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c_test2.py
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##20201106 -- calculate image plane coord, like a collision test
#20210114 -- crossing test
#20210201 -- add sql part
#20210428 --- hydro side pilene version
#20210502 -- limited function
##this script test target area is inside of each camera cone or not
## target areas are imported from csv file
## adjust to test for surfaces facing to the front
import Metashape
import json
import csv
import os
import os.path
import sys
import re
import configparser
import subprocess
import math
import glob
import time
import csv
import pathlib
from PIL import Image, ImageDraw
######
Target_area = False
###### True = target area imported from csv
###### False = need setup plant number and scale
def crosspx(a,b,c,d,f):
if(a==c):
return [a,f]
elif(b==d or (b -f)*(d-f) > 0 ):
return None
elif(a==c and b==d):
return None
else:
ansx = ( f - d + ((d-b)/(c-a))*c)*((c-a)/(d-b))
if( ansx > 0 and ansx < 4000):
return [ansx, f]
else:
return None
def crosspy(a,b,c,d,f):
if(a==c or (a-f)*(c-f)> 0):
return None
elif(b==d ):
return[f,b]
elif(a==c and b==d):
return None
else:
ansy = ((d-b)/(c-a))*f + d-((d-b)/(c-a))*c
if(ansy > 0 and ansy < 3000):
return [f, ansy]
else:
return None
#######
doc = Metashape.app.document
cur_file = os.getcwd() + os.sep + os.path.basename(os.getcwd()) +".psx"
doc.clear()
doc.open(cur_file)
this_path = Metashape.app.document.path
cur_folder = os.getcwd()
filename = os.path.basename(os.getcwd())
this_file1 = os.path.splitext(this_path)[0]
print(os.path.dirname(this_file1))
chunk = doc.chunk
camera = Metashape.Camera
invm = Metashape.Matrix.inv(chunk.transform.matrix)
R = chunk.transform.matrix
date = chunk.cameras[0].photo.meta["Exif/DateTime"]
datedate = str(date.split()[0])
date2 = datedate.split(":")
datesp = date2[0] + date2[1] + date2[2]
header = ["date","flightID","side","image_name","plant","comm"]
csv_name = os.path.dirname(this_path) + os.sep + "area.csv"
if not os.path.exists('mask'):
os.mkdir('mask')
flightid = "a"
pbed = "a"
pcenter = []
pname = []
boxx = []
boxy = []
boxz = []
arean = []
areav = []
box4v = []
box4vsp = []
#### plant position setup: case 1
################################
mk_id1 = 0
mk_id2 = 0
scale = 14.4
pnum = 0
for i in range(len(chunk.markers)):
if chunk.markers[i].label == "target 122":
mk_id1 = i
if chunk.markers[i].label == "target 126":
ma_id2 = i
if Target_area == False:
pnum = 35
psep = scale/(pnum + 1)
boxx = [-0.25,-0.25,-0.25,-0.25,0.25,0.25,0.25,0.25]
boxy = [0,0,2,2,0,0,2,2]
boxz = [-0.25,0.25,-0.25,0.25,-0.25,0.25,-0.25,0.25]
for i in range(pnum):
pcenter.append(psep*(i + 1))
pname.append("plant" + str(i + 1))
if not os.path.exists('mask' + os.sep+ pname[i]):
os.mkdir('mask' + os.sep+pname[i])
else: #### plant position setup: case 2
area_path = cur_folder + os.sep + "area.csv"
boxx = [-0.25,-0.25,-0.25,-0.25,0.25,0.25,0.25,0.25]
with open(area_path,'r') as f1:
reader = csv.reader(f1, delimiter = ',')
header = next(reader)#header
for row in reader:
arean.append(row[0].split('_')[0])
areav.append(( float(row[1]), float(row[3]) ))
for i in range( int(len(areav)/4)):
pname.append(arean[4*i])
