asp_system_utils.executeCommand(cmd, hillOutput, suppressOutput, redo)
# COLORMAP
colormapMin = -10
colormapMax = 10
colorOutput = outputPrefix + '-DEM_CMAP.tif'
cmd = ('colormap --min %f --max %f %s -o %s' %
(colormapMin, colormapMax, p2dOutput, colorOutput))
asp_system_utils.executeCommand(cmd, colorOutput, suppressOutput, redo)
if options.lidarOverlay:
LIDAR_DEM_RESOLUTION = 5
LIDAR_PROJ_BUFFER_METERS = 100
# Get buffered projection bounds of this image
demGeoInfo = asp_geo_utils.getImageGeoInfo(p2dOutput, getStats=False)
projBounds = demGeoInfo['projection_bounds']
minX = projBounds[
0] - LIDAR_PROJ_BUFFER_METERS # Expand the bounds a bit
minY = projBounds[2] - LIDAR_PROJ_BUFFER_METERS
maxX = projBounds[1] + LIDAR_PROJ_BUFFER_METERS
maxY = projBounds[3] + LIDAR_PROJ_BUFFER_METERS
# Generate a DEM from the lidar point cloud in this region
lidarDemPrefix = os.path.join(outputFolder, 'cropped_lidar')
cmd = (
'point2dem --t_projwin %f %f %f %f --tr %lf --t_srs %s %s %s --csv-format %s -o %s'
% (minX, minY, maxX, maxY, LIDAR_DEM_RESOLUTION, projString,
lidarFile, threadText, csvFormatString, lidarDemPrefix))
lidarDemOutput = lidarDemPrefix + '-DEM.tif'
asp_system_utils.executeCommand(cmd, lidarDemOutput, suppressOutput,
def getImageSpacing(orthoFolder, availableFrames, startFrame, stopFrame, forceAllFramesInRange):
'''Find a good image stereo spacing interval that gives us a good
balance between coverage and baseline width.
Also detect all frames where this is a large break after the current frame.'''
logger.info('Computing optimal image stereo interval...')
## With very few cameras this is the only possible way to process them
#if len(availableFrames) < 3 and not forceAllFramesInRange:
# return ([], {}) # No skip, no breaks
# Retrieve a list of the ortho files
orthoIndexPath = icebridge_common.csvIndexFile(orthoFolder)
if not os.path.exists(orthoIndexPath):
raise Exception("Error: Missing ortho index file: " + orthoIndexPath + ".")
(orthoFrameDict, orthoUrlDict) = icebridge_common.readIndexFile(orthoIndexPath,
prependFolder = True)
# From the dictionary create a sorted list of ortho files in the frame range
breaks = []
largeSkips = {}
orthoFiles = []
for frame in sorted(orthoFrameDict.keys()):
# Only process frames within the range
if not ( (frame >= startFrame) and (frame <= stopFrame) ):
continue
orthoPath = orthoFrameDict[frame]
frame = icebridge_common.getFrameNumberFromFilename(orthoPath)
if not forceAllFramesInRange:
if frame not in availableFrames: # Skip frames we did not compute a camera for
continue
orthoFiles.append(orthoPath)
orthoFiles.sort()
numOrthos = len(orthoFiles)
# First load whatever boxes are there
projectionIndexFile = icebridge_common.projectionBoundsFile(os.path.dirname(orthoFolder))
logger.info("Reading: " + projectionIndexFile)
boundsDict = icebridge_common.readProjectionBounds(projectionIndexFile)
# Get the bounding box and frame number of each ortho image
logger.info('Loading bounding boxes...')
frames = []
updatedBounds = False # will be true if some computation got done
count = 0
for i in range(0, numOrthos):
# This can be slow, so add a progress dialong
count = count + 1
if (count - 1) % 1000 == 0:
logger.info('Progress: ' + str(count) + '/' + str(numOrthos))
thisFrame = icebridge_common.getFrameNumberFromFilename(orthoFiles[i])
if thisFrame not in boundsDict:
imageGeoInfo = asp_geo_utils.getImageGeoInfo(orthoFiles[i], getStats=False)
thisBox = imageGeoInfo['projection_bounds']
boundsDict[thisFrame] = thisBox
updatedBounds = True
frames.append(thisFrame)
