def interpolate_perspective_cameras(cam0, cam1, ncams, outdir):
boxm2_batch.init_process("vpglInterpolatePerspectiveCamerasProcess")
boxm2_batch.set_input_from_db(0, cam0)
boxm2_batch.set_input_from_db(1, cam1)
boxm2_batch.set_input_unsigned(2, ncams)
boxm2_batch.set_input_string(3, outdir)
return boxm2_batch.run_process()
def initialize_rng(seed=0):
boxm2_batch.init_process("bstaInitializeRandomSeedProcess");
boxm2_batch.set_input_unsigned(0,seed);
boxm2_batch.run_process();
(id,type) = boxm2_batch.commit_output(0)
rng = dbvalue(id,type)
return rng
def extract_color_features(scene, cache, data_type, index):
boxm2_batch.init_process("boxm2ExtractColorFeaturesProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cache)
boxm2_batch.set_input_string(2, data_type)
boxm2_batch.set_input_unsigned(3, index)
boxm2_batch.run_process()
def extract_surface_features(scene, cache, type, index):
boxm2_batch.init_process("boxm2ExtractSurfaceFeaturesProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cache)
boxm2_batch.set_input_string(2, type)
boxm2_batch.set_input_unsigned(3, index)
boxm2_batch.run_process()
def remove_from_db(dbvals):
if not isinstance(dbvals, (list, tuple)):
dbvals = [dbvals]
for dbval in dbvals:
boxm2_batch.init_process("bbasRemoveFromDbProcess")
boxm2_batch.set_input_unsigned(0, dbval.id)
boxm2_batch.run_process()
def initialize_rng(seed=0):
boxm2_batch.init_process("bstaInitializeRandomSeedProcess")
boxm2_batch.set_input_unsigned(0, seed)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
rng = dbvalue(id, type)
return rng
def remove_from_db(dbvals) :
if not isinstance(dbvals, (list, tuple)) :
dbvals = [dbvals]
for dbval in dbvals:
boxm2_batch.init_process("bbasRemoveFromDbProcess")
boxm2_batch.set_input_unsigned(0, dbval.id);
boxm2_batch.run_process();
def render_z_image(scene,
cache,
cam,
ni=1280,
nj=720,
normalize=False,
device=None):
if cache.type == "boxm2_cache_sptr":
print "boxm2_batch CPU render depth not yet implemented"
elif cache.type == "boxm2_opencl_cache_sptr" and device:
boxm2_batch.init_process("boxm2OclRenderExpectedZImageProcess")
boxm2_batch.set_input_from_db(0, device)
boxm2_batch.set_input_from_db(1, scene)
boxm2_batch.set_input_from_db(2, cache)
boxm2_batch.set_input_from_db(3, cam)
boxm2_batch.set_input_unsigned(4, ni)
boxm2_batch.set_input_unsigned(5, nj)
boxm2_batch.set_input_bool(6, normalize)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
z_exp_image = dbvalue(id, type)
(id, type) = boxm2_batch.commit_output(1)
z_var_image = dbvalue(id, type)
return z_exp_image, z_var_image
else:
print "ERROR: Cache type not recognized: ", cache.type
def get_info_along_ray(scene,cache,cam,u,v,prefix,identifier="") :
print("Ray Probe");
boxm2_batch.init_process("boxm2CppRayProbeProcess");
boxm2_batch.set_input_from_db(0,scene);
boxm2_batch.set_input_from_db(1,cache);
boxm2_batch.set_input_from_db(2,cam);
boxm2_batch.set_input_unsigned(3,u);
boxm2_batch.set_input_unsigned(4,v);
boxm2_batch.set_input_string(5,prefix);
boxm2_batch.set_input_string(6,identifier);
boxm2_batch.run_process();
(id, type) = boxm2_batch.commit_output(0);
len_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(1);
alpha_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(2);
vis_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(3);
tabs_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(4);
res_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
if (prefix != "") :
(id, type) = boxm2_batch.commit_output(5);
