def img_registration_by_rmse(src_img, tgr_img, sx, sy, sz = 0.0, pixel_res=1.0, invalid_pixel=-9999.0, mask_img=None):
bvxm_batch.init_process("vilImageRegistrationProcess")
bvxm_batch.set_input_from_db(0, src_img)
bvxm_batch.set_input_from_db(1, tgr_img)
bvxm_batch.set_input_unsigned(2,sx)
bvxm_batch.set_input_unsigned(3,sy)
bvxm_batch.set_input_double(4, sz)
bvxm_batch.set_input_double(5, pixel_res)
bvxm_batch.set_input_float(6,invalid_pixel)
if mask_img:
bvxm_batch.set_input_from_db(7,mask_img)
status = bvxm_batch.run_process()
if status:
(id, type) = bvxm_batch.commit_output(0)
trans_x = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(1)
trans_y = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(2)
trans_z = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(3)
rmse_z = bvxm_batch.get_output_double(id)
(id, type) = bvxm_batch.commit_output(4)
var_z = bvxm_batch.get_output_double(id)
return trans_x, trans_y, trans_z, rmse_z, var_z
else:
return -1.0, -1.0, -1.0, -1.0, -1.0
def save_occupancy_raw(world, filename, app_model, scale=0):
batch.init_process("bvxmSaveOccupancyRawProcess")
batch.set_input_from_db(0, world)
batch.set_input_string(1, filename)
batch.set_input_unsigned(2, scale)
batch.set_input_string(3, app_model)
batch.run_process()
def get_plane(img, plane_id):
bvxm_batch.init_process("vilGetPlaneProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_unsigned(1, plane_id);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
img_plane = dbvalue(id, type);
return img_plane;
def img_sum(img, plane_index=0):
bvxm_batch.init_process("vilImageSumProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_unsigned(1,plane_index)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
value = bvxm_batch.get_output_double(id)
return value
def image_entropy(img, block_size = 5):
bvxm_batch.init_process("vilBlockEntropyProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_unsigned(1, block_size);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
entropy_img = dbvalue(id, type);
return entropy_img;
def image_entropy(img, block_size=5, bins=16):
bvxm_batch.init_process("vilBlockEntropyProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_unsigned(1, block_size)
bvxm_batch.set_input_unsigned(2, bins)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
entropy_img = dbvalue(id, type)
return entropy_img
def mask_image_using_id(img, id_img, input_id):
bvxm_batch.init_process("vilMaskImageUsingIDsProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_from_db(1, id_img);
bvxm_batch.set_input_unsigned(2, input_id);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
masked_img = dbvalue(id, type);
return masked_img;
def arf_seek_frame(rawStream, frame):
bvxm_batch.init_process("bilArfSeekFrameProcess")
bvxm_batch.set_input_from_db(0, rawStream)
bvxm_batch.set_input_unsigned(1, frame)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
time = bvxm_batch.get_output_unsigned(id)
return img, time
def compute_mean_and_variance_image(img, n):
bvxm_batch.init_process("vilMeanAndVarianceImageProcess")
bvxm_batch.set_input_from_db(0, img)
bvxm_batch.set_input_unsigned(1, n)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_mean = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
img_var = dbvalue(id, type)
return img_mean, img_var
def threshold_image(img, value, threshold_above=True, id=255):
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.set_input_unsigned(3, id)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
def arf_seek_frame(rawStream, frame):
bvxm_batch.init_process("bilArfSeekFrameProcess")
bvxm_batch.set_input_from_db(0, rawStream)
bvxm_batch.set_input_unsigned(1, frame)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img = dbvalue(id, type)
(id, type) = bvxm_batch.commit_output(1)
time = bvxm_batch.get_output_unsigned(id)
return img, time
def get_number_of_planes(img):
bvxm_batch.init_process("vilGetPlaneProcess");
bvxm_batch.set_input_from_db(0, img);