# Read this file again, in case some other process modified it in the meantime.
# This won't happen in production mode, but can during testing with partial sequences.
boundsDictRecent = icebridge_common.readProjectionBounds(projectionIndexFile)
for frame in sorted(boundsDictRecent.keys()):
if not frame in boundsDict.keys():
boundsDict[frame] = boundsDictRecent[frame]
updatedBounds = True
# Save the bounds. There is always the danger that two processes will
# do that at the same time, but this is rare, as hopefully we get here
# only once from the manager. It is not a big loss if this file gets messed up.
if updatedBounds:
logger.info("Writing: " + projectionIndexFile)
icebridge_common.writeProjectionBounds(projectionIndexFile, boundsDict)
# Since we are only comparing the image bounding boxes, not their exact corners,
# these ratios are only estimates.
MAX_RATIO = 0.85 # Increase skip until we get below this...
MIN_RATIO = 0.75 # ... but don't go below this value!
NOTRY_RATIO = 0.0001 # Don't bother with overlap amounts less than this (small on purpose)
def getBboxArea(bbox):
'''Return the area of a bounding box in form of (minX, maxX, minY, maxY)'''
width = bbox[1] - bbox[0]
height = bbox[3] - bbox[2]
if (width < 0) or (height < 0):
return 0
return width*height
# Iterate over the frames and find the best stereo frame for each
for i in range(0, numOrthos-1):
thisFrame = frames[i]
thisBox = boundsDict[thisFrame]
thisArea = getBboxArea(thisBox)
interval = 1
while(True):
# Compute intersection area between this and next image
nextFrame = frames[i+interval]
nextBox = boundsDict[nextFrame]
intersect = [max(thisBox[0], nextBox[0]), # Min X
min(thisBox[1], nextBox[1]), # Max X
max(thisBox[2], nextBox[2]), # Min Y
min(thisBox[3], nextBox[3])] # Max Y
area = getBboxArea(intersect)
ratio = 0
if area > 0:
ratio = area / thisArea
if interval == 1: # Cases for the smallest interval...
if ratio < NOTRY_RATIO:
breaks.append(thisFrame) # No match for this frame
logger.info('Detected large break after frame ' + str(thisFrame))
break
if ratio < MIN_RATIO:
break # No reason to try increasing skip amounts for this frame
else: # interval > 1
if ratio < MIN_RATIO: # Went too small, walk back the interval.
interval = interval - 1
break
if ratio > MAX_RATIO: # Too much overlap, increase interval
interval = interval + 1
else: # Overlap is fine, keep this interval.
break
# Handle the case where we go past the end of frames looking for a match.
if i+interval >= len(frames):
interval = interval - 1
break
if interval > 1: # Only record larger than normal intervals.
largeSkips[thisFrame] = interval
logger.info('Detected ' + str(len(breaks)) + ' breaks in image coverage.')
logger.info('Detected ' + str(len(largeSkips)) + ' images with interval > 1.')
return (breaks, largeSkips)
def runOrtho(frame, processFolder, imageFile, bundleLength, threadText, redo,
suppressOutput):
os.system("ulimit -c 0") # disable core dumps
os.system("rm -f core.*") # these keep on popping up
os.system("umask 022") # enforce files be readable by others
# This will run as multiple processes. Hence have to catch all exceptions:
projBounds = ()
try:
alignCamFile, batchFolder = \
icebridge_common.frameToFile(frame,
icebridge_common.alignedBundleStr() +
'*' + str(frame) + '.tsai',
processFolder, bundleLength)
if alignCamFile == "":
print("Could not find aligned camera for frame: " + str(frame))
return
# To ensure we mapproject the image fully, mosaic the several DEMs
# around it. Keep the closest 5. Try to grab more first to account
# for skipped frames.
frameOffsets = [0, 1, -1, 2, -2, -3, 3, -4, 4]
dems = []
for offset in frameOffsets:
demFile, batchFolder = icebridge_common.frameToFile(
frame + offset, icebridge_common.blendFileName(),
processFolder, bundleLength)
# If the central DEM is missing, we are out of luck
if offset == 0 and demFile == "":
print("Could not find DEM for frame: " + str(frame + offset))
return
if offset == 0:
demGeoInfo = asp_geo_utils.getImageGeoInfo(demFile,
getStats=False)
projBounds = demGeoInfo[
'projection_bounds'] # minX maxX minY maxY
if demFile == "":
# Missing DEM
continue
if len(dems) >= 5:
break # too many already
dems.append(demFile)
demList = " ".join(dems)
# Call this one more time, to get the current batch folder
currDemFile, batchFolder = icebridge_common.frameToFile(
frame, icebridge_common.blendFileName(), processFolder,
bundleLength)
# The names for the final results
finalOrtho = os.path.join(batchFolder,
icebridge_common.orthoFileName())
finalOrthoPreview = os.path.join(
batchFolder, icebridge_common.orthoPreviewFileName())
if (not redo) and os.path.exists(finalOrtho):
print("File exists: " + finalOrtho + ".")
