def test_CompositeThumbnail():
regions = []
regions.append(cuav_region.Region(1020, 658, 1050, 678, (30, 30), scan_score=20))
regions.append(cuav_region.Region(30, 54, 50, 74, (20, 20), scan_score=15))
regions.append(cuav_region.Region(60, 24, 170, 134, (110, 110), scan_score=0))
im_orig = cv2.imread(os.path.join(os.getcwd(), 'tests', 'testdata', 'test-8bit.png'))
composite = cuav_region.CompositeThumbnail(im_orig, regions)
assert cuav_util.image_shape(composite) == (300, 100)
def scan_threadfunc(self):
'''image scanning thread'''
while not self.unload_event.wait(0.05):
if self.scan_queue.empty():
continue
(frame_time, im) = self.scan_queue.get()
scan_parms = {}
for name in self.image_settings.list():
scan_parms[name] = self.image_settings.get(name)
scan_parms['BlueEmphasis'] = float(
self.camera_settings.blue_emphasis)
if self.terrain_alt is not None:
altitude = self.terrain_alt
if altitude < self.camera_settings.minalt:
altitude = self.camera_settings.minalt
scan_parms['MetersPerPixel'] = cuav_util.pixel_width(
altitude, self.c_params.xresolution, self.c_params.lens,
self.c_params.sensorwidth)
t1 = time.time()
try:
img_scan = cv2.imread(im, -1)
except Exception:
continue
if img_scan is None:
continue
(h, w) = img_scan.shape[:2]
if self.camera_settings.rotate180:
M = cv2.getRotationMatrix2D(center, angle180, scale)
img_scan = cv2.warpAffine(img_scan, M, (w, h))
im_numpy = numpy.ascontiguousarray(img_scan)
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(
regions, cuav_util.image_shape(img_scan),
cuav_util.image_shape(img_scan))
t2 = time.time()
self.scan_fps = 1.0 / (t2 - t1)
self.scan_count += 1
regions = cuav_region.filter_regions(
img_scan,
regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
self.region_count += len(regions)
# possibly send a preview image
self.send_preview(img_scan)
if self.camera_settings.roll_stabilised:
roll = 0
else:
roll = None
pos = self.get_plane_position(frame_time, roll=roll)
if pos is not None:
self.posmapping[str(frame_time)] = pos
# this adds the latlon field to the regions (georeferencing)
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=None, C=self.c_params)
if self.joelog:
self.log_joe_position(pos, frame_time, regions)
# filter out any regions outside the target radius
if self.camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (self.camera_settings.target_latitude,
self.camera_settings.target_longitude),
self.camera_settings.target_radius)
# filter out any regions outside the boundary
if self.boundary_polygon:
regions = cuav_region.filter_boundary(regions,
self.boundary_polygon,
pos)
#filter by minscore
regions = cuav_region.filter_regions(
img_scan,
regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
high_score = 1
for r in regions:
if r.score > high_score:
high_score = r.score
if len(regions) > 0 and pos is not None:
for r in regions:
self.lz.checkaddregion(r, pos)
try:
lzresult = self.lz.calclandingzone()
except Exception as ex:
print("calclandingzone failed: ", ex)
continue
if lzresult:
self.transmit_queue.put((lzresult, 100000, None))
if self.msend:
self.transmit_queue.put((lzresult, 100000, 'msend'))
if len(regions) > 0 and self.camera_settings.transmit:
# send a region message with thumbnails to the ground station
thumb_img = cuav_region.CompositeThumbnail(
img_scan,
regions,
thumb_size=self.camera_settings.thumbsize)
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
(result, thumb) = cv2.imencode('.jpg', thumb_img, encode_param)
pkt = cuav_command.ThumbPacket(frame_time, regions, thumb, pos)
if self.transmit_queue.qsize() < 100:
self.transmit_queue.put((pkt, None, None))
if self.msend is not None and high_score >= self.camera_settings.m_minscore:
self.transmit_queue.put((pkt, None, 'msend'))
else:
self.send_message("Warning: image Tx queue too long")
print("Warning: image Tx queue too long")
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = scan_image_directory(args.imagedir)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if args.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=args.gps_lag)
mpos.set_logfile(args.mavlog)
else:
mpos = None
if args.boundary:
boundary = cuav_util.polygon_load(args.boundary)
else:
boundary = None
if args.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
