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Merge pull request #675 from dakotabenjamin/utm_exiv2 

Utm exiv2
pull/677/head^2
Dakota Benjamin 2017-09-25 12:21:57 -04:00 zatwierdzone przez GitHub
rodzic 654d9b8b69 e127e057ef
commit 25a246dbae
6 zmienionych plików z 92 dodań i 106 usunięć
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2
Dockerfile
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@ -16,7 +16,7 @@ RUN apt-get install --no-install-recommends -y git cmake python-pip build-essent
libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libflann-dev \
libproj-dev libxext-dev liblapack-dev libeigen3-dev libvtk5-dev python-networkx libgoogle-glog-dev libsuitesparse-dev libboost-filesystem-dev libboost-iostreams-dev \
libboost-regex-dev libboost-python-dev libboost-date-time-dev libboost-thread-dev python-pyproj python-empy python-nose python-pyside python-pyexiv2 python-scipy \
jhead liblas-bin python-matplotlib libatlas-base-dev libgmp-dev libmpfr-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev
libexiv2-dev liblas-bin python-matplotlib libatlas-base-dev libgmp-dev libmpfr-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev
RUN apt-get remove libdc1394-22-dev
RUN pip install --upgrade pip

15
configure.sh
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@ -6,6 +6,12 @@ install() {
export PYTHONPATH=$RUNPATH/SuperBuild/install/lib/python2.7/dist-packages:$RUNPATH/SuperBuild/src/opensfm:$PYTHONPATH
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$RUNPATH/SuperBuild/install/lib
if [[ $2 =~ ^[0-9]+$ ]] ; then
processes=$2
else
processes=$(nproc)
fi
## Before installing
echo "Updating the system"
sudo apt-get update
@ -84,7 +90,7 @@ install() {
echo "Installing OpenDroneMap Dependencies"
sudo apt-get install -y -qq python-pyexiv2 \
python-scipy \
jhead \
libexiv2-dev \
liblas-bin
echo "Installing lidar2dems Dependencies"
@ -97,12 +103,12 @@ install() {
echo "Compiling SuperBuild"
cd ${RUNPATH}/SuperBuild
mkdir -p build && cd build
cmake .. && make -j$(nproc)
cmake .. && make -j$processes
echo "Compiling build"
cd ${RUNPATH}
mkdir -p build && cd build
cmake .. && make -j$(nproc)
cmake .. && make -j$processes
echo "Configuration Finished"
}
@ -123,7 +129,7 @@ reinstall() {
usage() {
echo "Usage:"
echo "bash configure.sh <install|update|uninstall|help>"
echo "bash configure.sh <install|update|uninstall|help> [nproc]"
echo "Subcommands:"
echo " install"
echo " Installs all dependencies and modules for running OpenDroneMap"
@ -133,6 +139,7 @@ usage() {
echo " Removes SuperBuild and build modules. Does not uninstall dependencies"
echo " help"
echo " Displays this message"
echo "[nproc] is an optional argument that can set the number of processes for the make -j tag. By default it uses $(nproc)"
}
if [[ $1 =~ ^(install|reinstall|uninstall|usage)$ ]]; then

2
core2.Dockerfile
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@ -14,7 +14,7 @@ RUN apt-get install --no-install-recommends -y git cmake python-pip build-essent
libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libflann-dev \
libproj-dev libxext-dev liblapack-dev libeigen3-dev libvtk5-dev python-networkx libgoogle-glog-dev libsuitesparse-dev libboost-filesystem-dev libboost-iostreams-dev \
libboost-regex-dev libboost-python-dev libboost-date-time-dev libboost-thread-dev python-pyproj python-empy python-nose python-pyside python-pyexiv2 python-scipy \
jhead liblas-bin python-matplotlib libatlas-base-dev libgmp-dev libmpfr-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev
libexiv2-dev liblas-bin python-matplotlib libatlas-base-dev libgmp-dev libmpfr-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev
RUN apt-get remove libdc1394-22-dev
RUN pip install --upgrade pip

2
modules/odm_extract_utm/CMakeLists.txt
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@ -4,6 +4,7 @@ cmake_minimum_required(VERSION 2.8)
set(PROJ4_INCLUDE_DIR "/usr/include/" CACHE "PROJ4_INCLUDE_DIR" "Path to the proj4 inlcude directory")
find_library(PROJ4_LIBRARY "libproj.so" PATHS "/usr/lib" "/usr/lib/x86_64-linux-gnu")
find_library(EXIV2_LIBRARY "libexiv2.so" PATHS "/usr/lib" "/usr/lib/x86_64-linux-gnu")
# Add compiler options.
add_definitions(-Wall -Wextra)
@ -16,4 +17,5 @@ add_executable(${PROJECT_NAME} ${SRC_LIST})
# Link
target_link_libraries(${PROJECT_NAME} ${PROJ4_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${EXIV2_LIBRARY})