else:
filesToWipe = []
# If the center dem spans say 1 km, there's no way the
# ortho can span more than 5 km, unless something is
# seriously out of whack, such as alignment failing for
# some neighbours. In the best case, if the center dem is
# 1 km by 1 km, the obtained ortho will likely be 1.4 km
# by 1 km, as an image extends beyond its stereo dem with
# a neighbor.
factor = float(2.0)
projWinStr = ""
if len(projBounds) >= 4:
# projBounds is in the format minX maxX minY maxY
widX = float(projBounds[1]) - float(projBounds[0])
widY = float(projBounds[3]) - float(projBounds[2])
projBounds = (
float(projBounds[0]) - factor * widX, # minX
float(projBounds[1]) + factor * widX, # maxX
float(projBounds[2]) - factor * widY, # minY
float(projBounds[3]) + factor * widY # maxY
)
projWinStr = ("--t_projwin %f %f %f %f" % \
(projBounds[0], projBounds[2], projBounds[1], projBounds[3]))
# See if we have a pre-existing DEM to use as footprint
mosaicPrefix = os.path.join(batchFolder, 'out-temp-mosaic')
mosaicOutput = mosaicPrefix + '-tile-0.tif'
cmd = ('dem_mosaic --hole-fill-length 500 %s %s %s -o %s' %
(demList, threadText, projWinStr, mosaicPrefix))
filesToWipe.append(mosaicOutput) # no longer needed
print(cmd)
localRedo = True # The file below should not exist unless there was a crash
asp_system_utils.executeCommand(cmd, mosaicOutput, suppressOutput,
localRedo)
# Borow some pixels from the footprint DEM,just to grow a bit the real estate
finalFootprintDEM = os.path.join(
batchFolder, icebridge_common.footprintFileName())
if os.path.exists(finalFootprintDEM):
mosaicPrefix2 = os.path.join(batchFolder, 'out-temp-mosaic2')
mosaicOutput2 = mosaicPrefix2 + '-tile-0.tif'
cmd = (
'dem_mosaic --priority-blending-length 50 %s %s %s %s -o %s'
% (mosaicOutput, finalFootprintDEM, threadText, projWinStr,
mosaicPrefix2))
print(cmd)
localRedo = True # The file below should not exist unless there was a crash
asp_system_utils.executeCommand(cmd,
mosaicOutput2,
suppressOutput,
localRedo,
noThrow=True)
if os.path.exists(mosaicOutput2):
cmd = "mv -f " + mosaicOutput2 + " " + mosaicOutput
print(cmd)
os.system(cmd)
# TODO: Look at more aggressive hole-filling. But need a testcase.
filesToWipe += glob.glob(mosaicPrefix + '*' + '-log-' + '*')
# First mapproject to create a tif image with 4 channels.
# Then pull 3 channels and compress them as jpeg, while keeping the
# image a geotiff.
tempOrtho = os.path.join(
batchFolder,
icebridge_common.orthoFileName() + "_tmp.tif")
# There is no need for this file to exist unless it is stray junk
if os.path.exists(tempOrtho):
os.remove(tempOrtho)
# Run mapproject. The grid size is auto-determined.
cmd = (
'mapproject --no-geoheader-info %s %s %s %s %s' %
(mosaicOutput, imageFile, alignCamFile, tempOrtho, threadText))
print(cmd)
asp_system_utils.executeCommand(cmd, tempOrtho, suppressOutput,
redo)
filesToWipe.append(tempOrtho)
# This makes the images smaller than Rose's by a factor of about 4,
# even though both types are jpeg compressed. Rose's images filtered
# through this command also get compressed by a factor of 4.
# I conclude that the jpeg compression used by Rose was not as
# aggressive as the one used in gdal_translate, but there is no
# apparent knob to control that.
cmd = "gdal_translate -b 1 -b 2 -b 3 -co compress=jpeg " + tempOrtho + " " + finalOrtho
print(cmd)
asp_system_utils.executeCommand(cmd, finalOrtho, suppressOutput,
redo)
# Clean up extra files
for fileName in filesToWipe:
if os.path.exists(fileName):
print("Removing: " + fileName)
os.remove(fileName)
if (not redo) and os.path.exists(finalOrthoPreview):
print("File exists: " + finalOrthoPreview + ".")
