#! /usr/bin/python3 # Last edited on 2025-04-19 06:44:10 by stolfi import os, sys, subprocess from math import sqrt, hypot pid = os.getpid() tmp = f"/tmp/{pid}" def main(): testDoc = "cbabel WITHOUT multiscale" # run_test("cbabel", testDoc, (256,192), 1.000, 0.000, True, "zero", 0.8, 0) testDoc = "cbabel WITH multiscale" # run_test("cbabel", testDoc, (256,192), 1.000, 0.000, True, "zero", 0.8, 999) testDoc = "cplat3 WITHOUT synergy hintZ" # run_test("cplat3", testDoc, (256,192), 1.000, 0.000, True, "zero", 0.8, 999) testDoc = "cplat3 WITH synergy hintZ" # run_test("cplat3", testDoc, (256,192), 1.000, 0.005, True, "zero", 0.8, 999) testDoc = "fourg1 WITHOUT synergy hintZ" # run_test("fourg1", testDoc, (512,422), 1.000, 0.000, True, "zero", 0.8, 999) testDoc = "fourg1 WITH synergy hintZ" # run_test("fourg1", testDoc, (512,422), 1.000, 0.005, True, "zero", 0.8, 999) testDoc = "fours1 WITHOUT synergy hintZ" # run_test("fours1", testDoc, (512,384), 1.000, 0.000, True, "zero", 0.8, 999) testDoc = "fours1 WITH synergy hintZ" run_test("fours1", testDoc, (512,384), 1.000, 0.005, True, "zero", 0.8, 999) return 0 # ...................................................................... def run_test(testName, testDoc, size, NGScale, hintZ_weight, refZ_use, initZ_source, initZ_noise, maxLevel): # Runs the recursive integration program on one set of images obtained by # photometric (PM) stereo or multifocus (MF) stereo. # # The {size} parameter should be a list {(NX,NY)} with the col and row counts # of the input gradient or normal map. # # The {testName} is the name of the input dataset as in the {in} directory. The # {testDoc} is an explanatory string printed to {stderr}. # # The {NGScale} parameter is used when the input is a normal map. The # slopes will be {NGScale*ux/uz} and {NGScale*uy/uz} where # {(ux,uy,uz)} is the normal vector. See the "-normals" option # of the integration program {prog} # # The {hintZ_weight} is the weight of the height hint (mutifocal Z) # map, relative to the gradient, in the synergistic integration. If it # is zero, no Z hint map is used, only the gradient. See the "-hint" option # of {prog}. # # The {refZ_use} specifies whether the input dataset includes a # reference heigh map for comparison with the computed height map. See # the "-refernce" option of {prog}. # # The {initZ_source} and {initZ_noise} options are the source of the # initial guess to be used ("zero", "hints", "reference") and the # relative amount of noise to add to it. See the "-initial" oprion of # {prog}. # # The {maxLevel} integer is passed to {prog} as the "-maxLevel" option. # # Inputs, in directory {inDir}: # # "PM-G.fni" Gradient (slope) map from photometric stereo. # "PM-N.fni" Normal map from photometric stereo. # "MF-Z.fni" Height map from multifocus stereo. # "RF-Z.fni" Reference (ideal) height map for evaluation. # # The normal map is used only if the gradient map is not present. # The multifocus "MF-Z.fni" and reference RF-Z.fni height maps are optional. # The intergration will use "MF-Z.fni" as the height hint if the file exists # and {hintZ_weight} is nonzero. # # Outputs, in folder {outDir}, for each two-digit {level} from 00 to the max level used: # # "out-{level}-beg-G.fni" Input gradient map (possibly from normal map), scaled. # "out-{level}-beg-H.fni" Input hints map, if given. # "out-{level}-beg-R.fni" Input reference map, if given. # "out-{level}-beg-Z.fni" Initial height map, with noise. # "out-{level}-beg-E.fni" Initial error map (beg-Z minus beg-R). # "out-{level}-beg-E.txt" One-line summary of initial error map. # "out-{level}-beg-S.txt" The level integation linear system derived from out-beg-G, out-beg-H. # "out-{level}-beg-SW.fni" Map with total weight of the equation for each pixel. # "out-{level}-end-Z.fni" Final height map. # "out-{level}-end-E.fni" Final error map (end-Z minus beg-R). # "out-{level}-end-E.txt" One-line summary of end-E.fni. # Also,in folder {outDir}/out-iters, for each two-digit {level} and some # nine-digit iteration count {iter}: # "out-iters/it-{level}-{iter}-Z.fni" Height map after iteration {iter}. # "out-iters/it-{level}-{iter}-E.fni" Error map (Z.fni minus {outDir}/out-{level}-beg-R.fni). # "out-iters/it-{level}-{iter}-E.txt" One-line summary of E.fni. progDir = ".." prog = "gus_integrate_recursive" Er("starting {run_test} ...