kopia lustrzana https://github.com/OpenDroneMap/ODM
Piero Toffanin
rodzic
94c8eaecfd
commit
0e8a325996
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@ -163,11 +163,11 @@ def config():
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parser.add_argument('--radiometric-calibration',
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metavar='<string>',
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default='none',
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choices=['none', 'camera', 'sun', 'sunangle'],
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choices=['none', 'camera', 'camera+sun'],
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help=('Set the radiometric calibration to perform on images. '
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'When processing multispectral images you should set this option '
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'to obtain reflectance values (otherwise you will get digital number (DN) values). '
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'Can be set to one of: [none, camera, sun, sunangle]. Default: '
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'to obtain reflectance values (otherwise you will get digital number (DN) values). '
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'Can be set to one of: [none, camera, camera+sun]. Default: '
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'%(default)s'))
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@ -0,0 +1,145 @@
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"""
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MicaSense Downwelling Light Sensor Utilities
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Copyright 2017 MicaSense, Inc.
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Permission is hereby granted, free of charge, to any person obtaining a copy of
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this software and associated documentation files (the "Software"), to deal in the
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Software without restriction, including without limitation the rights to use,
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copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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"""
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import numpy as np
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# for DLS correction, we need the sun position at the time the image was taken
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# this can be computed using the pysolar package (ver 0.6)
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# https://pypi.python.org/pypi/Pysolar/0.6
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# we import multiple times with checking here because the case of Pysolar is
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# different depending on the python version :(
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import imp
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havePysolar = False
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try:
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import pysolar.solar as pysolar
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havePysolar = True
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except ImportError:
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try:
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import Pysolar.solar as pysolar
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havePysolar = True
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except ImportError:
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import pysolar.solar as pysolar
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havePysolar = True
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finally:
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if not havePysolar:
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print("Unable to import pysolar")
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def fresnel(phi):
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return __multilayer_transmission(phi, n=[1.000277,1.6,1.38])
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# define functions to compute the DLS-Sun angle:
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def __fresnel_transmission(phi, n1=1.000277, n2=1.38, polarization=[.5, .5]):
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"""compute fresnel transmission between media with refractive indices n1 and n2"""
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# computes the reflection and transmittance
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# for incidence angles phi for transition from medium
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# with refractive index n1 to n2
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# teflon e.g. n2=1.38
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# polycarbonate n2=1.6
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# polarization=[.5,.5] - unpolarized light
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# polarization=[1.,0] - s-polarized light - perpendicular to plane of incidence
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# polarization=[0,1.] - p-polarized light - parallel to plane of incidence
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f1 = np.cos(phi)
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f2 = np.sqrt(1-(n1/n2*np.sin(phi))**2)
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Rs = ((n1*f1-n2*f2)/(n1*f1+n2*f2))**2
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Rp = ((n1*f2-n2*f1)/(n1*f2+n2*f1))**2
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T = 1.-polarization[0]*Rs-polarization[1]*Rp
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if T > 1: T= 0.
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if T < 0: T = 0.
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if np.isnan(T): T = 0.
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return T
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def __multilayer_transmission(phi, n, polarization=[.5, .5]):
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T = 1.0
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phi_eff = np.copy(phi)
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for i in range(0,len(n)-1):
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n1 = n[i]
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n2 = n[i+1]
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phi_eff = np.arcsin(np.sin(phi_eff)/n1)
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T *= __fresnel_transmission(phi_eff, n1, n2, polarization=polarization)
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return T
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# get the position of the sun in North-East-Down (NED) coordinate system
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def ned_from_pysolar(sunAzimuth, sunAltitude):
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"""Convert pysolar coordinates to NED coordinates."""
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elements = (
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np.cos(sunAzimuth) * np.cos(sunAltitude),
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np.sin(sunAzimuth) * np.cos(sunAltitude),
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-np.sin(sunAltitude),
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)
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return np.array(elements).transpose()
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# get the sensor orientation in North-East-Down coordinates
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# pose is a yaw/pitch/roll tuple of angles measured for the DLS
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# ori is the 3D orientation vector of the DLS in body coordinates (typically [0,0,-1])
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def get_orientation(pose, ori):
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"""Generate an orientation vector from yaw/pitch/roll angles in radians."""