else:
cmd = 'gdal_translate -scale -outsize 25% 25% -of jpeg ' + finalOrtho + \
' ' + finalOrthoPreview
print(cmd)
asp_system_utils.executeCommand(cmd, finalOrthoPreview,
suppressOutput, redo)
except Exception as e:
print('Ortho creation failed!\n' + str(e) + ". " +
str(traceback.print_exc()))
os.system("rm -f core.*") # these keep on popping up
# To ensure we print promptly what we did so far
sys.stdout.flush()
def runOrtho(frame, processFolder, imageFile, bundleLength, cameraMounting,
threadText, redo, suppressOutput):
os.system("ulimit -c 0") # disable core dumps
os.system("rm -f core.*") # these keep on popping up
os.system("umask 022") # enforce files be readable by others
# This will run as multiple processes. Hence have to catch all exceptions:
projBounds = ()
try:
# Retrieve the aligned camera file
alignCamFile, batchFolder = \
icebridge_common.frameToFile(frame,
icebridge_common.alignedBundleStr() +
'*' + str(frame) + '.tsai',
processFolder, bundleLength)
if alignCamFile == "":
print("Could not find aligned camera for frame: " + str(frame))
return
# To ensure we mapproject the image fully, mosaic the several DEMs
# around it. Keep the closest 5. Try to grab more first to account
# for skipped frames.
frameOffsets = [0, 1, -1, 2, -2, -3, 3, -4, 4]
dems = []
for offset in frameOffsets:
# Find the DEM file for the desired frame
demFile, batchFolder = icebridge_common.frameToFile(frame + offset,
icebridge_common.blendFileName(),
processFolder, bundleLength)
# If the central DEM is missing, we are out of luck
if offset == 0 and demFile == "":
print("Could not find blended DEM for frame: " + str(frame + offset))
return
if offset == 0:
demGeoInfo = asp_geo_utils.getImageGeoInfo(demFile, getStats=False)
projBounds = demGeoInfo['projection_bounds'] # minX maxX minY maxY
if demFile == "":
# Missing DEM
continue
if len(dems) >= 5:
break # too many already
dems.append(demFile)
demList = " ".join(dems)
# Call this one more time, to get the current batch folder
currDemFile, batchFolder = icebridge_common.frameToFile(frame,
icebridge_common.blendFileName(),
processFolder, bundleLength)
# The names for the final results
finalOrtho = os.path.join(batchFolder, icebridge_common.orthoFileName())
finalOrthoPreview = os.path.join(batchFolder, icebridge_common.orthoPreviewFileName())
if (not redo) and os.path.exists(finalOrtho):
print("File exists: " + finalOrtho + ".")
else:
filesToWipe = []
