue(cropped_image_id, cropped_image_type)
(uncertainty_id, uncertainty_type) = batch.commit_output(2)
uncertainty = dbvalue(uncertainty_id, uncertainty_type)
return statuscode, cropped_cam, cropped_image, uncertainty
else:
return statuscode, dbvalue(0, ""), dbvalue(0, ""), dbvalue(0, "")
def rpc_registration(world, cropped_cam, cropped_edge_image, uncertainty, shift_3d_flag=0, scale=0, is_uncertainty_float=0):
batch.init_process("bvxmRpcRegistrationProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cropped_cam)
batch.set_input_from_db(2, cropped_edge_image)
batch.set_input_bool(3, shift_3d_flag)
if is_uncertainty_float == 1:
print "uncertainty = ", uncertainty
batch.set_input_float(4, uncertainty)
else:
batch.set_input_from_db(4, uncertainty)
batch.set_input_unsigned(5, scale)
batch.run_process()
(cam_id, cam_type) = batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
(expected_edge_image_id, expected_edge_image_type) = batch.commit_output(1)
expected_edge_image = dbvalue(
expected_edge_image_id, expected_edge_image_type)
(offset_u_id, offset_u_type) = batch.commit_output(2)
offset_u = batch.get_output_double(offset_u_id)
(offset_v_id, offset_v_type) = batch.commit_output(3)
offset_v = batch.get_output_double(offset_v_id)
return cam, expected_edge_image, offset_u, offset_v
def create_land_map(world, geo_folder, urban_folder, osm_folder, is_osm_pt, is_osm_region, is_osm_line, is_convert=True):
batch.init_process("bvxmCreateLandMapProcess")
batch.set_input_from_db(0, world)
batch.set_input_string(1, geo_folder)
batch.set_input_string(2, urban_folder)
batch.set_input_string(3, osm_folder)
batch.set_input_bool(4, is_osm_pt)
batch.set_input_bool(5, is_osm_line)
batch.set_input_bool(6, is_osm_region)
batch.set_input_bool(7, is_convert)
result = batch.run_process()
if result:
(img_id, img_type) = batch.commit_output(0)
land_img = dbvalue(img_id, img_type)
else:
land_img = 0
return land_img
def edge_detection(img, noise_multiplier = 1.5, smooth = 1.5, auto_threshold = False, junctionp = False, aggressive_junc_closure = False ):
bvxm_batch.init_process("vilEdgeDetectionProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_float(1, noise_multiplier);
bvxm_batch.set_input_float(2, smooth);
bvxm_batch.set_input_bool(3, auto_threshold);
bvxm_batch.set_input_bool(4, junctionp);
bvxm_batch.set_input_bool(5, aggressive_junc_closure);
status = bvxm_batch.run_process();
if status:
(id, type) = bvxm_batch.commit_output(0);
edge_img = dbvalue(id, type);
return edge_img;
else:
return 0;
def create_land_map(world,
geo_folder,
urban_folder,
osm_folder,
is_osm_pt,
is_osm_region,
is_osm_line,
is_convert=True):
batch.init_process("bvxmCreateLandMapProcess")
batch.set_input_from_db(0, world)
batch.set_input_string(1, geo_folder)
batch.set_input_string(2, urban_folder)
batch.set_input_string(3, osm_folder)
batch.set_input_bool(4, is_osm_pt)
batch.set_input_bool(5, is_osm_line)
batch.set_input_bool(6, is_osm_region)
batch.set_input_bool(7, is_convert)
result = batch.run_process()
if result:
(img_id, img_type) = batch.commit_output(0)
land_img = dbvalue(img_id, img_type)
else:
land_img = 0
return land_img
def edge_detection(img,
noise_multiplier=1.5,
smooth=1.5,
auto_threshold=False,
junctionp=False,
aggressive_junc_closure=False):
bvxm_batch.init_process("vilEdgeDetectionProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_float(1, noise_multiplier)
bvxm_batch.set_input_float(2, smooth)
bvxm_batch.set_input_bool(3, auto_threshold)
bvxm_batch.set_input_bool(4, junctionp)
bvxm_batch.set_input_bool(5, aggressive_junc_closure)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
edge_img = dbvalue(id, type)
return edge_img
else:
return 0
bvxm_batch.set_params_process("./bvxmDetectEdgesProcess.xml")
bvxm_batch.run_process()
(cropped_edge_image_id, cropped_edge_image) = bvxm_batch.commit_output(0)
cropped_edge_image = dbvalue(cropped_edge_image_id, cropped_edge_image)
bvxm_batch.init_process("vilSaveImageViewProcess")
bvxm_batch.set_input_from_db(0, cropped_edge_image)
bvxm_batch.set_input_string(