data_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(6);
nelems = boxm2_batch.get_output_int(id);
return len_array_1d, alpha_array_1d, vis_array_1d ,tabs_array_1d,res_array_1d, data_array_1d, nelems;
else :
return len_array_1d, alpha_array_1d, vis_array_1d ,tabs_array_1d,res_array_1d;
def get_generic_cam_ray(cam, u, v):
boxm2_batch.init_process("vpglGetGenericCamRayProcess");
boxm2_batch.set_input_from_db(0, cam);
boxm2_batch.set_input_unsigned(1, u);
boxm2_batch.set_input_unsigned(2, v);
boxm2_batch.run_process();
(id,type) = boxm2_batch.commit_output(0);
orig_x = boxm2_batch.get_output_double(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(1);
orig_y = boxm2_batch.get_output_double(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(2);
orig_z = boxm2_batch.get_output_double(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(3);
dir_x = boxm2_batch.get_output_double(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(4);
dir_y = boxm2_batch.get_output_double(id);
boxm2_batch.remove_data(id);
(id,type) = boxm2_batch.commit_output(5);
dir_z = boxm2_batch.get_output_double(id);
boxm2_batch.remove_data(id);
return orig_x, orig_y, orig_z, dir_x, dir_y, dir_z;
def import_point_cloud(scene, cache, in_file, min_octree_depth=2):
boxm2_batch.init_process("boxm2ImportPointCloudProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cache)
boxm2_batch.set_input_string(2, in_file)
boxm2_batch.set_input_unsigned(3, min_octree_depth)
boxm2_batch.run_process()
def test_classifier_clouds(tclsf, dictionary_name, image_resource, i, j, width, height, block_size, percent_cat_name, category_id_file=""):
boxm2_batch.init_process("sdetTextureClassifySatelliteCloudsProcess");
boxm2_batch.set_input_from_db(0, tclsf);
boxm2_batch.set_input_string(1, dictionary_name);
boxm2_batch.set_input_from_db(2, image_resource);
boxm2_batch.set_input_unsigned(3, i);
boxm2_batch.set_input_unsigned(4, j);
boxm2_batch.set_input_unsigned(5, width);
boxm2_batch.set_input_unsigned(6, height);
boxm2_batch.set_input_unsigned(7, block_size);
boxm2_batch.set_input_string(8, category_id_file);
boxm2_batch.set_input_string(9, percent_cat_name);
status = boxm2_batch.run_process();
if status:
(out_id, out_type)=boxm2_batch.commit_output(0);
out_crop = dbvalue(out_id, out_type);
(out_id, out_type)=boxm2_batch.commit_output(1);
out_id_map = dbvalue(out_id, out_type);
(out_id, out_type)=boxm2_batch.commit_output(2);
out_rgb_map = dbvalue(out_id, out_type);
(percent_id, percent_type) = boxm2_batch.commit_output(3);
percent = boxm2_batch.get_output_float(percent_id);
boxm2_batch.remove_data(percent_id)
return out_crop, out_id_map, out_rgb_map, percent
else:
out_crop = 0;
out_id_map = 0;
out_rgb_map = 0;
percent = 100;
return out_crop, out_id_map, out_rgb_map, percent
def get_generic_cam_ray(cam, u, v):
boxm2_batch.init_process("vpglGetGenericCamRayProcess")
boxm2_batch.set_input_from_db(0, cam)
boxm2_batch.set_input_unsigned(1, u)
boxm2_batch.set_input_unsigned(2, v)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
orig_x = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(1)
orig_y = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(2)
orig_z = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(3)
dir_x = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(4)
dir_y = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
(id, type) = boxm2_batch.commit_output(5)
dir_z = boxm2_batch.get_output_double(id)
boxm2_batch.remove_data(id)