bvxm_batch.set_input_unsigned(1, plane_id);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
img_plane = dbvalue(id, type);
(id, type) = bvxm_batch.commit_output(1);
n_planes = bvxm_batch.get_output_unsigned(id)
return img_plane, n_planes;
def seek_frame(rawStream, frame) :
bvxm_batch.init_process("bilSeekFrameProcess")
bvxm_batch.set_input_from_db(0,rawStream);
bvxm_batch.set_input_unsigned(1,frame);
bvxm_batch.run_process();
(id, type) = bvxm_batch.commit_output(0);
img = dbvalue(id,type);
#(id, type) = bvxm_batch.commit_output(1);
#time = bvxm_batch.get_output_unsigned(id);
return img
def compute_mean_and_variance_image(img,n):
bvxm_batch.init_process("vilMeanAndVarianceImageProcess")
bvxm_batch.set_input_from_db(0,img)
bvxm_batch.set_input_unsigned(1,n)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_mean = dbvalue(id,type)
(id,type) = bvxm_batch.commit_output(1)
img_var = dbvalue(id,type)
return img_mean, img_var
def render_uncertainty_img(input_cam, ni, nj, world):
batch.init_process("bvxmUncertaintyProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, input_cam)
batch.set_input_unsigned(2, ni)
batch.set_input_unsigned(3, nj)
batch.run_process()
(id, type) = batch.commit_output(0)
out_img = dbvalue(id, type)
return out_img
def threshold_image(img, value, threshold_above=True, id=255):
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.set_input_unsigned(3, id)
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 update_edges(world, cropped_cam, cropped_edge_image, edge_prob_mask_size=21, edge_prob_mask_sigma=1.0, scale=0):
batch.init_process("bvxmUpdateEdgesProcess")
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_unsigned(3, 0)
batch.set_input_int(4, edge_prob_mask_size)
batch.set_input_float(5, edge_prob_mask_sigma)
# batch.set_params_process(update_params_xml); #
# "./bvxmUpdateEdgesProcess.xml");
batch.run_process()
def render_height_map_expected_with_cam(world, input_cam, ni, nj):
batch.init_process("bvxmHeightmapExpectedProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, input_cam)
batch.set_input_unsigned(2, ni)
batch.set_input_unsigned(3, nj)
batch.run_process()
(id, type) = batch.commit_output(0)
out_h_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
out_var_img = dbvalue(id, type)
return out_h_img, out_var_img
def render_height_map_expected_with_cam(world, input_cam, ni, nj):
batch.init_process("bvxmHeightmapExpectedProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, input_cam)
batch.set_input_unsigned(2, ni)
batch.set_input_unsigned(3, nj)
batch.run_process()
(id, type) = batch.commit_output(0)
out_h_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
out_var_img = dbvalue(id, type)
return out_h_img, out_var_img
def create_scene_xml(scene_xml,
world_dir,
lvcs,
lvcs_file,
dim_x,
dim_y,
dim_z,
voxel_size=1.0,
corner_x=0.0,
corner_y=0.0,
corner_z=0.0,
min_ocp_prob=0.001,
max_ocp_prob=0.999,
max_scale=1):
batch.init_process("bvxmCreateSceneXmlProcess")
batch.set_input_string(0, scene_xml)
batch.set_input_string(1, world_dir)
batch.set_input_float(2, corner_x)
batch.set_input_float(3, corner_y)
batch.set_input_float(4, corner_z)
batch.set_input_unsigned(5, dim_x)
batch.set_input_unsigned(6, dim_y)
batch.set_input_unsigned(7, dim_z)
batch.set_input_float(8, voxel_size)
batch.set_input_from_db(9, lvcs)
batch.set_input_string(10, lvcs_file)
batch.set_input_float(11, min_ocp_prob)
batch.set_input_float(12, max_ocp_prob)
batch.set_input_unsigned(13, max_scale)
return batch.run_process()
def render_ortho_edgemap(world, scale=0):
print("Rendering ortho edge map")
batch.init_process("bvxmEdgemapOrthoProcess")
batch.set_input_from_db(0, world)
batch.set_input_unsigned(1, 0) # scale
batch.run_process()
(id, type) = batch.commit_output(0)
out_e_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
out_e_img_byte = dbvalue(id, type)
(id, type) = batch.commit_output(2)
out_h_img = dbvalue(id, type)
(id, type) = batch.commit_output(3)
ortho_cam = dbvalue(id, type)
