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Fmdl.py
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# Generated with SMOP 0.41
from libsmop import *
# Fmdl.m
@function
def Fmdl(imat=None,prm=None,st=None,frame=None,*args,**kwargs):
varargin = Fmdl.varargin
nargin = Fmdl.nargin
# model background
# output: purified integrated points
## purify integraed voxels
ref=FJloa(st,frame)
# Fmdl.m:7
for frm in arange(frame,frame - st.rd.dl + 1,- 1).reshape(-1):
if frm > 0:
pnt=FJloa(st,frm)
# Fmdl.m:11
pnt=FJtns(pnt,ref)
# Fmdl.m:12
pnt=FJcrp(pnt,st,frame)
# Fmdl.m:13
__,lmat=Fvox(prm,st,pnt.pts,nargout=2)
# Fmdl.m:14
idx.occ = copy((imat.occ - dot(st.fr.frg,lmat.occ)) > 0)
# Fmdl.m:16
imat.occ = copy(multiply((idx.occ),imat.occ))
# Fmdl.m:17
## vectorize
I,J,K=ind2sub(size(imat.occ),find(imat.occ),nargout=3)
# Fmdl.m:22
ipts.uni = copy(concat([I,J,K]))
# Fmdl.m:22
ipts.unq = copy(concat([dot(st.vx.x,(I - 1)) + st.vm.xb,dot(st.vx.y,(J - 1)) + st.vm.yr,dot(st.vx.z,(K - 1)) + st.vm.zd]))
# Fmdl.m:23
## compact
L.mat = copy(imat)
# Fmdl.m:26
L.pts = copy(ipts)
# Fmdl.m:27
return L
if __name__ == '__main__':
pass
@function
def FJloa(st=None,frame=None,*args,**kwargs):
varargin = FJloa.varargin
nargin = FJloa.nargin
# simple load
# output: pts.[pts ptn rtn trn] all points
## transformation matrixes [rotation 3x3, translation 3x1]
transform=st.dt.pose(arange(),arange(),frame)
# Fmdl.m:37
pts.rtn = copy(transform(arange(1,3),arange(1,3)))
# Fmdl.m:38
pts.trn = copy(transform(arange(1,3),4))
# Fmdl.m:39
## velodyne points [x, y, z, r] total number of pointsx4
fid.pts = copy(fopen(sprintf('%s/%06d.bin',st.dr.pts,frame - 1),'rb'))
# Fmdl.m:41
velodyne=fread(fid.pts,concat([4,inf]),'single').T
# Fmdl.m:42
fclose(fid.pts)
pts.pts = copy(velodyne(arange(),arange(1,3)))
# Fmdl.m:44
pts.ptn = copy(dot(pts.pts,pts.rtn.T) + repmat(pts.trn.T,size(pts.pts,1),1))
# Fmdl.m:45
return pts
if __name__ == '__main__':
pass
@function
def FJtns(pts=None,ref=None,*args,**kwargs):
varargin = FJtns.varargin
nargin = FJtns.nargin
# transform previous points on the current coordinates
# output: prv.[new] that is projected points on the current coordinate
## translate and rotate previous points using current transformation
temp[arange(),arange(1,3)]=pts.ptn(arange(),arange(1,3)) - repmat(ref.trn.T,size(pts.pts,1),1)
# Fmdl.m:55
pts.pts[arange(),arange(1,3)]=(numpy.linalg.solve(ref.rtn,temp(arange(),arange(1,3)).T)).T
# Fmdl.m:56
return pts
if __name__ == '__main__':
pass
@function
def FJcrp(hst=None,st=None,frame=None,*args,**kwargs):
varargin = FJcrp.varargin
nargin = FJcrp.nargin
# crop points to the inside the local grid and image
# output: hst.[pts] that is croped integrated points
## velodyne points [x, y, z, r total number of pointsx4]
ins.grd = copy((logical_and(logical_and(logical_and(logical_and(logical_and((hst.pts(arange(),1) > st.vm.xb),(hst.pts(arange(),1) < st.vm.xf)),(hst.pts(arange(),2) > st.vm.yr)),(hst.pts(arange(),2) < st.vm.yl)),(hst.pts(arange(),3) > st.vm.zd)),(hst.pts(arange(),3) < st.vm.zu))))