return orig_x, orig_y, orig_z, dir_x, dir_y, dir_z
def get_info_along_ray(scene, cache, cam, u, v, prefix, identifier=""):
print("Ray Probe")
boxm2_batch.init_process("boxm2CppRayProbeProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cache)
boxm2_batch.set_input_from_db(2, cam)
boxm2_batch.set_input_unsigned(3, u)
boxm2_batch.set_input_unsigned(4, v)
boxm2_batch.set_input_string(5, prefix)
boxm2_batch.set_input_string(6, identifier)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
len_array_1d = boxm2_batch.get_bbas_1d_array_float(id)
(id, type) = boxm2_batch.commit_output(1)
alpha_array_1d = boxm2_batch.get_bbas_1d_array_float(id)
(id, type) = boxm2_batch.commit_output(2)
vis_array_1d = boxm2_batch.get_bbas_1d_array_float(id)
(id, type) = boxm2_batch.commit_output(3)
tabs_array_1d = boxm2_batch.get_bbas_1d_array_float(id)
(id, type) = boxm2_batch.commit_output(4)
res_array_1d = boxm2_batch.get_bbas_1d_array_float(id)
if (prefix != ""):
(id, type) = boxm2_batch.commit_output(5)
data_array_1d = boxm2_batch.get_bbas_1d_array_float(id)
(id, type) = boxm2_batch.commit_output(6)
nelems = boxm2_batch.get_output_int(id)
return len_array_1d, alpha_array_1d, vis_array_1d, tabs_array_1d, res_array_1d, data_array_1d, nelems
else:
return len_array_1d, alpha_array_1d, vis_array_1d, tabs_array_1d, res_array_1d
def affine_rectify_images(img1,
affine_cam1,
img2,
affine_cam2,
min_x,
min_y,
min_z,
max_x,
max_y,
max_z,
n_points=100):
boxm2_batch.init_process("vpglAffineRectifyImagesProcess")
boxm2_batch.set_input_from_db(0, img1)
boxm2_batch.set_input_from_db(1, affine_cam1)
boxm2_batch.set_input_from_db(2, img2)
boxm2_batch.set_input_from_db(3, affine_cam2)
boxm2_batch.set_input_double(4, min_x)
boxm2_batch.set_input_double(5, min_y)
boxm2_batch.set_input_double(6, min_z)
boxm2_batch.set_input_double(7, max_x)
boxm2_batch.set_input_double(8, max_y)
boxm2_batch.set_input_double(9, max_z)
boxm2_batch.set_input_unsigned(10, n_points)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
out_img1 = dbvalue(id, type)
(id, type) = boxm2_batch.commit_output(1)
out_cam1 = dbvalue(id, type)
(id, type) = boxm2_batch.commit_output(2)
out_img2 = dbvalue(id, type)
(id, type) = boxm2_batch.commit_output(3)
out_cam2 = dbvalue(id, type)
return out_img1, out_cam1, out_img2, out_cam2
def import_point_cloud(scene,cache,in_file,min_octree_depth=2):
boxm2_batch.init_process("boxm2ImportPointCloudProcess");
boxm2_batch.set_input_from_db(0,scene);
boxm2_batch.set_input_from_db(1,cache);
boxm2_batch.set_input_string(2,in_file);
boxm2_batch.set_input_unsigned(3, min_octree_depth)
boxm2_batch.run_process();
def interpolate_perspective_cameras(cam0,cam1,ncams,outdir):
boxm2_batch.init_process("vpglInterpolatePerspectiveCamerasProcess");
boxm2_batch.set_input_from_db(0, cam0);
boxm2_batch.set_input_from_db(1, cam1);
boxm2_batch.set_input_unsigned(2, ncams);
boxm2_batch.set_input_string(3, outdir);
return boxm2_batch.run_process();
def generate_depth_maps(depth_scene_file, output_folder, output_name_prefix, downsampling_level=0):
boxm2_batch.init_process("bpglGenerateDepthMapsProcess");
boxm2_batch.set_input_string(0,depth_scene_file);
boxm2_batch.set_input_unsigned(1,downsampling_level);
boxm2_batch.set_input_string(2,output_folder);
boxm2_batch.set_input_string(3,output_name_prefix);
boxm2_batch.run_process();
def get_info_along_ray(scene,cache,cam,u,v,prefix,identifier="") :
print("Ray Probe");
boxm2_batch.init_process("boxm2CppRayProbeProcess");
boxm2_batch.set_input_from_db(0,scene);