im_orig = cv2.imread(files[0])
(w,h) = cuav_util.image_shape(im_orig)
C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth, xresolution=w, yresolution=h)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if args.joe:
joes = cuav_util.polygon_load(args.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if args.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
scan_parms = {
'MinRegionArea' : args.min_region_area,
'MaxRegionArea' : args.max_region_area,
'MinRegionSize' : args.min_region_size,
'MaxRegionSize' : args.max_region_size,
'MaxRarityPct' : args.max_rarity_pct,
'RegionMergeSize' : args.region_merge,
'SaveIntermediate' : float(0),
#'SaveIntermediate' : float(args.debug),
'MetersPerPixel' : args.meters_per_pixel100 * args.altitude / 100.0
}
filenum = 0
for f in files:
filenum += 1
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if args.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, args.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print(e)
pos = None
else:
pos = None
# check for any events from the map
if args.mosaic:
slipmap.check_events()
mosaic.check_events()
im_orig = cv2.imread(f)
(w,h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_half = cv2.resize(im_orig, (0,0), fx=0.5, fy=0.5)
im_half = numpy.ascontiguousarray(im_half)
im_full = numpy.ascontiguousarray(im_full)
count = 0
total_time = 0
if args.fullres:
img_scan = im_full
else:
img_scan = im_half
t0=time.time()
for i in range(args.repeat):
regions = scanner.scan(img_scan, scan_parms)
regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full))
count += 1
t1=time.time()
if args.filter:
regions = cuav_region.filter_regions(im_full, regions, min_score=args.minscore,
filter_type=args.filter_type)
if len(regions) > 0 and args.debug:
composite = cuav_region.CompositeThumbnail(im_full, regions, thumb_size=args.thumb_size)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
thumb_num = 0
for thumb in thumbs:
print("thumb %u score %f" % (thumb_num, regions[thumb_num].score))
cv2.imwrite('%u_thumb%u.jpg' % (filenum,thumb_num), thumb)
thumb_num += 1
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and args.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(args.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(args.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=args.altitude, C=C_params)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if args.mosaic and len(regions) > 0 and pos:
composite = cuav_region.CompositeThumbnail(im_full, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
if args.fullres:
img_view = im_full
else:
img_view = img_scan
#mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(img_view, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB)
viewer.set_image(img_view)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
if os.path.isdir(args.directory):
files.extend(file_list(args.directory, ['jpg', 'jpeg', 'png']))
else:
if args.directory.find('*') != -1:
files.extend(glob.glob(args.directory))
else:
files.append(args.directory)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=args.service,
elevation=True,
title='Map')
if args.vehicle_type == "Copter":
icon = slipmap.icon('redcopter.png')
else:
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
for flag in args.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = slipmap.icon(icon)
slipmap.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
if args.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(args.mission.name)
plist = wp.polygon_list()
if len(plist) > 0:
for i in range(len(plist)):
slipmap.add_object(
mp_slipmap.SlipPolygon('Mission-%s-%u' %
(args.mission.name, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
if args.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(args.mavlog)
else:
mpos = None
if args.gammalog is not None:
gamma = parse_gamma_log(args.gammalog)
else:
gamma = None
if args.kmzlog:
kmzpos = mav_position.KmlPosition(args.kmzlog)
else:
kmzpos = None
if args.triggerlog:
triggerpos = mav_position.TriggerPosition(args.triggerlog)
else:
triggerpos = None
# create a simple lens model using the focal length
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params)
else:
im_orig = cv2.imread(files[0])
(w, h) = cuav_util.image_shape(im_orig)