# If the center dem spans say 1 km, there's no way the
# ortho can span more than 5 km, unless something is
# seriously out of whack, such as alignment failing for
# some neighbours. In the best case, if the center dem is
# 1 km by 1 km, the obtained ortho will likely be 1.4 km
# by 1 km, as an image extends beyond its stereo dem with
# a neighbor.
factor = float(2.0)
projWinStr = ""
if len(projBounds) >= 4:
# projBounds is in the format minX maxX minY maxY
widX = float(projBounds[1]) - float(projBounds[0])
widY = float(projBounds[3]) - float(projBounds[2])
projBounds = (
float(projBounds[0]) - factor*widX, # minX
float(projBounds[1]) + factor*widX, # maxX
float(projBounds[2]) - factor*widY, # minY
float(projBounds[3]) + factor*widY # maxY
)
projWinStr = ("--t_projwin %f %f %f %f" % \
(projBounds[0], projBounds[2], projBounds[1], projBounds[3]))
# See if we have a pre-existing DEM to use as footprint
mosaicPrefix = os.path.join(batchFolder, 'out-temp-mosaic')
mosaicOutput = mosaicPrefix + '-tile-0.tif'
cmd = ('dem_mosaic --hole-fill-length 500 %s %s %s -o %s'
% (demList, threadText, projWinStr, mosaicPrefix))
filesToWipe.append(mosaicOutput) # no longer needed
# Generate the DEM mosaic
print(cmd)
localRedo = True # The file below should not exist unless there was a crash
asp_system_utils.executeCommand(cmd, mosaicOutput, suppressOutput, localRedo)
# Borow some pixels from the footprint DEM,just to grow a bit the real estate
finalFootprintDEM = os.path.join(batchFolder,
icebridge_common.footprintFileName())
if os.path.exists(finalFootprintDEM):
mosaicPrefix2 = os.path.join(batchFolder, 'out-temp-mosaic2')
mosaicOutput2 = mosaicPrefix2 + '-tile-0.tif'
cmd = ('dem_mosaic --priority-blending-length 50 %s %s %s %s -o %s'
% (mosaicOutput, finalFootprintDEM, threadText, projWinStr, mosaicPrefix2))
print(cmd)
localRedo = True # The file below should not exist unless there was a crash
asp_system_utils.executeCommand(cmd, mosaicOutput2, suppressOutput, localRedo,
noThrow = True)
if os.path.exists(mosaicOutput2):
cmd = "mv -f " + mosaicOutput2 + " " + mosaicOutput
print(cmd)
os.system(cmd)
# TODO: Look at more aggressive hole-filling. But need a testcase.
filesToWipe += glob.glob(mosaicPrefix + '*' + '-log-' + '*')
# First mapproject to create a tif image with 4 channels.
# Then pull 3 channels and compress them as jpeg, while keeping the
# image a geotiff.
tempOrtho = os.path.join(batchFolder, icebridge_common.orthoFileName() + "_tmp.tif")
# There is no need for this file to exist unless it is stray junk
if os.path.exists(tempOrtho):
os.remove(tempOrtho)
# If needed, generate a temporary camera file to correct a mounting rotation.
# - When the camera mount is rotated 90 degrees stereo is run on a corrected version
# but ortho needs to work on the original uncorrected jpeg image.
tempCamFile = alignCamFile + '_temp_rot.tsai'
tempCamFile = createRotatedCameraFile(alignCamFile, tempCamFile, cameraMounting)
# Run mapproject. The grid size is auto-determined.
cmd = ('mapproject --no-geoheader-info %s %s %s %s %s'
% (mosaicOutput, imageFile, tempCamFile, tempOrtho, threadText))
print(cmd)
asp_system_utils.executeCommand(cmd, tempOrtho, suppressOutput, redo)
# Set temporary files to be cleaned up
filesToWipe.append(tempOrtho)
if tempCamFile != alignCamFile:
filesToWipe.append(tempCamFile)
# This makes the images smaller than Rose's by a factor of about 4,
# even though both types are jpeg compressed. Rose's images filtered
# through this command also get compressed by a factor of 4.
# I conclude that the jpeg compression used by Rose was not as
# aggressive as the one used in gdal_translate, but there is no
# apparent knob to control that.
cmd = "gdal_translate -b 1 -b 2 -b 3 -co compress=jpeg " + tempOrtho + " " + finalOrtho
print(cmd)
asp_system_utils.executeCommand(cmd, finalOrtho, suppressOutput, redo)
# Clean up extra files
for fileName in filesToWipe:
if os.path.exists(fileName):
print("Removing: " + fileName)
os.remove(fileName)
if (not redo) and os.path.exists(finalOrthoPreview):
print("File exists: " + finalOrthoPreview + ".")
else:
cmd = 'gdal_translate -scale -outsize 25% 25% -of jpeg ' + finalOrtho + \
' ' + finalOrthoPreview
print(cmd)
asp_system_utils.executeCommand(cmd, finalOrthoPreview, suppressOutput, redo)
except Exception as e:
print('Ortho creation failed!\n' + str(e) + ". " + str(traceback.print_exc()))
os.system("rm -f core.*") # these keep on popping up
# To ensure we print promptly what we did so far
sys.stdout.flush()
cmd = "hillshade " + p2dOutput + " -o " + hillOutput
asp_system_utils.executeCommand(cmd, hillOutput, suppressOutput, redo)
# COLORMAP
colormapMin = -10
colormapMax = 10
colorOutput = outputPrefix + "-DEM_CMAP.tif"
cmd = "colormap --min %f --max %f %s -o %s" % (colormapMin, colormapMax, p2dOutput, colorOutput)
asp_system_utils.executeCommand(cmd, colorOutput, suppressOutput, redo)
if options.lidarOverlay:
LIDAR_DEM_RESOLUTION = 5
LIDAR_PROJ_BUFFER_METERS = 100
# Get buffered projection bounds of this image
demGeoInfo = asp_geo_utils.getImageGeoInfo(p2dOutput, getStats=False)
projBounds = demGeoInfo["projection_bounds"]
minX = projBounds[0] - LIDAR_PROJ_BUFFER_METERS # Expand the bounds a bit
minY = projBounds[2] - LIDAR_PROJ_BUFFER_METERS
maxX = projBounds[1] + LIDAR_PROJ_BUFFER_METERS
maxY = projBounds[3] + LIDAR_PROJ_BUFFER_METERS
# Generate a DEM from the lidar point cloud in this region
lidarDemPrefix = os.path.join(outputFolder, "cropped_lidar")
cmd = "point2dem --t_projwin %f %f %f %f --tr %lf --t_srs %s %s %s --csv-format %s -o %s" % (
minX,
minY,
maxX,
maxY,
LIDAR_DEM_RESOLUTION,
projString,
def getImageSpacing(orthoFolder):
'''Find a good image stereo spacing interval that gives us a good
balance between coverage and baseline width.