boxm2_batch.set_input_from_db(1,cache);
boxm2_batch.set_input_from_db(2,cam);
boxm2_batch.set_input_unsigned(3,u);
boxm2_batch.set_input_unsigned(4,v);
boxm2_batch.set_input_string(5,prefix);
boxm2_batch.set_input_string(6,identifier);
boxm2_batch.run_process();
(id, type) = boxm2_batch.commit_output(0);
len_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(1);
alpha_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(2);
vis_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(3);
tabs_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
if (prefix != "") :
(id, type) = boxm2_batch.commit_output(4);
data_array_1d = boxm2_batch.get_bbas_1d_array_float(id);
(id, type) = boxm2_batch.commit_output(5);
nelems = boxm2_batch.get_output_int(id);
return len_array_1d, alpha_array_1d, vis_array_1d ,tabs_array_1d, data_array_1d, nelems;
else :
return len_array_1d, alpha_array_1d, vis_array_1d ,tabs_array_1d;
def trajectory_direct(trajectory, index):
boxm2_batch.init_process("boxm2ViewTrajectoryDirectProcess")
boxm2_batch.set_input_from_db(0, trajectory)
boxm2_batch.set_input_unsigned(1, index)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
cam = dbvalue(id, type)
return cam
def get_plane(img, plane_id):
boxm2_batch.init_process("vilGetPlaneProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_unsigned(1, plane_id)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
img_plane = dbvalue(id, type)
return img_plane
def img_sum(img, plane_index=0):
boxm2_batch.init_process("vilImageSumProcess")
boxm2_batch.set_input_from_db(0,img)
boxm2_batch.set_input_unsigned(1,plane_index)
boxm2_batch.run_process()
(id,type) = boxm2_batch.commit_output(0)
value = boxm2_batch.get_output_double(id)
return value
def get_plane(img, plane_id):
boxm2_batch.init_process("vilGetPlaneProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_unsigned(1, plane_id)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
img_plane = dbvalue(id, type)
return img_plane
def img_sum(img, plane_index=0):
boxm2_batch.init_process("vilImageSumProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_unsigned(1, plane_index)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
value = boxm2_batch.get_output_double(id)
return value
def mask_image_using_id(img, id_img, input_id):
boxm2_batch.init_process("vilMaskImageUsingIDsProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_from_db(1, id_img)
boxm2_batch.set_input_unsigned(2, input_id)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
masked_img = dbvalue(id, type)
return masked_img
def mask_image_using_id(img, id_img, input_id):
boxm2_batch.init_process("vilMaskImageUsingIDsProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_from_db(1, id_img)
boxm2_batch.set_input_unsigned(2, input_id)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
masked_img = dbvalue(id, type)
return masked_img
def add_to_filter_bank(tclsf, img_name, plane, filter_folder, filter_name, is_gauss_smooth = True):
boxm2_batch.init_process("sdetAddtoFilterBankProcess");
boxm2_batch.set_input_from_db(0,tclsf); # classifier instance
boxm2_batch.set_input_string(1,img_name);
boxm2_batch.set_input_unsigned(2,plane); ## pass which plane to extract the gauss response from
boxm2_batch.set_input_string(3,filter_folder);
boxm2_batch.set_input_string(4,filter_name); ## pass a unique name to be used to write to filter_folder
boxm2_batch.set_input_bool(5,is_gauss_smooth)
boxm2_batch.run_process();
def load_geotiff_cam2(filename, ni, nj):