return out_e_img, out_e_img_byte, out_h_img, ortho_cam
def render_ortho_edgemap(world, scale=0):
print("Rendering ortho edge map")
batch.init_process("bvxmEdgemapOrthoProcess")
batch.set_input_from_db(0, world)
batch.set_input_unsigned(1, 0) # scale
batch.run_process()
(id, type) = batch.commit_output(0)
out_e_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
out_e_img_byte = dbvalue(id, type)
(id, type) = batch.commit_output(2)
out_h_img = dbvalue(id, type)
(id, type) = batch.commit_output(3)
ortho_cam = dbvalue(id, type)
return out_e_img, out_e_img_byte, out_h_img, ortho_cam
def update_edges(world,
cropped_cam,
cropped_edge_image,
edge_prob_mask_size=21,
edge_prob_mask_sigma=1.0,
scale=0):
batch.init_process("bvxmUpdateEdgesProcess")
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_unsigned(3, 0)
batch.set_input_int(4, edge_prob_mask_size)
batch.set_input_float(5, edge_prob_mask_sigma)
# batch.set_params_process(update_params_xml); #
# "./bvxmUpdateEdgesProcess.xml");
batch.run_process()
def init_byte_img(ni, nj, np=1, val=0):
bvxm_batch.init_process("vilInitByteImageProcess")
bvxm_batch.set_input_unsigned(0, ni)
bvxm_batch.set_input_unsigned(1, nj)
bvxm_batch.set_input_unsigned(2, np)
bvxm_batch.set_input_unsigned(3, val)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def init_byte_img(ni,nj,np = 1,val = 0):
bvxm_batch.init_process("vilInitByteImageProcess")
bvxm_batch.set_input_unsigned(0,ni);
bvxm_batch.set_input_unsigned(1,nj);
bvxm_batch.set_input_unsigned(2,np);
bvxm_batch.set_input_unsigned(3,val);
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
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 crop_image_res(img_res,i0,j0,ni,nj):
bvxm_batch.init_process("vilCropImageResProcess")
bvxm_batch.set_input_from_db(0, img_res)
bvxm_batch.set_input_unsigned(1, i0);
bvxm_batch.set_input_unsigned(2, j0);
bvxm_batch.set_input_unsigned(3, ni);
bvxm_batch.set_input_unsigned(4, nj);
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
def crop_image_res(img_res, i0, j0, ni, nj):
bvxm_batch.init_process("vilCropImageResProcess")
bvxm_batch.set_input_from_db(0, img_res)
bvxm_batch.set_input_unsigned(1, i0)
bvxm_batch.set_input_unsigned(2, j0)
bvxm_batch.set_input_unsigned(3, ni)
bvxm_batch.set_input_unsigned(4, nj)
bvxm_batch.run_process()
(id, type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def render_exp_image(cam, ni, nj, world, app_model, bin_index=0, scale_index=0):
batch.init_process("bvxmRenderExpectedImageProcess")
batch.set_input_from_db(0, cam)
batch.set_input_unsigned(1, ni)
batch.set_input_unsigned(2, nj)
batch.set_input_from_db(3, world)
batch.set_input_string(4, app_model)
# set bin index to be 0 for all images
batch.set_input_unsigned(5, bin_index)
batch.set_input_unsigned(6, scale_index)
batch.run_process()
(id, type) = batch.commit_output(0)
out_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
out_conf_img = dbvalue(id, type)
return out_img, out_conf_img
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 init_float_img(ni,nj,np,val):
bvxm_batch.init_process("vilInitFloatImageProcess")
bvxm_batch.set_input_unsigned(0,ni)
bvxm_batch.set_input_unsigned(1,nj)
bvxm_batch.set_input_unsigned(2,np)
bvxm_batch.set_input_float(3,val)
bvxm_batch.run_process()
(id,type) = bvxm_batch.commit_output(0)
img_out = dbvalue(id,type)
return img_out
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 create_scene_xml(scene_xml, world_dir, lvcs, lvcs_file, dim_x, dim_y, dim_z, voxel_size=1.0, corner_x=0.0, corner_y=0.0, corner_z=0.0,
min_ocp_prob=0.001, max_ocp_prob=0.999, max_scale=1):
batch.init_process("bvxmCreateSceneXmlProcess")
batch.set_input_string(0, scene_xml)
batch.set_input_string(1, world_dir)
batch.set_input_float(2, corner_x)
batch.set_input_float(3, corner_y)
batch.set_input_float(4, corner_z)
batch.set_input_unsigned(5, dim_x)
batch.set_input_unsigned(6, dim_y)
batch.set_input_unsigned(7, dim_z)
batch.set_input_float(8, voxel_size)
