Sun sensor work

Former-commit-id: 49d109199e

opendm/multispectral.py

@@ -65,8 +65,6 @@ def dn_to_radiance(photo, image):
         R = 1.0 / (1.0 + a2 * y / exposure_time - a3 * y)
         image *= R
 
-        cv2.imwrite("/datasets/mica/R.tif", R)
-
         print("Row gradient")
     
     # Floor any negative radiances to zero (can happend due to noise around blackLevel)
@@ -114,19 +112,28 @@ def vignette_map(photo):
 
 def dn_to_reflectance(photo, image, use_sun_sensor=True):
     radiance = dn_to_radiance(photo, image)
-    irradiance_scale = compute_irradiance_scale_factor(photo, use_sun_sensor=use_sun_sensor)
-    return radiance * irradiance_scale
 
-def compute_irradiance_scale_factor(photo, use_sun_sensor=True):
+    # TODO REMOVE
+    cv2.imwrite("/datasets/sentera-6x/radiance.tif", radiance)
+
+
+    irradiance = compute_irradiance(photo, use_sun_sensor=use_sun_sensor)
+    print(irradiance)
+    return radiance * math.pi / irradiance
+
+def compute_irradiance(photo, use_sun_sensor=True):
     # Thermal?
     if photo.band_name == "LWIR":
         return 1.0
 
-    if photo.irradiance is not None:
+    # Some cameras (Micasense) store the value (nice! just return)
-        horizontal_irradiance = photo.irradiance
+    hirradiance = photo.get_horizontal_irradiance()
-        return math.pi / horizontal_irradiance
+    if hirradiance is not None:
-    
+        return hirradiance
-    if use_sun_sensor:
+
+    # TODO: support for calibration panels
+
+    if use_sun_sensor and photo.sun_sensor:
         # Estimate it
         dls_orientation_vector = np.array([0,0,-1])
         sun_vector_ned, sensor_vector_ned, sun_sensor_angle, \
@@ -137,21 +144,25 @@ def compute_irradiance_scale_factor(photo, use_sun_sensor=True):
 
         angular_correction = dls.fresnel(sun_sensor_angle)
 
+        print("Sun sensor")
+
         # TODO: support for direct and scattered irradiance
 
         direct_to_diffuse_ratio = 6.0 # Assumption
-        spectral_irradiance = photo.sun_sensor # TODO: support for XMP:SpectralIrradiance
+        spectral_irradiance = photo.sun_sensor
 
         percent_diffuse = 1.0 / direct_to_diffuse_ratio
         sensor_irradiance = spectral_irradiance / angular_correction
 
-        # find direct irradiance in the plane normal to the sun
+        # Find direct irradiance in the plane normal to the sun
         untilted_direct_irr = sensor_irradiance / (percent_diffuse + np.cos(sun_sensor_angle))
         direct_irradiance = untilted_direct_irr
-        scattered_irradiance = untilted_direct_irr*percent_diffuse
+        scattered_irradiance = untilted_direct_irr * percent_diffuse
 
         # compute irradiance on the ground using the solar altitude angle
         horizontal_irradiance = direct_irradiance * np.sin(solar_elevation) + scattered_irradiance
-        return math.pi / horizontal_irradiance
+        return horizontal_irradiance
+    elif use_sun_sensor:
+        log.ODM_WARNING("No sun sensor values found for %s" % photo.filename)
     
     return 1.0

opendm/photo.py

@@ -46,7 +46,9 @@ class ODM_Photo:
         self.bits_per_sample = None
         self.vignetting_center = None
         self.vignetting_polynomial = None
-        self.irradiance = None
+        # self.irradiance = None
+        self.horizontal_irradiance = None
+        self.irradiance_scale_to_si = None
         self.sun_sensor = None
         self.utc_time = None
 
@@ -155,12 +157,17 @@ class ODM_Photo:
                     'Sentera:VignettingPolynomial',
                 ])
                 
-                self.set_attr_from_xmp_tag('irradiance', tags, [
+                self.set_attr_from_xmp_tag('horizontal_irradiance', tags, [
-                    'Camera:Irradiance'
+                    'Camera:HorizontalIrradiance'
+                ], float)
+
+                self.set_attr_from_xmp_tag('irradiance_scale_to_si', tags, [
+                    'Camera:IrradianceScaleToSIUnits'
                 ], float)
 
                 self.set_attr_from_xmp_tag('sun_sensor', tags, [
-                    'Camera:SunSensor'
+                    'Camera:SunSensor',
+                    'Camera:Irradiance',
                 ], float)
 
                 # self.set_attr_from_xmp_tag('center_wavelength', tags, [
@@ -181,7 +188,7 @@ class ODM_Photo:
             # print(self.vignetting_center)
             # print(self.sun_sensor)
             #print(self.get_vignetting_polynomial())
-            #exit(1)
+            # exit(1)
         self.width, self.height = get_image_size.get_image_size(_path_file)
         
         # Sanitize band name since we use it in folder paths
@@ -312,4 +319,12 @@ class ODM_Photo:
     def get_photometric_exposure(self):
         # H ~= (exposure_time) / (f_number^2)
         if self.fnumber is not None and self.exposure_time > 0:
-            return self.exposure_time / (self.fnumber * self.fnumber)
+            return self.exposure_time / (self.fnumber * self.fnumber)
+
+    def get_horizontal_irradiance(self):
+        if self.horizontal_irradiance is not None:
+            scale = 1.0 # Assumed
+            if self.irradiance_scale_to_si is not None:
+                scale = self.irradiance_scale_to_si
+            
+            return self.horizontal_irradiance * scale

stages/run_opensfm.py

@@ -61,6 +61,9 @@ class ODMOpenSfMStage(types.ODM_Stage):
         if args.radiometric_calibration == "none":
             octx.convert_and_undistort(self.rerun())
         else:
+
+            # TODO: does this work for multi-band RGB images?
+            
             def radiometric_calibrate(shot_id, image):
                 photo = reconstruction.get_photo(shot_id)
                 return multispectral.dn_to_reflectance(photo, image, use_sun_sensor=args.radiometric_calibration=="camera+sun")