boxm2_batch.init_process("vpglLoadGeoCameraProcess2")
boxm2_batch.set_input_string(0, filename)
boxm2_batch.set_input_unsigned(1, ni)
boxm2_batch.set_input_unsigned(2, nj)
boxm2_batch.run_process()
(c_id, c_type) = boxm2_batch.commit_output(0)
cam = dbvalue(c_id, c_type)
return cam
def init_float_img(ni, nj, val):
boxm2_batch.init_process("vilInitFloatImageProcess")
boxm2_batch.set_input_unsigned(0, ni)
boxm2_batch.set_input_unsigned(1, nj)
boxm2_batch.set_input_float(2, val)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
img_out = dbvalue(id, type)
return img_out
def apply_filters_cpp(scene, cpp_cache, prob_thres, filter_basename, filter_id, octree_lvl):
boxm2_batch.init_process("boxm2CppFilterResponseProcess");
boxm2_batch.set_input_from_db(0,scene);
boxm2_batch.set_input_from_db(1,cpp_cache);
boxm2_batch.set_input_float(2, prob_thres);
boxm2_batch.set_input_string(3, filter_basename);
boxm2_batch.set_input_unsigned(4, filter_id); #id kernel --> read the kernel from filter_basename + str(filter_id) + ".txt"
boxm2_batch.set_input_unsigned(5, octree_lvl); #octree level to run kernel
boxm2_batch.run_process();
def load_geotiff_cam2(filename, ni, nj):
boxm2_batch.init_process("vpglLoadGeoCameraProcess2");
boxm2_batch.set_input_string(0, filename);
boxm2_batch.set_input_unsigned(1, ni);
boxm2_batch.set_input_unsigned(2, nj);
boxm2_batch.run_process();
(c_id,c_type) = boxm2_batch.commit_output(0);
cam = dbvalue(c_id,c_type);
return cam;
def load_geotiff_cam(tfw_filename, lvcs, utm_zone, utm_hemisphere):
boxm2_batch.init_process("vpglLoadGeoCameraProcess");
boxm2_batch.set_input_string(0, tfw_filename);
boxm2_batch.set_input_from_db(1, lvcs);
boxm2_batch.set_input_int(2, utm_zone);
boxm2_batch.set_input_unsigned(3, utm_hemisphere);
boxm2_batch.run_process()
(c_id,c_type) = boxm2_batch.commit_output(0)
cam = dbvalue(c_id,c_type);
return cam
def load_geotiff_cam(tfw_filename, lvcs, utm_zone, utm_hemisphere):
boxm2_batch.init_process("vpglLoadGeoCameraProcess")
boxm2_batch.set_input_string(0, tfw_filename)
boxm2_batch.set_input_from_db(1, lvcs)
boxm2_batch.set_input_int(2, utm_zone)
boxm2_batch.set_input_unsigned(3, utm_hemisphere)
boxm2_batch.run_process()
(c_id, c_type) = boxm2_batch.commit_output(0)
cam = dbvalue(c_id, c_type)
return cam
def texture_classifier(tcl, dictionary, img, block_size=64):
boxm2_batch.init_process("sdetTextureClassifierProcess");
boxm2_batch.set_input_from_db(0, tcl);
boxm2_batch.set_input_string(1,dictionary);
boxm2_batch.set_input_from_db(2, img);
boxm2_batch.set_input_unsigned(3,block_size); # size of blocks
boxm2_batch.run_process();
(img_id, img_type) = boxm2_batch.commit_output(0);
img_classified = dbvalue(img_id, img_type);
return img_classified
def arf_seek_frame(rawStream, frame) :
boxm2_batch.init_process("bilArfSeekFrameProcess")
boxm2_batch.set_input_from_db(0,rawStream);
boxm2_batch.set_input_unsigned(1,frame);
boxm2_batch.run_process();
(id, type) = boxm2_batch.commit_output(0);
img = dbvalue(id,type);
(id, type) = boxm2_batch.commit_output(1);
time = boxm2_batch.get_output_unsigned(id);
return img, time
def threshold_image(img, value, threshold_above=True, id=255):
boxm2_batch.init_process("vilThresholdImageProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_float(1, value)
boxm2_batch.set_input_bool(2, threshold_above)
boxm2_batch.set_input_unsigned(3, id)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
def seek_frame(rawStream, frame):
boxm2_batch.init_process("bilSeekFrameProcess")