\n") Er(f"{testDoc}\n") xsize = f"{size[0]:04d}x{size[1]:04d}" # Size for file names. inDir = f"in/{testName}/{xsize}" in_slopes_fni = f"{inDir}/PM-G.fni" in_normals_fni = f"{inDir}/PM-N.fni" in_hintZ_fni = f"{inDir}/MF-Z.fni" in_refZ_fni = f"{inDir}/RF-Z.fni" # Shall it use a hint height map: hintZ_use = file_OK(in_hintZ_fni) and hintZ_weight > 0 xhintZ = "hintT" if hintZ_use else "hintF" # {hintZ_use} for file names." outDir = f"out/{testName}/{xsize}-{xhintZ}" bash(f"mkdir -p {outDir}") outPrefix = f"{outDir}/out" iterDir = f"{outPrefix}-iters" iterPrefix = f"{iterDir}/it" # Input slope or normal map otpion: if file_OK(in_slopes_fni): input_options = [ "-slopes", in_slopes_fni, ] elif file_OK(in_normals_fni): input_options = [ "-normals", in_normals_fni, "scale", f"{NGScale:6f}", ] else: assert False, f"{in_slopes_fni} and {in_normals_fni} are both missing" # Reference height map otpion for error monitoring: if refZ_use: out_errZ_fni = f"{outPrefix}-00-end-E.fni" refZ_options = [ "-reference", in_refZ_fni, ] else: out_errZ_fni = None refZ_options = [ ] # Hint height map option: if hintZ_use: hintZ_options = [ "-hints", in_hintZ_fni, f"{hintZ_weight:.6f}", ] else: hintZ_options = [ ] Er("showing input files ...\n") for state, tag, fniFile, viewScale in \ ( ( 'input', 'PM-G', in_slopes_fni, "1.000" ), ( 'input', 'PM-N', in_normals_fni, "auto" ), ( 'input', 'MF-Z', in_hintZ_fni, "1.000" ), ( 'input', 'RF-Z', in_refZ_fni, "1.000" ), ): if file_OK(fniFile): showfni('input', tag, fniFile, viewScale) initZ_options = [ "-initial", initZ_source, f"{initZ_noise:6f}", ] # Clear the gray level scale: if size == (512, 422): clear_options = [ "-clear", "0", "511", "0", "40", ] else: clear_options = [ ] bash("rm -f {%s,%s}*.{fni,sys,pgm,txt,png}" % (outPrefix, iterPrefix)) cmd = \ [ f"{progDir}/{prog}" ] \ + input_options \ + hintZ_options \ + initZ_options \ + refZ_options \ + clear_options \ + [ "-maxLevel", f"{maxLevel:d}", "-convTol", "0.0005", "-maxIter", "250", "-outPrefix", outPrefix, "-reportStep", "10", "-verbose" ] Er("running command\n") Er(" ".join(cmd) + "\n") run_command(cmd); Er("showing results ...\n") # Initial guess at level 0: out_iniZ_fni = f"{outPrefix}-ini-Z.fni" showfni( 'initial guess', 'Z', out_iniZ_fni, "auto" ) for kl in range(20): level = 20 - kl levelPrefix = f"{outPrefix}-{level:02d}" for state in ("beg", "end" ): for tag in ( 'Z', 'G', 'E' ): if tag == "E": viewScale = "auto"; else: viewScale = "1.000" fniFile = f"{levelPrefix}-{state}-{tag}.fni" Er(f"showing {fniFile} ...\n") showfni( state, tag, fniFile, viewScale ) make_movies(outDir, iterDir, size, hintZ_use) Er("done {run_test}.\n") return # ...................................................................... def make_movies(outDir, iterDir, size, hintZ_use): Er("making the heigh map animation ...\n") zMax = hypot(size[0], size[1])/sqrt(8) bash(f"make_iteration_movie.sh {outDir} {iterDir} 10 Z -{zMax:.4f} +{zMax:.4f}") Er("making the height error map animation ... \n"); eMax = 2.0 if hintZ_use else zMax bash(f"make_iteration_movie.sh {outDir} {iterDir} 10 E -{eMax:.8f} +{eMax:.8f}") return # ...................................................................... def showfni(state, tag, fniFile, viewScale): fniName = os.path.basename(fniFile) stg = f"{state} {tag}" if file_OK(fniFile): Er(f"showing {fniFile} ...\n") Er(f"state = '{state}' tag = '{tag}' scale = {viewScale}\n") title = f"{state} {tag} : {fniName}" pgm_file = f"{tmp}.pgm" png_file = "${fniFile/.fni/.png}" bash(f"fni_view -title '{title}' -scale {viewScale} {fniFile}") # bash(f"fni_to_pnm -channel 0 -yAxis up < {fniFile} > {pgm_file}") # bash(f"convert {pgm_file} {png_file}") # bash(f"display -title '{title}' -filter box -resize 'x800<' {png_file}") else: Er(f"!! {fniFile} not present\n") return # ...................................................................... def file_OK(path): return path != None and os.path.exists(path) and os.path.getsize(path) > 0 # ...................................................................... def Er(msg): sys.stderr.write(msg) # ...................................................................... def run_command(command): result = subprocess.run(command, text = True) if result.returncode != 0: print(result.stderr) print(result.stdout) assert False, f"** {command[0]} failed - returned status = {result}" return # ...................................................................... def bash(cmd): # Execute the string {cmd} with "/bin/bash". result = subprocess.run([ cmd ], shell = True, executable = "/bin/bash") if result.returncode != 0: print(result.stderr) print(result.stdout) assert False, f"** {cmd} failed - returned status = {result}" # ...................................................................... main()