def load_nvm_and_register_images(nvm_file,
images_path,
max_sleep_seconds,
every_nth,
single_image = None):
cams, points, cams_mlab, points_mlab = mayaviu.load_and_plot_nvm_cams(nvm_file)
fig = mlab.gcf()
# signal.signal(signal.SIGUSR1, plot_localized_image_after_signal(fig))
# if single_image is not None:
# tmp_dir = 'tmp_im_dir'
# if not os.path.isdir(tmp_dir):
# os.mkdir(tmp_dir)
# shutil.copy(
# signal.signal(signal.SIGUSR1, localized_image_signal)
model = vsfm_model.create_from_nvm(nvm_file)
vsfm_interface = vsfmu.vsfm_interface()
vsfm_interface.sfm_more_less_visualization_data()
image_files = ['{}/{}'.format(images_path, i) \
for i in os.listdir(images_path) if i.find('.jpg') > 0]
image_basenames = sorted([os.path.basename(_) for _ in image_files])
image_files = sorted([os.path.abspath(_) for _ in image_files])
vsfm_interface.sfm_load_nview_match(nvm_file)
vsfm_interface.view_image_thumbnails()
mlab.show()
rtst = rts_thread(vsfm_interface,
nvm_file,
model,
model_image_dir = '/home/nrhineha/dev/activity/data/kitchen_seq_x1',
image_files = image_files,
max_sleep_seconds = max_sleep_seconds)
rtst.start()
mlab.show()
# seq = register_temporal_sequence(vsfm_interface,
# nvm_file,
# model,
# model_image_dir = '/home/nrhineha/dev/activity/data/kitchen_seq_x1',
# image_files = image_files,
# max_sleep_seconds = max_sleep_seconds)
# cams, new_cams = register_image(vsfm_interface, image_files[0])
# # vsfm_interface.sfm_delete_selected_camera()
# near_cams= model.lookup_nearby_cameras(new_cams[0])
# mfn = write_specified_match_file('/home/nrhineha/Desktop/test/loc2.jpg',
# near_cams,
# '/home/nrhineha/dev/activity/data/kitchen_seq_x1')
# register_image(vsfm_interface, images_path, image_files[1], image_basenames[1], match_specified_fn = os.path.abspath(mfn))
ipdb.set_trace()
def load_nvm_and_register_image(nvm_file, image_path, max_sleep_seconds = 30):
# with gtkutils.color_printer.timer() as t:
vsfm_interface = vsfmu.vsfm_interface()
vsfm_interface.sfm_more_less_visualization_data()
vsfm_interface.sfm_load_nview_match(nvm_file)
cams, new_cams = register_image(vsfm_interface, image_path, max_sleep_seconds = max_sleep_seconds)
if len(new_cams) > 0:
print "camera position: {}".format(new_cams[0].camera_position)
else:
print "couldn't localize!"
def sparse_reconstruction_from_image_dir(path):
cur_dir = os.getcwd()
bn = os.path.basename(path)
print "basename", bn
os.chdir(path)
i = vsfmu.vsfm_interface()
i.file_open_current_path()
i.sfm_pairwise_compute_missing_match()
i.sfm_reconstruct_sparse()
i.sfm_save_nview_match(cur_dir + '/{}_sparse.nvm'.format(bn))
pdb.set_trace()
import os, pdb, time import vsfm_socket_util as vsfmu example_dir = 'examples/kermit' os.chdir(example_dir) path_to_vsfm_bin = '/home/nrhineha/dev/vsfm/bin/VisualSFM' i = vsfmu.vsfm_interface(vsfm_binary_fn = path_to_vsfm_bin) # these will send commands over sockets and not wait... VSFM will process sequentially i.file_open_current_path() i.view_image_thumbnails() i.sfm_pairwise_compute_missing_match() i.sfm_reconstruct_sparse() i.sfm_reconstruct_dense() i.view_dense_3d_points() print "entering pdb REPL for additional user commands" pdb.set_trace() # i.close()
import os, pdb, time import vsfm_socket_util as vsfmu example_dir = 'examples/kermit' os.chdir(example_dir) path_to_vsfm_bin = '/home/nrhineha/dev/vsfm/bin/VisualSFM' i = vsfmu.vsfm_interface(vsfm_binary_fn=path_to_vsfm_bin) # these will send commands over sockets and not wait... VSFM will process sequentially i.file_open_current_path() i.view_image_thumbnails() i.sfm_pairwise_compute_missing_match() i.sfm_reconstruct_sparse() i.sfm_reconstruct_dense() i.view_dense_3d_points() print "entering pdb REPL for additional user commands" pdb.set_trace() # i.close()