batch.set_input_from_db(9, lvcs)
batch.set_input_string(10, lvcs_file)
batch.set_input_float(11, min_ocp_prob)
batch.set_input_float(12, max_ocp_prob)
batch.set_input_unsigned(13, max_scale)
return batch.run_process()
def render_exp_edge_img(cam, ni, nj, world, scale=0):
batch.init_process("bvxmExpectedEdgeImageProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cam)
batch.set_input_unsigned(2, ni)
batch.set_input_unsigned(3, nj)
batch.set_input_unsigned(4, scale)
batch.run_process()
(id, type) = batch.commit_output(0)
exp_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
exp_img_byte = dbvalue(id, type)
return exp_img, exp_img_byte
def render_exp_edge_img(cam, ni, nj, world, scale=0):
batch.init_process("bvxmExpectedEdgeImageProcess")
batch.set_input_from_db(0, world)
batch.set_input_from_db(1, cam)
batch.set_input_unsigned(2, ni)
batch.set_input_unsigned(3, nj)
batch.set_input_unsigned(4, scale)
batch.run_process()
(id, type) = batch.commit_output(0)
exp_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
exp_img_byte = dbvalue(id, type)
return exp_img, exp_img_byte
def render_exp_image(cam,
ni,
nj,
world,
app_model,
bin_index=0,
scale_index=0):
batch.init_process("bvxmRenderExpectedImageProcess")
batch.set_input_from_db(0, cam)
batch.set_input_unsigned(1, ni)
batch.set_input_unsigned(2, nj)
batch.set_input_from_db(3, world)
batch.set_input_string(4, app_model)
# set bin index to be 0 for all images
batch.set_input_unsigned(5, bin_index)
batch.set_input_unsigned(6, scale_index)
batch.run_process()
(id, type) = batch.commit_output(0)
out_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
out_conf_img = dbvalue(id, type)
return out_img, out_conf_img
def update_appearance(img, cam, world, app_type, bin_index=0, scale_index=0, use_cache=0):
batch.init_process("bvxmUpdateProcess")
batch.set_input_from_db(0, img)
batch.set_input_from_db(1, cam)
batch.set_input_from_db(2, world)
batch.set_input_string(3, app_type)
# set bin index to be 0 for all images
batch.set_input_unsigned(4, bin_index)
batch.set_input_unsigned(5, scale_index)
batch.set_input_unsigned(6, use_cache)
batch.run_process()
(id, type) = batch.commit_output(0)
density_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
density_mask_img = dbvalue(id, type)
return density_img, density_mask_img
def update_appearance(img,
cam,
world,
app_type,
bin_index=0,
scale_index=0,
use_cache=0):
batch.init_process("bvxmUpdateProcess")
batch.set_input_from_db(0, img)
batch.set_input_from_db(1, cam)
batch.set_input_from_db(2, world)
batch.set_input_string(3, app_type)
# set bin index to be 0 for all images
batch.set_input_unsigned(4, bin_index)
batch.set_input_unsigned(5, scale_index)
batch.set_input_unsigned(6, use_cache)
batch.run_process()
(id, type) = batch.commit_output(0)
density_img = dbvalue(id, type)
(id, type) = batch.commit_output(1)
density_mask_img = dbvalue(id, type)
return density_img, density_mask_img
bvxm_batch.set_params_process("lidar_params.xml")
bvxm_batch.set_input_string(
0, "E:/LIDAR/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif")
bvxm_batch.set_input_string(
1, "E:/LIDAR/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif")
bvxm_batch.set_input_from_db(2, voxel_world_id)
bvxm_batch.run_process()
cam_id = bvxm_batch.commit_output(0)
lidar_id = bvxm_batch.commit_output(1)
print("Updating World")
bvxm_batch.init_process("bvxmUpdateLidarProcess")
bvxm_batch.set_input_from_db(0, lidar_id)
bvxm_batch.set_input_from_db(1, cam_id)
bvxm_batch.set_input_from_db(2, voxel_world_id)
bvxm_batch.set_input_unsigned(3, 0)
bvxm_batch.run_process()
out_img_id = bvxm_batch.commit_output(0)
mask_img_id = bvxm_batch.commit_output(1)
###################################################
print voxel_world_id
#list of the images
f = open('./full_hiafa_images.txt', 'r')
image_fnames = f.readlines()
f.close()
# list of corrected cameras
f = open('./full_hiafa_cam.txt', 'r')
cam_fnames = f.readlines()
f.close()