# Fmdl.m:66
hst.pts = copy(hst.pts(ins.grd,arange(1,3)))
# Fmdl.m:69
## incorporate image and color data [pts col ref pxs]
pixel=dot(hst.pts,st.dt.clb)
# Fmdl.m:71
pixel[arange(),1]=pixel(arange(),1) / pixel(arange(),3)
# Fmdl.m:72
pixel[arange(),2]=pixel(arange(),2) / pixel(arange(),3)
# Fmdl.m:72
pixel=round(pixel(arange(),arange(1,2)))
# Fmdl.m:73
image=imread(sprintf('%s/%06d.png',st.dr.img,frame - 1))
# Fmdl.m:74
ins.img = copy(logical_and(logical_and(logical_and((pixel(arange(),1) >= 1),(pixel(arange(),1) <= size(image,2))),(pixel(arange(),2) >= 1)),(pixel(arange(),2) <= size(image,1))))
# Fmdl.m:75
hst.pts = copy(hst.pts(ins.img,arange()))
# Fmdl.m:77
return hst
if __name__ == '__main__':
pass
@function
def Fvox(prm=None,st=None,input_=None,*args,**kwargs):
varargin = Fvox.varargin
nargin = Fvox.nargin
## remove ground points
pts.pts = copy([])
# Fmdl.m:84
for pci in arange(1,st.rd.no).reshape(-1):
sp=st.vm.xb + dot((pci - 1),st.rd.pc)
# Fmdl.m:86
ep=sp + st.rd.pc
# Fmdl.m:87
pc=input_(logical_and((input_(arange(),1) > sp),(input_(arange(),1) < ep)),arange())
# Fmdl.m:88
pln=prm(pci,arange())
# Fmdl.m:89
nrm=cross(concat([0,0,pln(3)]) - concat([1,1,sum(pln)]),concat([0,0,pln(3)]) - concat([0,1,pln(2) + pln(3)]))
# Fmdl.m:90
t=(pc(arange(),3) - multiply(pln(1),pc(arange(),1)) - dot(pln(2),pc(arange(),2)) - pln(3)) / (multiply(pln(1),nrm(1)) + multiply(pln(2),nrm(2)) - nrm(3))
# Fmdl.m:91
pp=concat([pc(arange(),1) + multiply(nrm(1),t),pc(arange(),2) + dot(nrm(2),t),pc(arange(),3) + dot(nrm(3),t)])
# Fmdl.m:93
id=logical_or(((pc(arange(),3) - pp(arange(),3)) < st.rd.rm),(abs((pc(arange(),3) - pp(arange(),3))) < st.rd.rm))
# Fmdl.m:94
pc[id,arange()]=[]
# Fmdl.m:95
pts.pts = copy(concat([[pts.pts],[pc]]))
# Fmdl.m:96
## voxelize points
pts.idx = copy(floor(concat([(pts.pts(arange(),1) - st.vm.xb) / st.vx.x + 1,(pts.pts(arange(),2) - st.vm.yr) / st.vx.y + 1,(pts.pts(arange(),3) - st.vm.zd) / st.vx.z + 1])))
# Fmdl.m:99
pts.idx[pts.idx(arange(),1) > st.vx.ix,1]=st.vx.ix
# Fmdl.m:101
pts.idx[pts.idx(arange(),2) > st.vx.iy,2]=st.vx.iy
# Fmdl.m:102
pts.idx[pts.idx(arange(),3) > st.vx.iz,3]=st.vx.iz
# Fmdl.m:103
mat.occ = copy(accumarray(pts.idx,1,concat([st.vx.ix,st.vx.iy,st.vx.iz])))
# Fmdl.m:104
# pts.ids = floor([pts.pts(:,1) / st.vx.x, pts.pts(:,2) / st.vx.y, pts.pts(:,3) / st.vx.z]); # quantize start point
# pts.ids(:, 1) = pts.ids(:, 1) * st.vx.x; # x voxel start points in real coordinate
# pts.ids(:, 2) = pts.ids(:, 2) * st.vx.y; # y voxel start points in real coordinate
# pts.ids(:, 3) = pts.ids(:, 3) * st.vx.z; # z voxel start points in real coordinate
pts.ids = copy(dot((floor(pts.pts / st.vx.x)),st.vx.x))
# Fmdl.m:109
uni,idx,__=unique(pts.idx,'rows',nargout=3)
# Fmdl.m:110
pts.uni = copy(uni)
# Fmdl.m:110
unq=pts.ids(idx,arange())
# Fmdl.m:111
pts.unq = copy(unq)
# Fmdl.m:111
return pts,mat
if __name__ == '__main__':
pass