<s> import os <EOL> import numpy <EOL> import itertools <EOL> import logging <EOL> from scipy . spatial . kdtree import KDTree <EOL> from memo import memo <EOL> logger = logging . getLogger ( "<STR_LIT>" ) <EOL> def read ( root , start = <NUM_LIT:0> ) : <EOL> """<STR_LIT>""" <EOL> logger . debug ( "<STR_LIT>" . format ( root ) ) <EOL> patches = read_patches ( open ( find_patch_file ( root ) ) , start ) <EOL> projections = read_projections ( "<STR_LIT>" . format ( root ) , start ) <EOL> return patches , projections <EOL> def find_patch_file ( root ) : <EOL> """<STR_LIT>""" <EOL> root = os . path . join ( root , "<STR_LIT>" ) <EOL> for file in os . listdir ( root ) : <EOL> if file . endswith ( "<STR_LIT>" ) : <EOL> return os . path . join ( root , file ) <EOL> raise RuntimeError ( "<STR_LIT>" . format ( root ) ) <EOL> def read_patches ( data , start = <NUM_LIT:0> ) : <EOL> """<STR_LIT>""" <EOL> if data . readline ( ) . strip ( ) != "<STR_LIT>" : <EOL> raise RuntimeError ( "<STR_LIT>" ) <EOL> patches = [ ] <EOL> for patch in range ( int ( data . readline ( ) . strip ( ) ) ) : <EOL> line = data . readline ( ) . strip ( ) <EOL> while not line : <EOL> line = data . readline ( ) . strip ( ) <EOL> if line != "<STR_LIT>" : <EOL> raise RuntimeError ( "<STR_LIT>" . format ( patch ) ) <EOL> line = data . readline ( ) . strip ( ) <EOL> realcoords = [ float ( x ) for x in line . split ( ) ] <EOL> line = data . readline ( ) . strip ( ) <EOL> normal = [ float ( x ) for x in line . split ( ) ] <EOL> line = data . readline ( ) . strip ( ) <EOL> score , _ , _ = [ float ( x ) for x in line . split ( ) ] <EOL> data . readline ( ) <EOL> line = data . readline ( ) <EOL> visibles = [ int ( x ) - start for x in line . split ( ) ] <EOL> data . readline ( ) <EOL> line = data . readline ( ) . strip ( ) <EOL> disagrees = [ int ( x ) - start for x in line . split ( ) ] <EOL> patches . append ( Patch ( realcoords , normal , score , visibles , disagrees ) ) <EOL> return patches <EOL> class Patch ( object ) : <EOL> def __init__ ( self , realcoords , normal , score , visibles , disagrees ) : <EOL> self . realcoords = numpy . array ( realcoords ) <EOL> self . normal = numpy . array ( normal ) <EOL> self . score = score <EOL> self . visibles = visibles <EOL> self . disagrees = disagrees <EOL> def __repr__ ( self ) : <EOL> return "<STR_LIT>" % str ( ( self . realcoords , self . normal , self . score , <EOL> self . visibles , self . disagrees ) ) <EOL> def project ( self , projection ) : <EOL> return projection . project ( self . realcoords ) <EOL> def projectall ( self , projections , disagrees = True ) : <EOL> if disagrees : <EOL> use = self . visibles + self . disagrees <EOL> else : <EOL> use = self . visibles <EOL> mapping = { } <EOL> for point in self . visibles + self . disagrees : <EOL> mapping [ point ] = self . project ( projections [ point ] ) <EOL> return mapping <EOL> def get_patch_bounds ( patches ) : <EOL> xmin = ymin = zmin = float ( "<STR_LIT>" ) <EOL> xmax = ymax = zmax = float ( "<STR_LIT>" ) <EOL> for patch in patches : <EOL> x , y , z , _ = patch . realcoords <EOL> xmin = min ( xmin , x ) <EOL> xmax = max ( xmax , x ) <EOL> ymin = min ( ymin , y ) <EOL> ymax = max ( ymax , y ) <EOL> zmin = min ( zmin , z ) <EOL> zmax = max ( zmax , z ) <EOL> return ( ( xmin , xmax ) , ( ymin , ymax ) , ( zmin , zmax ) ) <EOL> def read_projections ( root , start = <NUM_LIT:0> ) : <EOL> """<STR_LIT>""" <EOL> frames = open ( os . path . join ( root , "<STR_LIT:..