171
modules/odm_extract_utm/src/UtmExtractor.cpp
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@ -10,6 +10,7 @@
#include <ctype.h>
#include <sstream>
#include <math.h>
#include <exiv2/exiv2.hpp>
// Proj4
#include <proj_api.h>
@ -168,32 +169,42 @@ void UtmExtractor::extractUtm()
std::string imageFilename;
std::vector<Coord> coords;
while (getline(imageListStream, imageFilename)) {
// Run jhead on image to extract EXIF data to temporary file
std::string commandLine = "jhead -v " + imagesPath_ + "/" + imageFilename + " > extract_utm_output.txt";
system(commandLine.c_str());
// Read temporary EXIF data file
std::ifstream jheadDataStream;
jheadDataStream.open("extract_utm_output.txt");
if (!jheadDataStream.good()) {
throw UtmExtractorException("Failed to open temporary jhead data file extract_utm_output.txt");
}
// Delete temporary file
remove("extract_utm_output.txt");
// Parse jhead output
double lon, lat, alt;
if (!parsePosition(jheadDataStream, lon, lat, alt)) {
throw UtmExtractorException("Failed parsing GPS position.");
jheadDataStream.close();
// Read image and load metadata
Exiv2::Image::AutoPtr image = Exiv2::ImageFactory::open(imagesPath_ + "/" + imageFilename);
if (image.get() == 0) {
std::string error(imageFilename);
error += ": Image cannot be read";
throw Exiv2::Error(1, error);
}
jheadDataStream.close();
else {
image->readMetadata();
// Convert to UTM
double x, y, z;
convert(lon, lat, alt, x, y, z, utmZone, hemisphere);
coords.push_back(Coord(x, y, z));
Exiv2::ExifData &exifData = image->exifData();
if (exifData.empty()) {
std::string error(imageFilename);
error += ": No Exif data found in the file";
throw Exiv2::Error(1, error);
}
// Parse exif data for positional data
double lon, lat, alt = 0.0;
parsePosition(exifData, lon, lat, alt);
if (lon == 0.0 || lat == 0.0 || alt == 0.0) {
std::string error("Failed parsing GPS position for " + imageFilename);
throw UtmExtractorException(error);
}
// Convert to UTM
double x, y, z = 0.0;
convert(lon, lat, alt, x, y, z, utmZone, hemisphere);
if (x == 0.0 || y == 0.0 || z == 0.0) {
std::string error("Failed to convert GPS position to UTM for " + imageFilename);
throw UtmExtractorException(error);
}
coords.push_back(Coord(x, y, z));
}
}
imageListStream.close();
@ -223,17 +234,15 @@ void UtmExtractor::extractUtm()
}
outputCoordStream.close();
}
bool UtmExtractor::convert(const double &lon, const double &lat, const double &alt, double &x, double &y, double &z, int &utmZone, char &hemisphere)
void UtmExtractor::convert(const double &lon, const double &lat, const double &alt, double &x, double &y, double &z, int &utmZone, char &hemisphere)
{
x = y = z = 0.0;
// Create WGS84 longitude/latitude coordinate system
projPJ pjLatLon = pj_init_plus("+proj=latlong +datum=WGS84");
if (!pjLatLon) {
throw UtmExtractorException("Couldn't create WGS84 coordinate system with PROJ.4.");
return false;
}
// Calculate UTM zone if it's set to magic 99
@ -255,7 +264,6 @@ bool UtmExtractor::convert(const double &lon, const double &lat, const double &a
projPJ pjUtm = pj_init_plus(("+proj=utm +datum=WGS84 +zone=" + ostr.str()).c_str());
if (!pjUtm) {
throw UtmExtractorException("Couldn't create UTM coordinate system with PROJ.4.");
return false;
}
// Convert to radians
@ -267,87 +275,54 @@ bool UtmExtractor::convert(const double &lon, const double &lat, const double &a
int res = pj_transform(pjLatLon, pjUtm, 1, 1, &x, &y, &z);
if (res != 0) {
throw UtmExtractorException("Failed to transform coordinates");
return false;
}
return true;
}
bool UtmExtractor::parsePosition(std::ifstream &jheadStream, double &lon, double &lat, double &alt)
void UtmExtractor::parsePosition(Exiv2::ExifData &exifData, double &lon, double &lat, double &alt)
{
lon = lat = alt = 0.0;
Exiv2::Exifdatum& latitudeTag = exifData["Exif.GPSInfo.GPSLatitude"];
Exiv2::Exifdatum& latitudeRef = exifData["Exif.GPSInfo.GPSLatitudeRef"];
Exiv2::Exifdatum& longitudeTag = exifData["Exif.GPSInfo.GPSLongitude"];
Exiv2::Exifdatum& longitudeRef = exifData["Exif.GPSInfo.GPSLongitudeRef"];
Exiv2::Exifdatum& altitudeTag = exifData["Exif.GPSInfo.GPSAltitude"];
Exiv2::Exifdatum& altitudeRef = exifData["Exif.GPSInfo.GPSAltitudeRef"];
// Parse position
std::string str;
std::string latStr, lonStr, altStr;
while (std::getline(jheadStream, str))
{
const char* latitudeTag = "GPS Latitude : ";