1, "output_cropped_edge_image_" + str_pad + str(i) + ".jpg")
bvxm_batch.run_process()
bvxm_batch.init_process("bvxmRpcRegistrationProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_from_db(1, cropped_cam)
bvxm_batch.set_input_from_db(2, cropped_edge_image)
bvxm_batch.set_input_bool(3, 0)
bvxm_batch.set_input_from_db(4, uncertainty)
bvxm_batch.set_input_unsigned(5, 0)
bvxm_batch.run_process()
(cam_id, cam_type) = bvxm_batch.commit_output(0)
cam = dbvalue(cam_id, cam_type)
(expected_edge_image_id, expected_edge_image_type) = bvxm_batch.commit_output(1)
expected_edge_image = dbvalue(
expected_edge_image_id, expected_edge_image_type)
map_type = "10bins_1d_radial"
print("Illumination Index")
bvxm_batch.init_process("bvxmIllumIndexProcess")
bvxm_batch.set_input_string(0, map_type)
bvxm_batch.set_input_string(1, image_filename)
bvxm_batch.set_input_unsigned(2, 8)
bvxm_batch.run_process();
cropped_edge_image_id = bvxm_batch.commit_output(0);
print("Detect Scale");
bvxm_batch.init_process("bvxmDetectScaleProcess");
bvxm_batch.set_input_from_db(0,voxel_world_id);
bvxm_batch.set_input_from_db(1,cropped_cam_id);
bvxm_batch.set_input_from_db(2,cropped_image_id);
statuscode=bvxm_batch.run_process();
curr_scale_id = bvxm_batch.commit_output(0);
bvxm_batch.init_process("bvxmRpcRegistrationProcess");
bvxm_batch.set_input_from_db(0,voxel_world_id);
bvxm_batch.set_input_from_db(1,cropped_cam_id);
bvxm_batch.set_input_from_db(2,cropped_edge_image_id);
if i<num_train:
bvxm_batch.set_input_bool(3,0);
else:
bvxm_batch.set_input_bool(3,1);
bvxm_batch.set_input_from_db(4,curr_scale_id);
bvxm_batch.set_params_process(python_path + "rpc_registration_parameters.xml");
bvxm_batch.run_process();
cam_id = bvxm_batch.commit_output(0);
voxel_image_id = bvxm_batch.commit_output(1);
print cam_id;
print("Saving Image");
bvxm_batch.init_process("SaveImageViewProcess");
bvxm_batch.set_input_from_db(0,cropped_image_id);
bvxm_batch.set_input_string(1,"./initial/ini"+str(i)+".png");
bvxm_batch.run_process();
cropped_cam_id = batch.commit_output(0)
cropped_image_id = batch.commit_output(1)
uncertainty_id = batch.commit_output(2)
print("Saving Image")
batch.init_process("SaveImageViewProcess")
batch.set_input_from_db(0, cropped_image_id)
batch.set_input_string(1, "./ini" + str(i) + ".png")
batch.run_process()
batch.init_process("bvxmRpcRegistrationProcess")
batch.set_input_from_db(0, voxel_world_id)
batch.set_input_from_db(1, cropped_cam_id)
batch.set_input_from_db(2, cropped_image_id)
if i < num_train:
batch.set_input_bool(3, 0)
else:
batch.set_input_bool(3, 1)
batch.set_input_from_db(4, uncertainty_id)
batch.set_input_unsigned(5, 0)
batch.set_params_process("bvxmRpcRegistrationProcess.xml")
batch.run_process()
corrected_cam_id = batch.commit_output(0)
edge_image_id = batch.commit_output(1)
expected_edge_image_id = batch.commit_output(2)
batch.init_process("SaveImageViewProcess")
batch.set_input_from_db(0, edge_image_id)
batch.set_input_string(1, str(i) + ".edge_image.jpg")
batch.run_process()
print("Compass edge detector Image")
batch.init_process("bilCompassEdgeDetectorProcess")
batch.set_input_from_db(0, cropped_image)
batch.set_input_unsigned(1, 8)
batch.set_input_double(2, 2.0)
batch.set_input_double(3, 0.4)
batch.run_process()
(cropped_edge_image_id, cropped_edge_image_type) = batch.commit_output(0)
cropped_edge_image = dbvalue(
cropped_edge_image_id, cropped_edge_image_type)
batch.init_process("bvxmRpcRegistrationProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cropped_cam)
batch.set_input_from_db(2, cropped_edge_image)
batch.set_input_bool(3, 0)
batch.set_input_float(4, 25)
batch.set_input_float(5, 0)
batch.set_input_unsigned(6, 0)
batch.run_process()
(id, type) = batch.commit_output(0)
corrected_cam = dbvalue(id, type)
(id, type) = batch.commit_output(1)
corrected_img = dbvalue(id, type)
cam_name_local = "./camera" + str(i) + ".txt"
print(" saving camera ")
batch.init_process("vpglSaveRationalCameraProcess")
batch.set_input_from_db(0, corrected_cam)
batch.set_input_string(1, cam_name_local)
batch.run_process()