def euclidean_error_function(arr):
error = 0.0
ctr = 0
buf = []
cbuf = []
for m in matches:
d, q = m['db'], m['query']
feature = map3d[int(d[0]), int(d[1])]
if not feature:
continue
ctr += 1
pz, px = geom.lltom(self.lat + meter * arr[0],
self.lon + meter * arr[1], feature['lat'],
feature['lon'])
py = feature['alt'] # feature['alt'] - arr[2]
x, y, z = geom.camera_transform(px, py, pz, self.pitch,
self.yaw, self.roll)
coord = geom.project2d(x, y, z, self.focal_length)
pixel = geom.center(coord, self.imsize)
error += abs(pixel[0] - q[0])
buf.append((pixel[0], pixel[1]))
cbuf.append((q[0], q[1]))
# for i,j in buf:
# print i,j
# print
# for i,j in cbuf:
# print i,j
if error < best[0]:
best[0] = min(error, best[0])
# print best[0]/ctr
return error / ctr
def euclidean_error_function(arr):
error = 0.0
ctr = 0
buf = []
cbuf = []
for m in matches:
d, q = m['db'], m['query']
feature = map3d[int(d[0]), int(d[1])]
if not feature:
continue
ctr += 1
pz, px = geom.lltom(self.lat + meter*arr[0], self.lon + meter*arr[1], feature['lat'], feature['lon'])
py = feature['alt'] # feature['alt'] - arr[2]
x, y, z = geom.camera_transform(px, py, pz, self.pitch, self.yaw, self.roll)
coord = geom.project2d(x, y, z, self.focal_length)
pixel = geom.center(coord, self.imsize)
error += abs(pixel[0] - q[0])
buf.append((pixel[0], pixel[1]))
cbuf.append((q[0], q[1]))
# for i,j in buf:
# print i,j
# print
# for i,j in cbuf:
# print i,j
if error < best[0]:
best[0] = min(error, best[0])
# print best[0]/ctr
return error/ctr
def __init__(self, image): self.lat = 0 self.lon = 0 self.alt = 0 self.yaw = 0 self.roll = 0 self.viewId = 0 self.image = Image.open(image) self.focal_length = 700 # XXX arbitrary! center = geom.center((0,0), self.image.size) self.pitch = 0
def map_tags_camera(self, elat=0, elon=0, ep=0, ey=0, er=0):
"Returns (tag, (dist, pixel)) pairs using camera transform."
if not elat or not elon:
elat = self.lat
elon = self.lon
tags = []
possible_tags = self.get_frustum()
for tag in possible_tags:
pz, px = geom.lltom(elat, elon, tag.lat, tag.lon)
py = tag.alt - self.alt;
x, y, z = geom.camera_transform(px, py, pz, self.pitch + ep, self.yaw + ey, self.roll + er)
coord = geom.project2d(x, y, z, self.source.focal_length)
pixel = geom.center(coord, self.image.size)
# tags.append((tag, (0, geom.constrain(pixel, self.image.size))))
tags.append((tag, (0, pixel)))
return tags
def __init__(self, image, infofile):
with open(infofile) as f:
self.info = eval(f.read())
self.lat = self.info['view-location']['lat']
self.lon = self.info['view-location']['lon']
self.alt = self.info['view-location']['alt']
self.yaw = self.info['view-direction']['yaw']
self.pitch = self.info['view-direction']['pitch']
self.roll = 0
self.fov = self.info['field-of-view']*np.pi/180
self.viewId = self.info['id']
self.image = Image.open(image) if image else None
if not self.image:
return
self.focal_length = 0.8625 * self.image.size[0]
center = geom.center((0,0), self.image.size)
# try:
# cloc = self.get_pixel_location(center)
# except Exception, e:
# print e
# cloc = None
# if not cloc:
self.pitch = 0