C_params = cam_params.CameraParams(lens=args.lens,
sensorwidth=args.sensorwidth,
xresolution=w,
yresolution=h)
if args.target:
target = args.target.split(',')
else:
target = [0, 0, 0]
camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, args.roll_stabilised,
'Roll Stabilised'),
MPSetting('pitch_stabilised', bool, args.pitch_stabilised,
'Pitch Stabilised'),
MPSetting('roll_offset', float, args.roll_offset, 'Roll Offset'),
MPSetting('pitch_offset', float, args.pitch_offset, 'Pitch Offset'),
MPSetting('altitude',
int,
args.altitude,
'Altitude',
range=(0, 10000),
increment=1),
MPSetting(
'minalt', int, 30, 'MinAltitude', range=(0, 10000), increment=1),
MPSetting('mpp100',
float,
0.0977,
'MPPat100m',
range=(0, 10000),
increment=0.001),
MPSetting('rotate180', bool, False, 'rotate180'),
MPSetting('showlz', bool, args.showlz,
'Show calculated landing zone from regions'),
MPSetting(
'filter_type', str, 'simple', 'Filter Type', choice=['simple']),
MPSetting('target_lattitude',
float,
float(target[0]),
'target latitude',
increment=1.0e-7),
MPSetting('target_longitude',
float,
float(target[1]),
'target longitude',
increment=1.0e-7),
MPSetting('target_radius',
float,
float(target[2]),
'target radius',
increment=1),
MPSetting('quality',
int,
75,
'Compression Quality',
range=(1, 100),
increment=1),
MPSetting('thumbsize',
int,
args.thumbsize,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('map_thumbsize',
int,
args.map_thumbsize,
'Map Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
args.minscore,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display'),
],
title='Camera Settings')
image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.2,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('BlueEmphasis', bool, args.blue_emphasis),
MPSetting('SaveIntermediate', bool, args.debug)
],
title='Image Settings')
mosaic = cuav_mosaic.Mosaic(slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True,
classify=args.categories,
thumb_size=args.mosaic_thumbsize,
map_thumb_size=args.map_thumbsize)
joelog = cuav_joe.JoeLog(None)
lz = cuav_landingregion.LandingZone()
if args.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
start_time = time.time()
for f in files:
if not mosaic.started():
print("Waiting for startup")
if args.start:
mosaic.has_started = True
while not mosaic.started():
mosaic.check_events()
time.sleep(0.01)
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
if gamma is not None:
frame_time = parse_gamma_time(f, gamma)
else:
frame_time = cuav_util.parse_frame_time(f)
frame_time += args.time_offset
if camera_settings.roll_stabilised:
roll = 0
else:
roll = None
if camera_settings.pitch_stabilised:
pitch = 0
else:
pitch = None
try:
pos = mpos.position(frame_time,
roll=roll,
pitch=pitch,
roll_offset=camera_settings.roll_offset,
pitch_offset=camera_settings.pitch_offset)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += args.time_offset
# update the vehicle icon on the map
if pos is not None:
slipmap.set_position("plane", (pos.lat, pos.lon), rotation=pos.yaw)
if camera_settings.altitude > 0:
pos.altitude = camera_settings.altitude
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
#im_orig = cuav_util.LoadImage(f, rotate180=camera_settings.rotate180)
im_orig = cv2.imread(f)
if im_orig is None:
continue
(w, h) = cuav_util.image_shape(im_orig)
if args.downsample:
im_full = cv2.resize(im_orig, (0, 0), fx=0.5, fy=0.5)
else:
im_full = im_orig
count = 0
total_time = 0
t0 = time.time()
img_scan = im_full
scan_parms = {}
for name in image_settings.list():
scan_parms[name] = image_settings.get(name)
scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate'])
scan_parms['BlueEmphasis'] = float(scan_parms['BlueEmphasis'])
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
altitude = pos.altitude
if altitude < camera_settings.minalt:
altitude = camera_settings.minalt
scan_parms[
'MetersPerPixel'] = camera_settings.mpp100 * altitude / 100.0
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full))
count += 1
t1 = time.time()
frame_time = pos.time
if pos:
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=altitude, C=C_params)
if camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (camera_settings.target_lattitude,
camera_settings.target_longitude),
camera_settings.target_radius)