size_t index = str.find(latitudeTag);
if (index != std::string::npos)
{
latStr = str.substr(index + std::strlen(latitudeTag));
size_t find = latStr.find_first_of("0123456789");
if(std::string::npos == find)
{
throw UtmExtractorException("Image is missing GPS Latitude data");
}
// Latitude: parse into a double
if (latitudeTag.count() < 3)
throw UtmExtractorException("Image is missing GPS Latitude data");
else {
Exiv2::URational rLat[] = {latitudeTag.toRational(0), latitudeTag.toRational(1), latitudeTag.toRational(2)};
bool south = (strcmp(latitudeRef.toString().c_str(), "S") == 0);
double degrees, minutes, seconds;
}
const char* longitudeTag = "GPS Longitude: ";
index = str.find(longitudeTag);
if (index != std::string::npos)
{
lonStr = str.substr(index + std::strlen(longitudeTag));
size_t find = lonStr.find_first_of("0123456789");
if(std::string::npos == find)
{
throw UtmExtractorException("Image is missing GPS Longitude data");
}
}
const char* altitudeTag = "GPS Altitude :";
index = str.find(altitudeTag);
if (index != std::string::npos)
{
altStr = str.substr(index + std::strlen(altitudeTag));
size_t find = altStr.find_first_of("0123456789");
if(std::string::npos == find)
{
throw UtmExtractorException("Image is missing GPS Altitude data");
}
}
degrees = (double)rLat[0].first / (double)rLat[0].second;
minutes = (double)rLat[1].first / (double)rLat[1].second / 60.0;
seconds = (double)rLat[2].first / (double)rLat[2].second / 3600.0;
lat = (south ? -1 : 1) * (degrees + minutes + seconds);
}
if (lonStr.empty() || latStr.empty()) {
throw UtmExtractorException("No valid GPS position found");
return false;
// Longitude
if (longitudeTag.count() < 3)
throw UtmExtractorException("Image is missing GPS Longitude data");
else {
Exiv2::URational rLon[] = {longitudeTag.toRational(0), longitudeTag.toRational(1), longitudeTag.toRational(2)};
bool west = (strcmp(longitudeRef.toString().c_str(), "W") == 0);
double degrees, minutes, seconds;
degrees = (double)rLon[0].first / (double)rLon[0].second;
minutes = (double)rLon[1].first / (double)rLon[1].second / 60.0;
seconds = (double)rLon[2].first / (double)rLon[2].second / 3600.0;
lon = (west ? -1 : 1) * (degrees + minutes + seconds);
}
// Parse longitude
std::string hemisphere;
double degrees, minutes, seconds;
std::istringstream istr(lonStr);
char degChar = 'd', minChar = 'm', secChar = 's';
istr >> hemisphere >> degrees >> degChar >> minutes >> minChar >> seconds >> secChar;
lon = (hemisphere == "W" ? -1 : 1) * (degrees + minutes/60.0 + seconds/3600.0);
// Parse latitude
istr.clear();
istr.str(latStr);
istr >> hemisphere >> degrees >> degChar >> minutes >> minChar >> seconds >> secChar;
lat = (hemisphere == "S" ? -1 : 1) * (degrees + minutes/60.0 + seconds/3600.0);
if (!altStr.empty())
{
char meterUnitChar;
istr.clear();
istr.str(altStr);
istr >> alt >> meterUnitChar;
// Altitude
if (altitudeTag.count() < 1)
throw UtmExtractorException("Image is missing GPS Altitude data");
else {
Exiv2::URational rAlt = altitudeTag.toRational(0);
bool below = (altitudeRef.count() >= 1 && altitudeRef.toLong() == 1);
alt = (below ? -1 : 1) * (double) rAlt.first / (double) rAlt.second;
}
return true;
}
void UtmExtractor::printHelp()

6
modules/odm_extract_utm/src/UtmExtractor.hpp
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@ -2,6 +2,8 @@
// Logging
#include "Logger.hpp"
#include <exiv2/exiv2.hpp>
/*!
* \breif The Coord struct Class used in UtmExtractor to extract GPS positions from images and ODM output
@ -55,7 +57,7 @@ private:
*
* \returns True if successful (otherwise output parameters are 0)
*/
static bool convert(const double &lon, const double &lat, const double &alt, double &x, double &y, double &z, int &utmZone, char &hemisphere);
static void convert(const double &lon, const double &lat, const double &alt, double &x, double &y, double &z, int &utmZone, char &hemisphere);
/*!
* \brief Static method that parses a GPS position from jhead data.
@ -67,7 +69,7 @@ private:
*
* \returns True if successful (otherwise output parameters are 0)
*/
static bool parsePosition(std::ifstream &jheadStream, double &lon, double &lat, double &alt);
static void parsePosition(Exiv2::ExifData &exifData, double &lon, double &lat, double &alt);
/*!
* \brief printHelp Prints help, explaining usage. Can be shown by calling the program with arguments: "-help".