print statuscode
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)
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_params_process("./roi_params.xml")
statuscode = batch.run_process()
print statuscode
if statuscode:
cropped_cam_id = batch.commit_output(0)
cropped_image_id = batch.commit_output(1)
uncertainty_id = batch.commit_output(2)
curr_scale = 0
map_type = "10bins_1d_radial"
print("Illumination Index")
batch.init_process("bvxmIllumIndexProcess")
batch.set_input_string(0, map_type)
batch.set_input_string(1, image_filename)
batch.set_input_unsigned(2, 8)
batch.set_input_unsigned(3, 0)
batch.run_process()
bin_id = batch.commit_output(0)
app_type = "apm_mog_grey"
if normalize_and_save == 1:
# Normalizing images
print(" Normalizing Image ")
batch.init_process("bvxmNormalizeImageProcess")
batch.set_params_process("./normalize.xml")
batch.set_input_from_db(0, cropped_image_id)
batch.set_input_from_db(1, cropped_cam_id)
batch.set_input_from_db(2, voxel_world_id)
batch.set_input_string(3, app_type)
bvxm_batch.set_params_process("./roi_params.xml");
statuscode=bvxm_batch.run_process();
print statuscode;
if statuscode:
cropped_cam_id = bvxm_batch.commit_output(0);
cropped_image_id = bvxm_batch.commit_output(1);
uncertainty_id = bvxm_batch.commit_output(2);
curr_scale = 0;
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.set_input_unsigned(3,0);
bvxm_batch.run_process();
bin_id = bvxm_batch.commit_output(0);
app_type="apm_mog_grey";
if normalize_and_save==1:
# Normalizing images
print(" Normalizing Image ");
bvxm_batch.init_process("bvxmNormalizeImageProcess");
bvxm_batch.set_params_process("./normalize.xml");
bvxm_batch.set_input_from_db(0,cropped_image_id);
bvxm_batch.set_input_from_db(1,cropped_cam_id);
bvxm_batch.set_input_from_db(2,voxel_world_id);
bvxm_batch.set_input_string(3,app_type);
print statuscode;
if statuscode:
(cropped_cam_id, cropped_cam_type) = bvxm_batch.commit_output(0);
cropped_cam = dbvalue(cropped_cam_id, cropped_cam_type);
(cropped_image_id, cropped_image_type) = bvxm_batch.commit_output(1);
cropped_image=dbvalue(cropped_image_id, cropped_image_type);
(uncertainty_id,uncertainty_type) = bvxm_batch.commit_output(2);
uncertainty = dbvalue(uncertainty_id,uncertainty_type);
print("Compass edge detector Image");
bvxm_batch.init_process("bilCompassEdgeDetectorProcess");
bvxm_batch.set_input_from_db(0,cropped_image);
bvxm_batch.set_input_unsigned(1,8);
bvxm_batch.set_input_double(2,2.0);
bvxm_batch.set_input_double(3,0.4);
bvxm_batch.run_process();
(cropped_edge_image_id,cropped_edge_image_type) = bvxm_batch.commit_output(0);
cropped_edge_image = dbvalue(cropped_edge_image_id,cropped_edge_image_type);
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_float(4,25);
bvxm_batch.set_input_float(5,0);
bvxm_batch.set_input_unsigned(6,0);
bvxm_batch.run_process();
bvxm_batch.set_params_process("lidar_params.xml");
bvxm_batch.set_input_string(0,"C:/test_images/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif");
bvxm_batch.set_input_string(1,"C:/test_images/BaghdadLIDAR/dem_1m_a2_baghdad_tile39.tif");
bvxm_batch.set_input_from_db(2,world);
bvxm_batch.run_process();
(cam_id,cam_type)=bvxm_batch.commit_output(0);
cam=dbvalue(cam_id,cam_type);
(lidar_id, lidar_type)=bvxm_batch.commit_output(1);
lidar=dbvalue(lidar_id, lidar_type);
print("Updating World");
bvxm_batch.init_process("bvxmUpdateLidarProcess");
bvxm_batch.set_input_from_db(0,lidar);
bvxm_batch.set_input_from_db(1,cam);
bvxm_batch.set_input_from_db(2,world);
bvxm_batch.set_input_unsigned(3,0);
bvxm_batch.run_process();
##########################
f=open('./images.txt', 'r')
image_fnames=f.readlines();
f.close();
f=open('./cameras.txt', 'r')
cam_fnames=f.readlines();
f.close();
n_normal = 0;
for i in range(0,len(image_fnames),1):
image_fnames[i] = image_fnames[i].strip();
cam_fnames[i] = cam_fnames[i].strip();
print("Saving Image")
bvxm_batch.init_process("SaveImageViewProcess")
bvxm_batch.set_input_from_db(0, cropped_image_id)