box4v.append( (areav[4*i], areav[4*i+1],areav[4*i+2], areav[4*i+3]) )
box44v = sorted(box4v[i], key=lambda x:(x[0], x[1]) )
if box44v[0][1] > box44v[1][1]:
if box44v[2][1] > box44v[3][1]:
box4vsp.append( (box44v[1], box44v[0],box44v[3],box44v[2]) )
else:
box4vsp.append( (box44v[1], box44v[0],box44v[2],box44v[3]) )
else:
if box44v[2][1] > box44v[3][1]:
box4vsp.append( (box44v[0], box44v[1],box44v[3],box44v[2]) )
else:
box4vsp.append( (box44v[0], box44v[1],box44v[2],box44v[3]) )
if not os.path.exists('mask' + os.sep+ pname[i]):
os.mkdir('mask' + os.sep+pname[i])
f1.close
################################
cam_num = 0
count = 0
csv_name = datesp + '_camtest'
ff= open(csv_name + ".csv", 'w', newline = '')
writer = csv.writer(ff,lineterminator='\n')
writer.writerow(header)
for cam_index in range(len(chunk.cameras)):
camerasp = chunk.cameras[cam_index]
print(cam_index,camerasp)
sensorsp = camerasp.sensor
calibrationsp = sensorsp.calibration
#### image plane pixel borader
i4v = [[0,0],[0,sensorsp.height],[sensorsp.width,0],[sensorsp.width,sensorsp.height]]
inout1 = 0
inout2 = 0
inout3 = 0
for i in range(len(pname)):
inout1 = 0
inout2 = 0
inout3 = 0
diff = 0
box3Dlist = []
im = Image.new('RGB', (4000, 3000), (0, 0, 0))
draw = ImageDraw.Draw(im)
if Target_area == False:
diff = ( pcenter[i] - R.mulp(camerasp.center)[0])**2
else:
diff = ( R.mulp(camerasp.center)[0] - (box4vsp[i][0][0] + box4vsp[i][1][0] + box4vsp[i][2][0] + box4vsp[i][3][0])/4)**2
for k in range(len(boxx)):
if Target_area == False:
boxsp = invm.mulp( Metashape.Vector([pcenter[i] + boxx[k] , boxy[k], boxz[k] ]) )
else:
if k == 0:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][0][0] , box4vsp[i][0][1], -0.35 ]) )
if k == 1:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][0][0] , box4vsp[i][0][1], 0.45 ]) )
if k == 2:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][1][0] , box4vsp[i][1][1], -0.35 ]) )
if k == 3:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][1][0] , box4vsp[i][1][1], 0.45 ]) )
if k == 4:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][2][0] , box4vsp[i][2][1], -0.35 ]) )
if k == 5:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][2][0] , box4vsp[i][2][1], 0.45 ]) )
if k == 6:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][3][0] , box4vsp[i][3][1], -0.35 ]) )
if k == 7:
boxsp = invm.mulp( Metashape.Vector([box4vsp[i][3][0] , box4vsp[i][3][1], 0.45 ]) )
if(camerasp.project(boxsp) != None):
tesd1 = camerasp.project( boxsp)[0]
tesd2 = camerasp.project( boxsp)[1]
box3Dlist.append( [tesd1,tesd2 ] )
elif(camerasp.project(boxsp) == None):
box3Dlist.append( [-1000000,-1000000 ] )
vuse = [[1,5,3,7],[0,3,2,6]]
combl = [[0,1],[2,3],[4,5],[6,7],[0,2],[1,3],[4,6],[5,7],[0,4],[1,5],[2,6],[3,7]]
if diff > 3.5:
inout1 = 1
#print(box3Dlist)
for vn in range(len(boxx)):
################
################ type1
projp = []
if(inout1 == 1):
#print(i,vn)
break
if(box3Dlist[vn] != None):
if (box3Dlist[vn][0] < sensorsp.width and box3Dlist[vn][0] > 0 and box3Dlist[vn][1] < sensorsp.height and box3Dlist[vn][1] > 0 ):
inout1 = 1
print(camerasp.label, "test1",pname[i], "point" ,vn,"is in" ,camerasp.project(boxsp) )
#whne include-flag is on, all vertex point are calc.