boxm2_batch.set_input_from_db(0, rawStream)
boxm2_batch.set_input_unsigned(1, frame)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
img = dbvalue(id, type)
#(id, type) = boxm2_batch.commit_output(1);
#time = boxm2_batch.get_output_unsigned(id);
return img
def texture_classifier(tcl, dictionary, img, block_size=64):
boxm2_batch.init_process("sdetTextureClassifierProcess")
boxm2_batch.set_input_from_db(0, tcl)
boxm2_batch.set_input_string(1, dictionary)
boxm2_batch.set_input_from_db(2, img)
boxm2_batch.set_input_unsigned(3, block_size) # size of blocks
boxm2_batch.run_process()
(img_id, img_type) = boxm2_batch.commit_output(0)
img_classified = dbvalue(img_id, img_type)
return img_classified
def generate_depth_maps(depth_scene_file,
output_folder,
output_name_prefix,
downsampling_level=0):
boxm2_batch.init_process("bpglGenerateDepthMapsProcess")
boxm2_batch.set_input_string(0, depth_scene_file)
boxm2_batch.set_input_unsigned(1, downsampling_level)
boxm2_batch.set_input_string(2, output_folder)
boxm2_batch.set_input_string(3, output_name_prefix)
boxm2_batch.run_process()
def threshold_image(img, value, threshold_above=True, id=255):
boxm2_batch.init_process("vilThresholdImageProcess")
boxm2_batch.set_input_from_db(0, img)
boxm2_batch.set_input_float(1, value)
boxm2_batch.set_input_bool(2, threshold_above)
boxm2_batch.set_input_unsigned(3, id)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
def seek_frame(rawStream, frame):
boxm2_batch.init_process("bilSeekFrameProcess")
boxm2_batch.set_input_from_db(0, rawStream)
boxm2_batch.set_input_unsigned(1, frame)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
img = dbvalue(id, type)
#(id, type) = boxm2_batch.commit_output(1);
#time = boxm2_batch.get_output_unsigned(id);
return img
def create_mask_image(scene, camera, ni, nj, ground_plane_only=False):
boxm2_batch.init_process("boxm2CreateSceneMaskProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, camera)
boxm2_batch.set_input_unsigned(2, ni)
boxm2_batch.set_input_unsigned(3, nj)
boxm2_batch.set_input_bool(4, ground_plane_only)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
mask = dbvalue(id, type)
return mask
def convert_reflectance_to_digital_count(reflectance_image, metadata, atmospheric_params, normalize_0_1 = False, max_digital_count = 2047):
boxm2_batch.init_process("bradConvertReflectanceToDigitalCountProcess")
boxm2_batch.set_input_from_db(0,reflectance_image)
boxm2_batch.set_input_from_db(1,metadata)
boxm2_batch.set_input_from_db(2,atmospheric_params)
boxm2_batch.set_input_bool(3,normalize_0_1)
boxm2_batch.set_input_unsigned(4,max_digital_count)
boxm2_batch.run_process()
(id,type) = boxm2_batch.commit_output(0)
output_img = dbvalue(id,type)
return output_img
def arf_seek_frame(rawStream, frame):
boxm2_batch.init_process("bilArfSeekFrameProcess")
boxm2_batch.set_input_from_db(0, rawStream)
boxm2_batch.set_input_unsigned(1, frame)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
img = dbvalue(id, type)
(id, type) = boxm2_batch.commit_output(1)
time = boxm2_batch.get_output_unsigned(id)
boxm2_batch.remove_data(id)
return img, time
def texture_classifier_exp_img(tclsf, dict_expected, fimage, fexp, block_size=64):
boxm2_batch.init_process("sdetExpImgClassifierProcess");
boxm2_batch.set_input_from_db(0, tclsf);
boxm2_batch.set_input_string(1,dict_expected);
boxm2_batch.set_input_from_db(2, fimage);
boxm2_batch.set_input_from_db(3, fexp);
boxm2_batch.set_input_unsigned(4,64);
boxm2_batch.run_process();