>" , "<STR_LIT>" ) ) <EOL> frames = iter ( int ( x [ <NUM_LIT:2> : - <NUM_LIT:5> ] ) for x in frames ) <EOL> projections = { } <EOL> for file in os . listdir ( root ) : <EOL> if not file . endswith ( "<STR_LIT>" ) : <EOL> continue <EOL> with open ( os . path . join ( root , file ) ) as data : <EOL> if data . readline ( ) . strip ( ) != "<STR_LIT>" : <EOL> raise RuntimeError ( "<STR_LIT>" ) <EOL> read = lambda x : [ float ( y ) for y in x . readline ( ) . strip ( ) . split ( ) ] <EOL> m = numpy . array ( [ read ( data ) , read ( data ) , read ( data ) ] ) <EOL> frame = frames . next ( ) <EOL> frame -= start <EOL> projections [ frame ] = Projection ( m , frame ) <EOL> return projections <EOL> class Projection ( object ) : <EOL> def __init__ ( self , matrix , frame ) : <EOL> self . matrix = matrix <EOL> self . frame = frame <EOL> def project ( self , real ) : <EOL> a = numpy . dot ( self . matrix , real ) <EOL> return ( a / a [ <NUM_LIT:2> ] ) [ <NUM_LIT:0> : <NUM_LIT:2> ] <EOL> class RealWorldMap ( object ) : <EOL> def __init__ ( self , patches , projections ) : <EOL> self . patches = patches <EOL> self . projections = projections <EOL> self . build ( ) <EOL> def build ( self ) : <EOL> logger . debug ( "<STR_LIT>" ) <EOL> self . imagetree = { } <EOL> self . imagemap = { } <EOL> self . realtree = KDTree ( [ x . realcoords for x in self . patches ] ) <EOL> self . realmapping = { } <EOL> for num , patch in enumerate ( self . patches ) : <EOL> if num % <NUM_LIT:1000> == <NUM_LIT:0> : <EOL> logger . debug ( "<STR_LIT>" . format ( num , len ( self . patches ) ) ) <EOL> resp = { } <EOL> for _ , projection in self . projections . items ( ) : <EOL> inimage = patch . project ( projection ) <EOL> if projection . id not in self . imagetree : <EOL> self . imagetree [ projection . id ] = [ ] <EOL> self . imagemap [ projection . id ] = { } <EOL> self . imagetree [ projection . id ] . append ( inimage ) <EOL> self . imagemap [ projection . id ] [ tuple ( inimage ) ] = patch . realcoords <EOL> resp [ projection . id ] = inimage <EOL> self . realmapping [ tuple ( patch . realcoords ) ] = resp <EOL> logger . debug ( "<STR_LIT>" . format ( len ( self . patches ) ) ) <EOL> logger . debug ( "<STR_LIT>" ) <EOL> for key , imagecoords in self . imagetree . items ( ) : <EOL> self . imagetree [ key ] = KDTree ( imagecoords ) <EOL> def realtoimages ( self , coords ) : <EOL> _ , nearestindex = self . realtree . query ( coords ) <EOL> nearest = self . realtree . data [ nearestindex ] <EOL> return self . realmapping [ tuple ( nearest ) ] <EOL> def realregiontoimages ( self , coords ) : <EOL> _ , nearestindices = self . realtree . query ( coords ) <EOL> resp = { } <EOL> for nearestindex in nearestindices : <EOL> nearest = self . realtree . data [ nearestindex ] <EOL> points = self . realmapping [ tuple ( nearest ) ] <EOL> for k , v in points . iteritems ( ) : <EOL> if k not in resp : <EOL> resp [ k ] = [ ] <EOL> resp [ k ] . append ( v ) <EOL> return resp <EOL> def imagetoreal ( self , projection , coords ) : <EOL> try : <EOL> projection = projection . id <EOL> except : <EOL> pass <EOL> _ , nearestindex = self . imagetree [ projection ] . query ( coords ) <EOL> nearest = self . imagetree [ projection ] . data [ nearestindex ] <EOL> return self . imagemap [ projection ] [ tuple ( nearest ) ] <EOL> if __name__ == "<STR_LIT:__main__>" : <EOL> logging . basicConfig ( level = logging . DEBUG ) <EOL> patches , projections = read ( "<STR_LIT>" <EOL> "<STR_LIT>" ) <EOL> print get_patch_bounds ( patches ) <EOL> mapping = RealWorldMap ( patches , projections ) <EOL> patch = patches [ <NUM_LIT:0> ] <EOL> print "<STR_LIT>" <EOL> print patch . realcoords <EOL> print "<STR_LIT>" <EOL> a , b = mapping . realtoimages ( patch . realcoords ) . items ( ) [ <NUM_LIT:0> ] <EOL> print "<STR_LIT>" <EOL> print b <EOL> print "<STR_LIT>" <EOL> print "<STR_LIT>" <EOL> r = mapping . imagetoreal ( a , b ) <EOL> print r </s>