Also detect all frames where this is a large break after the current frame.'''
# Do nothing if this option was not provided
if not orthoFolder:
return None
logger.info('Computing optimal image stereo interval...')
breaks = []
# Generate a list of valid, full path ortho files
fileList = os.listdir(orthoFolder)
orthoFiles = []
for orthoFile in fileList:
# Skip non-image files (including junk from stereo_gui) and duplicate grayscale files
ext = os.path.splitext(orthoFile)[1]
if (ext != '.tif') or ('_sub' in orthoFile) or ('.tif_gray.tif' in orthoFile):
continue
orthoPath = os.path.join(orthoFolder, orthoFile)
orthoFiles.append(orthoPath)
orthoFiles.sort()
numOrthos = len(orthoFiles)
# Get the bounding box and frame number of each ortho image
logger.info('Loading bounding boxes...')
bboxes = []
frames = []
for i in range(0, numOrthos):
imageGeoInfo = asp_geo_utils.getImageGeoInfo(orthoFiles[i], getStats=False)
thisBox = imageGeoInfo['projection_bounds']
thisFrame = icebridge_common.getFrameNumberFromFilename(orthoFiles[i])
bboxes.append(thisBox)
frames.append(thisFrame)
# Since we are only comparing the image bounding boxes, not their exact corners,
# these ratios are only estimates.
MAX_RATIO = 0.8 # Increase skip until we get below this...
MIN_RATIO = 0.4 # ... but don't go below this value!
def getBboxArea(bbox):
'''Return the area of a bounding box in form of (minX, maxX, minY, maxY)'''
width = bbox[1] - bbox[0]
height = bbox[3] - bbox[2]
if (width < 0) or (height < 0):
return 0
return width*height
# Iterate over stereo image intervals to try to get our target numbers
interval = 0
meanRatio = 1.0
while meanRatio > MAX_RATIO:
meanRatio = 0
count = 0
interval = interval + 1
logger.info('Trying stereo image interval ' + str(interval))
if numOrthos <= interval:
raise Exception('Error: There are too few images and they overlap too much. ' + \
'Consider processing more images in the given batch.')
for i in range(0, numOrthos-interval):
# Compute intersection area between this and next image
thisBox = bboxes[i ]
lastBox = bboxes[i+interval]
intersect = [max(lastBox[0], thisBox[0]), # Min X
min(lastBox[1], thisBox[1]), # Max X
max(lastBox[2], thisBox[2]), # Min Y
min(lastBox[3], thisBox[3])] # Max Y
thisArea = getBboxArea(thisBox)
area = getBboxArea(intersect)
ratio = area / thisArea
# Don't include non-overlapping frames in the statistics
if area > 0:
meanRatio = meanRatio + ratio
count = count + 1
# On the first pass (with interval 1) check for gaps in coverage.
if (interval == 1) and (area <= 0):
breaks.append(frames[i])
logger.info('Detected large break after frame ' + str(frames[i]))
# Get the mean intersection ratio
meanRatio = meanRatio / count
logger.info(' --> meanRatio = ' + str(meanRatio))
# If we increased the interval too much, back it off by one step.
if (meanRatio < MIN_RATIO) and (interval > 1):
interval = interval - 1
logger.info('Computed automatic image stereo interval: ' + str(interval))
logger.info('Detected ' + str(interval) + ' breaks in image coverage.')
return (interval, breaks)