(text_class_id, text_class_type) = boxm2_batch.commit_output(0);
text_class = dbvalue(text_class_id, text_class_type);
return text_class;
def update_sun_visibilities(scene, device, ocl_cache, cache, sun_camera, ni,
nj, prefix_name):
boxm2_batch.init_process("boxm2OclUpdateSunVisibilitiesProcess")
boxm2_batch.set_input_from_db(0, device)
boxm2_batch.set_input_from_db(1, scene)
boxm2_batch.set_input_from_db(2, ocl_cache)
boxm2_batch.set_input_from_db(3, cache)
boxm2_batch.set_input_from_db(4, sun_camera)
boxm2_batch.set_input_unsigned(5, ni)
boxm2_batch.set_input_unsigned(6, nj)
boxm2_batch.set_input_string(7, prefix_name)
boxm2_batch.run_process()
def apply_filters_cpp(scene, cpp_cache, prob_thres, filter_basename, filter_id,
octree_lvl):
boxm2_batch.init_process("boxm2CppFilterResponseProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cpp_cache)
boxm2_batch.set_input_float(2, prob_thres)
boxm2_batch.set_input_string(3, filter_basename)
boxm2_batch.set_input_unsigned(4, filter_id)
#id kernel --> read the kernel from filter_basename + str(filter_id) + ".txt"
boxm2_batch.set_input_unsigned(5, octree_lvl)
#octree level to run kernel
boxm2_batch.run_process()
def perspective_camera_from_scene(scene, cent_x, cent_y, cent_z, ni, nj):
boxm2_batch.init_process("vpglPerspCameraFromSceneProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_float(1, cent_x)
boxm2_batch.set_input_float(2, cent_y)
boxm2_batch.set_input_float(3, cent_z)
boxm2_batch.set_input_unsigned(4, ni)
boxm2_batch.set_input_unsigned(5, nj)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
cam = dbvalue(id, type)
return cam
def test_classifier(tclsf, block_size, category_id_file=""):
boxm2_batch.init_process("sdetTextureClassifierProcess2");
boxm2_batch.set_input_from_db(0, tclsf);
boxm2_batch.set_input_unsigned(1, block_size);
boxm2_batch.set_input_string(2, category_id_file);
boxm2_batch.run_process();
(out_id, out_type)=boxm2_batch.commit_output(0);
out = dbvalue(out_id, out_type);
(out_id, out_type)=boxm2_batch.commit_output(1);
out_color = dbvalue(out_id, out_type);
(out_id, out_type)=boxm2_batch.commit_output(2);
out_id = dbvalue(out_id, out_type);
return out, out_color, out_id
def render_multi(scene, mcache, cam, ni=1280, nj=720, ident_string="", tnear=100000.0, tfar=100000.0):
boxm2_batch.init_process("boxm2MultiRenderProcess")
boxm2_batch.set_input_from_db(0, mcache)
boxm2_batch.set_input_from_db(1, scene)
boxm2_batch.set_input_from_db(2, cam)
boxm2_batch.set_input_unsigned(3, ni)
boxm2_batch.set_input_unsigned(4, nj)
boxm2_batch.set_input_string(5, ident_string)
boxm2_batch.set_input_float(6, tnear)
boxm2_batch.set_input_float(7, tfar)
boxm2_batch.run_process()
(id, type) = boxm2_batch.commit_output(0)
exp_image = dbvalue(id, type)
return exp_image
def correct_cam_rotation(img, pcam, exp_img, cone_half_angle, n_steps, refine=True):
boxm2_batch.init_process('icamCorrectCamRotationProcess')
boxm2_batch.set_input_from_db(0,img)
boxm2_batch.set_input_from_db(1,pcam)
boxm2_batch.set_input_from_db(2,exp_img)
boxm2_batch.set_input_float(3,cone_half_angle)
boxm2_batch.set_input_unsigned(4,n_steps)
boxm2_batch.set_input_bool(5,refine)
boxm2_batch.run_process()
(m_id,m_type) = boxm2_batch.commit_output(0)
mapped_img = dbvalue(m_id,m_type);
(c_id,c_type) = boxm2_batch.commit_output(1)
corr_cam = dbvalue(c_id,c_type);
return mapped_img, corr_cam
def image_mutual_info(image1, image2, min_val, max_val, n_bins):
boxm2_batch.init_process("bripImageMutualInfoProcess")