regions = cuav_region.filter_regions(
im_full,
regions,
min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type)
scan_count += 1
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f)
mosaic.add_image(pos.time, f, pos)
if camera_settings.showlz:
for r in regions:
if r.score >= camera_settings.minscore and pos is not None:
lz.checkaddregion(r, pos)
#if lz.landingzoneconfidence and lz.landingzoneconfidence < 20:
# print("Refining LZ")
lzresult = lz.calclandingzone()
if lzresult is not None:
slipmap.add_object(
mp_slipmap.SlipCircle('LZ',
'LZ',
lzresult.latlon,
lzresult.maxrange,
linewidth=3,
color=(0, 255, 0)))
slipmap.add_object(
mp_slipmap.SlipCircle('LZMid',
'LZMid',
lzresult.latlon,
2.0,
linewidth=3,
color=(0, 255, 0)))
region_count += len(regions)
if len(regions) > 0:
composite = cuav_region.CompositeThumbnail(im_full, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
thumbsRGB = []
#colour space conversion
for thumb in thumbs:
thumbsRGB.append(cv2.cvtColor(thumb, cv2.COLOR_BGR2RGB))
mosaic.add_regions(regions, thumbsRGB, f, pos)
if args.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
for r in regions:
r.draw_rectangle(img_view, (255, 0, 0))
#cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB)
viewer.set_image(img_view)
viewer.set_title('Image: ' + os.path.basename(f))
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))
#raw_input("hit ENTER when ready")
print("All images processed (%u seconds)" % (time.time() - start_time))
while True:
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
time.sleep(0.2)
def test_Mosaic():
#slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
#mocked_slipmap.return_value = 1
#monkeypatch.setattr('slipmap', lambda x: 1)
mocked_slipmap = mock.MagicMock(return_value=1)
C_params = CameraParams(lens=4.0, sensorwidth=5.0, xresolution=1280, yresolution=960)
mosaic = cuav_mosaic.Mosaic(mocked_slipmap, C=C_params)
mosaic.set_mosaic_size((200, 200))
assert mosaic.mosaic.shape == (175, 175, 3)
f = os.path.join(os.getcwd(), 'tests', 'testdata', 'raw2016111223465120Z.png')
img = cv2.imread(f)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=1478994408.76)
regions = []
regions.append(cuav_region.Region(1020, 658, 1050, 678, (30, 30), scan_score=20))
regions.append(cuav_region.Region(30, 54, 50, 74, (20, 20), scan_score=15))
regions.append(cuav_region.Region(30, 54, 55, 79, (25, 25), scan_score=10))
for i in range(40):
regions.append(cuav_region.Region(200, 600, 220, 620, (20, 20), scan_score=45))
composite = cuav_region.CompositeThumbnail(img, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
mosaic.add_image(1478994408.76, f, pos)
mosaic.show_region(0)
mosaic.view_imagefile(f)
assert mosaic.find_image_idx(f) == 0
mosaic.view_imagefile_by_idx(0)
mocked_key = mock.MagicMock(return_value=1)
mocked_key.objkey = "region 1"
assert mosaic.show_selected(mocked_key) == True
mosaic.show_closest((-30, 145), mocked_key)
mosaic.view_image.terminate()
#mosaic.map_menu_callback
#mosaic.map_callback
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
mosaic.set_boundary(OBC_boundary)
mosaic.change_page(1)
mosaic.hide_page()
assert len(mosaic.regions_sorted) == 25
mosaic.unhide_all()
assert len(mosaic.regions_sorted) == 43
for i in ['Score', 'ScoreReverse', 'Distinctiveness', 'Whiteness', 'Time']:
mosaic.sort_type = i
mosaic.re_sort()
#mosaic.menu_event
assert mosaic.started() == True
mosaic.popup_show_image(mosaic.regions[2])
mosaic.popup_fetch_image(mosaic.regions[2], 'fetchImageFull')
assert len(mosaic.get_image_requests()) == 1
mosaic.view_image.terminate()
#mosaic.menu_event_view
mocked_pos = mock.MagicMock(return_value=1)
mocked_pos.x = 10
mocked_pos.y = 10
assert mosaic.pos_to_region(mocked_pos) == mosaic.regions[0]
assert mosaic.objkey_to_region(mocked_key) == mosaic.regions[1]
#mosaic.mouse_event
#mosaic.mouse_event_view
mosaic.key_event(1)
assert mosaic.region_on_page(2, 0) == True
assert mosaic.region_on_page(2000, 20) == False
mosaic.mouse_region = mosaic.regions[0]
mosaic.display_mosaic_region(0)
mosaic.redisplay_mosaic()
assert mosaic.make_thumb(img, regions[0], 8).shape == (8, 8, 3)
assert mosaic.make_thumb(img, regions[0], 30).shape == (30, 30, 3)
mosaic.tag_image(1478994408.76)
#mosaic.check_events
mosaic.image_mosaic.terminate()