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yaw, pitch, roll = pose
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c1 = np.cos(-yaw)
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s1 = np.sin(-yaw)
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c2 = np.cos(-pitch)
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s2 = np.sin(-pitch)
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c3 = np.cos(-roll)
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s3 = np.sin(-roll)
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Ryaw = np.array([[c1, s1, 0], [-s1, c1, 0], [0, 0, 1]])
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Rpitch = np.array([[c2, 0, -s2], [0, 1, 0], [s2, 0, c2]])
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Rroll = np.array([[1, 0, 0], [0, c3, s3], [0, -s3, c3]])
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R = np.dot(Ryaw, np.dot(Rpitch, Rroll))
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n = np.dot(R, ori)
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return n
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# from the current position (lat,lon,alt) tuple
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# and time (UTC), as well as the sensor orientation (yaw,pitch,roll) tuple
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# compute a sensor sun angle - this is needed as the actual sun irradiance
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# (for clear skies) is related to the measured irradiance by:
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# I_measured = I_direct * cos (sun_sensor_angle) + I_diffuse
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# For clear sky, I_direct/I_diffuse ~ 6 and we can simplify this to
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# I_measured = I_direct * (cos (sun_sensor_angle) + 1/6)
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def compute_sun_angle(
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position,
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pose,
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utc_datetime,
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sensor_orientation,
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):
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""" compute the sun angle using pysolar functions"""
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altitude = 0
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azimuth = 0
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import warnings
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with warnings.catch_warnings(): # Ignore pysolar leap seconds offset warning
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warnings.simplefilter("ignore")
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try:
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altitude = pysolar.get_altitude(position[0], position[1], utc_datetime)
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azimuth = pysolar.get_azimuth(position[0], position[1], utc_datetime)
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except AttributeError: # catch 0.6 version of pysolar required for python 2.7 support
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altitude = pysolar.GetAltitude(position[0], position[1], utc_datetime)
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azimuth = 180-pysolar.GetAzimuth(position[0], position[1], utc_datetime)
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sunAltitude = np.radians(np.array(altitude))
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sunAzimuth = np.radians(np.array(azimuth))
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sunAzimuth = sunAzimuth % (2 * np.pi ) #wrap range 0 to 2*pi
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nSun = ned_from_pysolar(sunAzimuth, sunAltitude)
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nSensor = np.array(get_orientation(pose, sensor_orientation))
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angle = np.arccos(np.dot(nSun, nSensor))
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return nSun, nSensor, angle, sunAltitude, sunAzimuth
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@ -1,3 +1,5 @@
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from opendm import dls
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import math
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# Loosely based on https://github.com/micasense/imageprocessing/blob/master/micasense/utils.py
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def dn_to_radiance(photo, image):
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@ -7,7 +9,13 @@ def dn_to_radiance(photo, image):
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:param image numpy array containing image data
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:return numpy array with radiance image values
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"""
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# Handle thermal bands (experimental)
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if photo.band_name == 'LWIR':
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image -= (273.15 * 100.0) # Convert Kelvin to Celsius
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image = image.astype(float) * 0.01
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return image
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# All others
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a1, a2, a3 = photo.get_radiometric_calibration()
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dark_level = photo.get_dark_level()
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@ -56,7 +64,7 @@ def dn_to_radiance(photo, image):
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image *= a1
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image /= bit_depth_max
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return image
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def vignette_map(photo):
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@ -87,3 +95,47 @@ def vignette_map(photo):
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return vignette, x, y
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return None, None, None
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def dn_to_reflectance(photo, image, use_sun_sensor=True):
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radiance = dn_to_radiance(photo, image)
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irradiance_scale = compute_irradiance_scale_factor(photo, use_sun_sensor=use_sun_sensor)
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return radiance * irradiance_scale
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def compute_irradiance_scale_factor(photo, use_sun_sensor=True):
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# Thermal?
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if photo.band_name == "LWIR":
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return 1.0
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if photo.irradiance is not None:
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horizontal_irradiance = photo.irradiance
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return math.pi / horizontal_irradiance
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if use_sun_sensor:
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# Estimate it
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dls_orientation_vector = np.array([0,0,-1])
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sun_vector_ned, sensor_vector_ned, sun_sensor_angle, \
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solar_elevation, solar_azimuth = dls.compute_sun_angle([photo.latitude, photo.longitude],
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(0,0,0), # TODO: add support for sun sensor pose
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photo.utc_time,
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dls_orientation_vector)
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angular_correction = dls.fresnel(sun_sensor_angle)
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# TODO: support for direct and scattered irradiance
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direct_to_diffuse_ratio = 6.0 # Assumption
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spectral_irradiance = photo.sun_sensor # TODO: support for XMP:SpectralIrradiance
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percent_diffuse = 1.0 / direct_to_diffuse_ratio
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sensor_irradiance = spectral_irradiance / angular_correction
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# find direct irradiance in the plane normal to the sun
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untilted_direct_irr = sensor_irradiance / (percent_diffuse + np.cos(sun_sensor_angle))
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direct_irradiance = untilted_direct_irr
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scattered_irradiance = untilted_direct_irr*percent_diffuse
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# compute irradiance on the ground using the solar altitude angle
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horizontal_irradiance = direct_irradiance * np.sin(solar_elevation) + scattered_irradiance
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return math.pi / horizontal_irradiance
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return 1.0
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@ -5,6 +5,8 @@ import re