bvxm_batch.set_input_string(1, "./ini" + str(i) + ".png")
bvxm_batch.run_process()
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_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, uncertainty_id)
bvxm_batch.set_input_unsigned(5, 0)
bvxm_batch.set_params_process("bvxmRpcRegistrationProcess.xml")
bvxm_batch.run_process()
corrected_cam_id = bvxm_batch.commit_output(0)
edge_image_id = bvxm_batch.commit_output(1)
expected_edge_image_id = bvxm_batch.commit_output(2)
bvxm_batch.init_process("SaveImageViewProcess")
bvxm_batch.set_input_from_db(0, edge_image_id)
bvxm_batch.set_input_string(1, str(i) + ".edge_image.jpg")
bvxm_batch.run_process()
bvxm_batch.init_process("SaveImageViewProcess")
bvxm_batch.set_input_from_db(0, expected_edge_image_id)
bvxm_batch.set_input_string(1, str(i) + ".expected_edge_image.jpg")
bvxm_batch.run_process()
bvxm_batch.set_params_process("./roi_params.xml")
statuscode = bvxm_batch.run_process()
print statuscode
if statuscode:
cropped_cam_id = bvxm_batch.commit_output(0)
cropped_image_id = bvxm_batch.commit_output(1)
uncertainty_id = bvxm_batch.commit_output(2)
curr_scale = 0
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.set_input_unsigned(3, 0)
bvxm_batch.run_process()
bin_id = bvxm_batch.commit_output(0)
app_type = "apm_mog_grey"
if normalize_and_save == 1:
# Normalizing images
print(" Normalizing Image ")
bvxm_batch.init_process("bvxmNormalizeImageProcess")
bvxm_batch.set_params_process("./normalize.xml")
bvxm_batch.set_input_from_db(0, cropped_image_id)
bvxm_batch.set_input_from_db(1, cropped_cam_id)
bvxm_batch.set_input_from_db(2, voxel_world_id)
bvxm_batch.set_input_string(3, app_type)
print statuscode
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)
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)
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()
batch.init_process("SaveImageViewProcess")
batch.set_input_from_db(0, expected_edge_image_id)
batch.set_input_string(1, str(i) + ".expected_edge_image.jpg")
batch.run_process()
bvxm_batch.set_input_from_db(0, lidar_height)
bvxm_batch.set_input_string(1, "output_lidar_height.tif")
bvxm_batch.run_process()
bvxm_batch.init_process("vilSaveImageViewProcess")
bvxm_batch.set_input_from_db(0, lidar_edges)
bvxm_batch.set_input_string(1, "output_lidar_edges.tif")
bvxm_batch.run_process()
bvxm_batch.init_process("bvxmUpdateEdgesLidarProcess")
bvxm_batch.set_input_from_db(0, lidar_height)
bvxm_batch.set_input_from_db(1, lidar_edges)
bvxm_batch.set_input_from_db(2, lidar_edges_prob)
bvxm_batch.set_input_from_db(3, lidar_camera)
bvxm_batch.set_input_from_db(4, world)
bvxm_batch.set_input_unsigned(5, 0)
bvxm_batch.run_process()
bvxm_batch.init_process("bvxmSaveEdgesRawProcess")
bvxm_batch.set_input_from_db(0, world)
bvxm_batch.set_input_string(1, "output_edges.raw")
bvxm_batch.set_input_float(2, 0)
bvxm_batch.set_input_unsigned(3, 0)
bvxm_batch.run_process()
# updating with LIDAR
print("Creating Lidar")
bvxm_batch.init_process("bvxmLidarInitProcess")
bvxm_batch.set_params_process("lidar_params.xml")
bvxm_batch.set_input_string(
0, "C:/test_images/BaghdadLIDAR/dem_1m_a1_baghdad_tile39.tif")
bvxm_batch.set_params_process("./roi_params.xml")
statuscode = bvxm_batch.run_process()
print statuscode
if statuscode:
cropped_cam_id = bvxm_batch.commit_output(0)
cropped_image_id = bvxm_batch.commit_output(1)
uncertainty_id = bvxm_batch.commit_output(2)
curr_scale = 0
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.set_input_unsigned(3, 0)
bvxm_batch.run_process()
bin_id = bvxm_batch.commit_output(0)
app_type = "apm_mog_grey"
if normalize_and_save == 1:
# Normalizing images
print(" Normalizing Image ")
bvxm_batch.init_process("bvxmNormalizeImageProcess")
bvxm_batch.set_params_process("./normalize.xml")
bvxm_batch.set_input_from_db(0, cropped_image_id)
bvxm_batch.set_input_from_db(1, cropped_cam_id)
bvxm_batch.set_input_from_db(2, voxel_world_id)
bvxm_batch.set_input_string(3, app_type)