boxm2_batch.set_input_from_db(0, image1)
boxm2_batch.set_input_from_db(1, image2)
boxm2_batch.set_input_double(2, min_val)
boxm2_batch.set_input_double(3, max_val)
boxm2_batch.set_input_unsigned(4, n_bins)
status = boxm2_batch.run_process()
if status:
(id, type) = boxm2_batch.commit_output(0)
mutual_info = boxm2_batch.get_output_double(id)
return mutual_info
else:
return -1.0
def compute_affine_from_local_rational(cropped_cam, min_x, min_y, min_z, max_x, max_y, max_z, n_points=100):
boxm2_batch.init_process("vpglComputeAffineFromRationalProcess");
boxm2_batch.set_input_from_db(0, cropped_cam);
boxm2_batch.set_input_double(1, min_x);
boxm2_batch.set_input_double(2, min_y);
boxm2_batch.set_input_double(3, min_z);
boxm2_batch.set_input_double(4, max_x);
boxm2_batch.set_input_double(5, max_y);
boxm2_batch.set_input_double(6, max_z);
boxm2_batch.set_input_unsigned(7, n_points);
boxm2_batch.run_process();
(id, type) = boxm2_batch.commit_output(0);
out_cam = dbvalue(id, type);
return out_cam
def classify_image(eig, h_no, h_atmos, input_image_filename, tile_ni, tile_nj):
boxm2_batch.init_process("bradClassifyImageProcess");
boxm2_batch.set_input_from_db(0, eig);
boxm2_batch.set_input_from_db(1, h_no);
boxm2_batch.set_input_from_db(2, h_atmos);
boxm2_batch.set_input_string(3, input_image_filename);
boxm2_batch.set_input_unsigned(4, tile_ni);
boxm2_batch.set_input_unsigned(5, tile_nj);
boxm2_batch.run_process();
(vid, vtype) = boxm2_batch.commit_output(0);
q_img = dbvalue(vid, vtype);
(vid, vtype) = boxm2_batch.commit_output(1);
q_img_orig_size = dbvalue(vid, vtype);
return q_img, q_img_orig_size
def gen_point_cloud(scene,cache,filename,thresh = 0.3,depth=3):
boxm2_batch.init_process("boxm2ExtractPointCloudProcess");
boxm2_batch.set_input_from_db(0,scene);
boxm2_batch.set_input_from_db(1,cache);
boxm2_batch.set_input_float(2,thresh); #prob threshold
boxm2_batch.set_input_unsigned(3,depth); #prob threshold
boxm2_batch.run_process();
boxm2_batch.init_process("boxm2ExportOrientedPointCloudProcess");
boxm2_batch.set_input_from_db(0,scene);
boxm2_batch.set_input_from_db(1,cache);
boxm2_batch.set_input_string(2,filename);
boxm2_batch.set_input_float(4,0.5);
boxm2_batch.run_process();
def load_perspective_camera_from_kml_file(NI, NJ, kml_file) :
boxm2_batch.init_process("vpglLoadPerspCameraFromKMLFileProcess");
boxm2_batch.set_input_unsigned(0, NI);
boxm2_batch.set_input_unsigned(1, NJ);
boxm2_batch.set_input_string(2, kml_file);
boxm2_batch.run_process();
(id,type) = boxm2_batch.commit_output(0);
cam = dbvalue(id,type);
(id,type) = boxm2_batch.commit_output(1);
longitude = boxm2_batch.get_output_double(id);
(id,type) = boxm2_batch.commit_output(2);
latitude = boxm2_batch.get_output_double(id);
(id,type) = boxm2_batch.commit_output(3);
altitude = boxm2_batch.get_output_double(id);
return cam, longitude, latitude, altitude;
def gen_color_point_cloud(scene, cache, filename, thresh=0.3, ident="", depth=3):
boxm2_batch.init_process("boxm2ExtractPointCloudProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cache)
boxm2_batch.set_input_float(2, thresh) # prob threshold
boxm2_batch.set_input_unsigned(3, depth) # prob threshold
boxm2_batch.run_process()
boxm2_batch.init_process("boxm2ExportColorPointCloudProcess")
boxm2_batch.set_input_from_db(0, scene)
boxm2_batch.set_input_from_db(1, cache)
boxm2_batch.set_input_string(2, filename)
boxm2_batch.set_input_float(3, thresh)
boxm2_batch.set_input_string(4, ident)
boxm2_batch.run_process()