#writer.writerow([datesp, flightid,pbed, camerasp.label, pname[i], "test1", "proj_point", box3Dlist ])
writer.writerow([datesp, flightid,pbed, camerasp.label, pname[i], "test1"])
draw.polygon((*box3Dlist[1],*box3Dlist[5],*box3Dlist[7],*box3Dlist[3]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[0],*box3Dlist[4],*box3Dlist[6],*box3Dlist[2]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[0],*box3Dlist[1],*box3Dlist[3],*box3Dlist[2]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[4],*box3Dlist[5],*box3Dlist[7],*box3Dlist[6]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[2],*box3Dlist[3],*box3Dlist[7],*box3Dlist[6]), fill=(255, 255, 255), outline=(255, 255, 255))
im.save('mask'+os.sep+ pname[i] + os.sep + camerasp.label +'_mask.jpg', quality=95)
###########
###########
## typy2 callculation
for ss in range(len(combl)):
if (inout1 ==1 or inout2 ==1):
break
px1 = box3Dlist[combl[ss][0]]
px2 = box3Dlist[combl[ss][1]]
if (px1[0] == -1000000 or px2[0] == -1000000):
test1 = None
test2 = None
test3 = None
test4 = None
else:
test1 = crosspx(*px1,*px2,0)
test2 = crosspx(*px1,*px2,3000)
test3 = crosspy(*px1,*px2,0)
test4 = crosspy(*px1,*px2,4000)
if(test1 != None or test2 != None or test3 != None or test4 != None):
print(test1,test2,test3,test4 , camerasp.label,pname[i],"line", ss ,"test2","vertex is in")
inout2 = 1
writer.writerow([datesp, flightid,pbed, camerasp.label,pname[i], "test2", "proj_point", box3Dlist])
draw.polygon((*box3Dlist[1],*box3Dlist[5],*box3Dlist[7],*box3Dlist[3]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[0],*box3Dlist[4],*box3Dlist[6],*box3Dlist[2]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[0],*box3Dlist[1],*box3Dlist[3],*box3Dlist[2]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[4],*box3Dlist[5],*box3Dlist[7],*box3Dlist[6]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[2],*box3Dlist[3],*box3Dlist[7],*box3Dlist[6]), fill=(255, 255, 255), outline=(255, 255, 255))
im.save('mask'+os.sep+ pname[i] + os.sep + camerasp.label +'_mask.jpg', quality=95)
#else:
#print(test1,test2,test3,test4,camerasp.label,pname[i],"line",ss,"test2","vertex is out")
## typy3 callculation
for suf in range(len(vuse)):
if (inout1 == 1 or inout2 == 1 or inout3 ==1):
break
#roop for target sueface
p1 = box3Dlist[vuse[suf][0]]
p2 =box3Dlist[vuse[suf][1]]
p3 = box3Dlist[vuse[suf][2]]
p4 = box3Dlist[vuse[suf][3]]
for ipn in range(4):
#roop for image plane's 4vertex
pasx1 = p2[0]- p1[0]
pasy1 = p2[1]- p1[1]
pasxp1 = i4v[suf][0] - p2[0]
pasyp1 = i4v[suf][1] - p2[1]
sp1 = pasx1 * pasyp1 - pasy1*pasxp1
pasx2 = p3[0]- p2[0]
pasy2 = p3[1]- p2[1]
pasxp2 = i4v[suf][0] - p3[0]
pasyp2 = i4v[suf][1] - p3[1]
sp2 = pasx2 * pasyp2 - pasy2*pasxp2
pasx3 = p1[0]- p3[0]
pasy3 = p1[1]- p3[1]
pasxp3 = i4v[suf][0] - p1[0]
pasyp3 = i4v[suf][1] - p1[1]
sp3 = pasx3 * pasyp3 - pasy3*pasxp3
if( (sp1 > 0 and sp2 > 0 and sp3 > 0) or (sp1 < 0 and sp2 < 0 and sp3 < 0)):
inout3 = 1
writer.writerow([datesp, flightid,pbed, camerasp.label, pname[i], "test3" , "proj_point", box3Dlist])
pasx4 = p3[0]- p2[0]
pasy4 = p3[1]- p2[1]
pasxp4 = i4v[suf][0] - p3[0]
pasyp4 = i4v[suf][1] - p3[1]
sp4 = pasx4 * pasyp4 - pasy4*pasxp4
pasx5 = p4[0]- p3[0]
pasy5 = p4[1]- p3[1]
pasxp5 = i4v[suf][0] - p4[0]
pasyp5 = i4v[suf][1] - p4[1]
sp5 = pasx5 * pasyp5 - pasy5*pasxp5
pasx6 = p2[0]- p4[0]
pasy6 = p2[1]- p4[1]
pasxp6 = i4v[suf][0] - p2[0]
pasyp6 = i4v[suf][1] - p2[1]
sp6 = pasx6 * pasyp6 - pasy6*pasxp6
if( (sp4 > 0 and sp5 > 0 and sp6 > 0) or (sp4 < 0 and sp5 < 0 and sp6 < 0) and inout3 != 1 ):
inout3 = 1
writer.writerow([datesp, flightid,pbed, camerasp.label, pname[i], "test", "proj_point", box3Dlist])
print(camerasp.label,pname[i],"test3","vertex is in")
if inout3 == 1:
draw.polygon((*box3Dlist[1],*box3Dlist[5],*box3Dlist[7],*box3Dlist[3]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[0],*box3Dlist[4],*box3Dlist[6],*box3Dlist[2]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[0],*box3Dlist[1],*box3Dlist[3],*box3Dlist[2]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[4],*box3Dlist[5],*box3Dlist[7],*box3Dlist[6]), fill=(255, 255, 255), outline=(255, 255, 255))
draw.polygon((*box3Dlist[2],*box3Dlist[3],*box3Dlist[7],*box3Dlist[6]), fill=(255, 255, 255), outline=(255, 255, 255))
im.save('mask'+os.sep+ pname[i] + os.sep + camerasp.label +'_mask.jpg', quality=95)
ff.close()
print("error = ", count)
print("export finish")