kopia lustrzana https://github.com/OpenDroneMap/ODM
--radiometric-calibration option, refactoring
Piero Toffanin
rodzic
850500ac0d
commit
d4800c93bc
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@ -160,6 +160,17 @@ def config():
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'set to one of: [auto, perspective, brown, fisheye, spherical]. Default: '
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'%(default)s'))
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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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help=('Set the radiometric calibration to perform on images. '
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'When processing multispectral images you should set this value '
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'to obtain reflectance value (otherwise orthophotos will contain Digital Number (DN) values). '
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'Can be set to one of: [none, camera, sun, sunangle]. Default: '
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'%(default)s'))
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parser.add_argument('--max-concurrency',
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metavar='<positive integer>',
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default=context.num_cores,
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@ -1,9 +1,10 @@
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def dn_to_radiance(photo, img):
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def dn_to_radiance(photo, image):
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"""
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Convert Digital Number values to Radiance values
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:param photo ODM_Photo
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:param img numpy array containing image data
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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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# TODO!
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return img
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print("HI")
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return image
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@ -234,14 +234,12 @@ class OSFMContext:
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else:
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log.ODM_INFO("Already extracted cameras")
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def convert_and_undistort(self, rerun=False):
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def convert_and_undistort(self, rerun=False, imageFilter=None):
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log.ODM_INFO("Undistorting %s ..." % self.opensfm_project_path)
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undistorted_images_path = self.path("undistorted", "images")
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if not io.dir_exists(undistorted_images_path) or rerun:
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def test(image):
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return image
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cmd = undistort.Command(test)
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cmd = undistort.Command(imageFilter)
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parser = argparse.ArgumentParser()
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cmd.add_arguments(parser)
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cmd.run(parser.parse_args([self.opensfm_project_path]))
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@ -0,0 +1,204 @@
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import io
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import logging
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import re
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import exifread
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from six import string_types
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import log
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import system
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import xmltodict as x2d
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from opendm import get_image_size
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class ODM_Photo:
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""" ODMPhoto - a class for ODMPhotos
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"""
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def __init__(self, path_file):
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# Standard tags (virtually all photos have these)
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self.filename = io.extract_file_from_path_file(path_file)
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self.width = None
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self.height = None
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self.camera_make = ''
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self.camera_model = ''
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# Geo tags
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self.latitude = None
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self.longitude = None
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self.altitude = None
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# Multi-band fields
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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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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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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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# parse values from metadata
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self.parse_exif_values(path_file)
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# print log message
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log.ODM_DEBUG('Loaded {}'.format(self))
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def __str__(self):
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return '{} | camera: {} {} | dimensions: {} x {} | lat: {} | lon: {} | alt: {} | band: {} ({})'.format(
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self.filename, self.camera_make, self.camera_model, self.width, self.height,
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self.latitude, self.longitude, self.altitude, self.band_name, self.band_index)
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def parse_exif_values(self, _path_file):
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# Disable exifread log
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logging.getLogger('exifread').setLevel(logging.CRITICAL)
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with open(_path_file, 'rb') as f:
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tags = exifread.process_file(f, details=False)
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try:
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if 'Image Make' in tags:
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self.camera_make = tags['Image Make'].values.encode('utf8')
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if 'Image Model' in tags:
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self.camera_model = tags['Image Model'].values.encode('utf8')
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if 'GPS GPSAltitude' in tags:
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self.altitude = self.float_value(tags['GPS GPSAltitude'])
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if 'GPS GPSAltitudeRef' in tags and self.int_value(tags['GPS GPSAltitudeRef']) > 0:
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self.altitude *= -1
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if 'GPS GPSLatitude' in tags and 'GPS GPSLatitudeRef' in tags:
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self.latitude = self.dms_to_decimal(tags['GPS GPSLatitude'], tags['GPS GPSLatitudeRef'])
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if 'GPS GPSLongitude' in tags and 'GPS GPSLongitudeRef' in tags:
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self.longitude = self.dms_to_decimal(tags['GPS GPSLongitude'], tags['GPS GPSLongitudeRef'])
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# if 'BlackLevel' in tags:
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if 'Image Tag 0xC61A' in tags:
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self.black_level = self.list_values(tags['Image Tag 0xC61A'])
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if 'EXIF ExposureTime' in tags:
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self.exposure_time = self.float_value(tags['EXIF ExposureTime'])
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if 'EXIF ISOSpeed' in tags:
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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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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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# Extract XMP tags
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f.seek(0)
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xmp = self.get_xmp(f)
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for tags in xmp:
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band_name = self.get_xmp_tag(tags, 'Camera:BandName')
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if band_name is not None:
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self.band_name = band_name.replace(" ", "")
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self.set_attr_from_xmp_tag('band_index', tags, [
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'DLS:SensorId', # Micasense RedEdge
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'@Camera:RigCameraIndex', # Parrot Sequoia, Sentera 21244-00_3.2MP-GS-0001
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'Camera:RigCameraIndex', # MicaSense Altum
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])
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self.set_attr_from_xmp_tag('radiometric_calibration', tags, [
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'MicaSense:RadiometricCalibration',
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])
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self.set_attr_from_xmp_tag('vignetting_center', tags, [
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'Camera:VignettingCenter',
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'Sentera:VignettingCenter',
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])
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self.set_attr_from_xmp_tag('vignetting_polynomial', tags, [
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'Camera:VignettingPolynomial',
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'Sentera:VignettingPolynomial',
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])
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# print(self.band_name)
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# print(self.band_index)
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# print(self.radiometric_calibration)
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# print(self.black_level)
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# print(self.exposure_time)
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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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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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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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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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for tag in tags:
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if tag in xmp_tags:
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t = xmp_tags[tag]
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if isinstance(t, string_types):
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return str(t)
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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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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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# From https://github.com/mapillary/OpenSfM/blob/master/opensfm/exif.py
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def get_xmp(self, file):
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img_str = str(file.read())
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xmp_start = img_str.find('<x:xmpmeta')
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xmp_end = img_str.find('</x:xmpmeta')
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if xmp_start < xmp_end:
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xmp_str = img_str[xmp_start:xmp_end + 12]
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xdict = x2d.parse(xmp_str)
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xdict = xdict.get('x:xmpmeta', {})
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xdict = xdict.get('rdf:RDF', {})
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xdict = xdict.get('rdf:Description', {})
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if isinstance(xdict, list):
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return xdict
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else:
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return [xdict]
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else:
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return []
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def dms_to_decimal(self, dms, sign):
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"""Converts dms coords to decimal degrees"""
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degrees, minutes, seconds = self.float_values(dms)
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return (-1 if sign.values[0] in 'SWsw' else 1) * (
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degrees +
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minutes / 60 +
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seconds / 3600
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)
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def float_values(self, tag):
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return map(lambda v: float(v.num) / float(v.den), tag.values)
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def float_value(self, tag):
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v = self.float_values(tag)
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if len(v) > 0:
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return v[0]
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def int_values(self, tag):
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return map(int, tag.values)
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def int_value(self, tag):
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v = self.int_values(tag)
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if len(v) > 0:
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return v[0]
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def list_values(self, tag):
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return " ".join(map(str, tag.values))
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@ -127,10 +127,11 @@ class ODM_Reconstruction(object):
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with open(file, 'w') as f:
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f.write(self.georef.proj4())
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def get_photo(filename):
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def get_photo(self, filename):
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for p in self.photos:
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if p.filename == filename:
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return p
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class ODM_GeoRef(object):
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@staticmethod
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@ -9,6 +9,7 @@ from opendm import gsd
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from opendm import point_cloud
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from opendm import types
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from opendm.osfm import OSFMContext
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from opendm.multispectral import dn_to_radiance
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class ODMOpenSfMStage(types.ODM_Stage):
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def process(self, args, outputs):
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@ -21,43 +22,50 @@ class ODMOpenSfMStage(types.ODM_Stage):
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exit(1)
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octx = OSFMContext(tree.opensfm)
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octx.setup(args, tree.dataset_raw, photos, reconstruction=reconstruction, rerun=self.rerun())
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octx.extract_metadata(self.rerun())
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self.update_progress(20)
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octx.feature_matching(self.rerun())
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self.update_progress(30)
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octx.reconstruct(self.rerun())
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octx.extract_cameras(tree.path("cameras.json"), self.rerun())
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self.update_progress(70)
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# octx.setup(args, tree.dataset_raw, photos, reconstruction=reconstruction, rerun=self.rerun())
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# octx.extract_metadata(self.rerun())
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# self.update_progress(20)
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# octx.feature_matching(self.rerun())
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# self.update_progress(30)
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# octx.reconstruct(self.rerun())
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# octx.extract_cameras(tree.path("cameras.json"), self.rerun())
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# self.update_progress(70)
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# If we find a special flag file for split/merge we stop right here
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if os.path.exists(octx.path("split_merge_stop_at_reconstruction.txt")):
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log.ODM_INFO("Stopping OpenSfM early because we found: %s" % octx.path("split_merge_stop_at_reconstruction.txt"))
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self.next_stage = None
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return
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# # If we find a special flag file for split/merge we stop right here
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# if os.path.exists(octx.path("split_merge_stop_at_reconstruction.txt")):
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# log.ODM_INFO("Stopping OpenSfM early because we found: %s" % octx.path("split_merge_stop_at_reconstruction.txt"))
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# self.next_stage = None
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# return
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if args.fast_orthophoto:
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output_file = octx.path('reconstruction.ply')
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elif args.use_opensfm_dense:
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output_file = tree.opensfm_model
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else:
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output_file = tree.opensfm_reconstruction
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# if args.fast_orthophoto:
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# output_file = octx.path('reconstruction.ply')
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# elif args.use_opensfm_dense:
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# output_file = tree.opensfm_model
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# else:
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# output_file = tree.opensfm_reconstruction
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updated_config_flag_file = octx.path('updated_config.txt')
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# updated_config_flag_file = octx.path('updated_config.txt')
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# Make sure it's capped by the depthmap-resolution arg,
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# since the undistorted images are used for MVS
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outputs['undist_image_max_size'] = max(
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gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd, has_gcp=reconstruction.has_gcp()),
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args.depthmap_resolution
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)
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# # Make sure it's capped by the depthmap-resolution arg,
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# # since the undistorted images are used for MVS
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# outputs['undist_image_max_size'] = max(
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# gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd, has_gcp=reconstruction.has_gcp()),
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# args.depthmap_resolution
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# )
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if not io.file_exists(updated_config_flag_file) or self.rerun():
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octx.update_config({'undistorted_image_max_size': outputs['undist_image_max_size']})
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octx.touch(updated_config_flag_file)
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# if not io.file_exists(updated_config_flag_file) or self.rerun():
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# octx.update_config({'undistorted_image_max_size': outputs['undist_image_max_size']})
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# octx.touch(updated_config_flag_file)
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# These will be used for texturing / MVS
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octx.convert_and_undistort(self.rerun())
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if args.radiometric_calibration == "none":
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octx.convert_and_undistort(self.rerun())
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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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octx.convert_and_undistort(self.rerun(), radiometric_calibrate)
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self.update_progress(80)
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