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import exifread
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import numpy as np
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from six import string_types
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from datetime import datetime, timedelta
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import pytz
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import log
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import system
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@ -33,17 +35,22 @@ class ODM_Photo:
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self.band_name = 'RGB'
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self.band_index = 0
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# Multi-spectral fields (not all cameras implement all these values)
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# Multi-spectral fields
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self.radiometric_calibration = None
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self.black_level = None
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# Capture info (most cameras implement these)
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# Capture info
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self.exposure_time = None
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self.iso_speed = None
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self.bits_per_sample = None
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self.vignetting_center = None
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self.vignetting_polynomial = None
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self.irradiance = None
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self.sun_sensor = None
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self.utc_time = None
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# self.center_wavelength = None
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# self.bandwidth = None
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# parse values from metadata
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self.parse_exif_values(path_file)
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@ -88,7 +95,24 @@ class ODM_Photo:
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self.iso_speed = self.int_value(tags['EXIF ISOSpeed'])
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if 'Image BitsPerSample' in tags:
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self.bits_per_sample = self.int_value(tags['Image BitsPerSample'])
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if 'EXIF DateTimeOriginal' in tags:
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str_time = tags['EXIF DateTimeOriginal'].values.encode('utf8')
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utc_time = datetime.strptime(str_time, "%Y:%m:%d %H:%M:%S")
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subsec = 0
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if 'EXIF SubSecTime' in tags:
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subsec = self.int_value(tags['EXIF SubSecTime'])
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negative = 1.0
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if subsec < 0:
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negative = -1.0
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subsec *= -1.0
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subsec = float('0.{}'.format(int(subsec)))
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subsec *= negative
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ms = subsec * 1e3
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utc_time += timedelta(milliseconds = ms)
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timezone = pytz.timezone('UTC')
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epoch = timezone.localize(datetime.utcfromtimestamp(0))
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self.utc_time = (timezone.localize(utc_time) - epoch).total_seconds() * 1000.0
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except IndexError as e:
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log.ODM_WARNING("Cannot read EXIF tags for %s: %s" % (_path_file, e.message))
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@ -119,6 +143,22 @@ class ODM_Photo:
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'Camera:VignettingPolynomial',
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'Sentera:VignettingPolynomial',
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])
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self.set_attr_from_xmp_tag('irradiance', tags, [
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'Camera:Irradiance'
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], float)
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self.set_attr_from_xmp_tag('sun_sensor', tags, [
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'Camera:SunSensor'
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], float)
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# self.set_attr_from_xmp_tag('center_wavelength', tags, [
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# 'Camera:CentralWavelength'
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# ], float)
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# self.set_attr_from_xmp_tag('bandwidth', tags, [
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# 'Camera:WavelengthFWHM'
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# ], float)
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# print(self.band_name)
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# print(self.band_index)
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@ -128,18 +168,21 @@ class ODM_Photo:
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# print(self.iso_speed)
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# print(self.bits_per_sample)
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# print(self.vignetting_center)
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# print(self.vignetting_polynomial)
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# print(self.sun_sensor)
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# exit(1)
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self.width, self.height = get_image_size.get_image_size(_path_file)
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# Sanitize band name since we use it in folder paths
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self.band_name = re.sub('[^A-Za-z0-9]+', '', self.band_name)
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def set_attr_from_xmp_tag(self, attr, xmp_tags, tags):
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def set_attr_from_xmp_tag(self, attr, xmp_tags, tags, cast=None):
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v = self.get_xmp_tag(xmp_tags, tags)
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if v is not None:
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setattr(self, attr, v)
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if cast is None:
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setattr(self, attr, v)
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else:
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setattr(self, attr, cast(v))
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def get_xmp_tag(self, xmp_tags, tags):
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if isinstance(tags, str):
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tags = [tags]
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@ -153,6 +196,8 @@ class ODM_Photo:
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elif isinstance(t, dict):
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items = t.get('rdf:Seq', {}).get('rdf:li', {})
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if items:
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if isinstance(items, string_types):
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return items
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return " ".join(items)
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elif isinstance(t, int) or isinstance(t, float):
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return t
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@ -13,6 +13,7 @@ networkx==2.2
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scipy==1.2.1
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numpy==1.15.4
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pyproj==2.2.2
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Pysolar==0.6
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psutil==5.6.3
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joblib==0.13.2
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Fiona==1.8.9.post2
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@ -63,7 +63,7 @@ class ODMOpenSfMStage(types.ODM_Stage):
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else:
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def radiometric_calibrate(shot_id, image):
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photo = reconstruction.get_photo(shot_id)
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return dn_to_radiance(photo, image)
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return dn_to_reflectance(photo, image, use_sun_sensor=args.radiometric_calibration=="camera+sun")
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octx.convert_and_undistort(self.rerun(), radiometric_calibrate)
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