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Attempts to figure out proper crs

pull/1243/head
Piero Toffanin 2021-03-16 21:11:47 +00:00
rodzic f2f73e97ea
commit f3c167029c
1 zmienionych plików z 42 dodań i 12 usunięć
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54
contrib/orthorectify/orthorectify.py
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@ -43,21 +43,30 @@ with rasterio.open(dem_path) as dem_raster:
r = shot.pose.get_rotation_matrix()
Xs, Ys, Zs = shot.pose.get_origin()
cam_w = shot.camera.width
cam_h = shot.camera.height
img_w, img_h, num_bands = shot_image.shape
f = shot.camera.focal
A = np.array([[0, 1, 0], [1, 0, 0], [0, 0, 1]])
# A = np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]])
r = (np.linalg.inv(r).dot(A)).dot(r)
# roll = [[1, 0, 0], [0, -1, 0], [0, 0, -1]]
# pitch = [[-1, 0, 0], [0, 1, 0], [0, 0, -1]]
# yaw = [[-1, 0, 0], [0, -1, 0], [0, 0, 1]]
# print(r)
# r = r.dot(pitch).dot(yaw)
# print(r)
img_h, img_w, num_bands = shot_image.shape
print("Image dimensions: %sx%s pixels" % (img_w, img_h))
f = shot.camera.focal# * max(img_h, img_w)
def process_pixels(step):
imgout = np.full((num_bands, w, h), np.nan, dtype=shot_image.dtype)
for i in range(w):
if i % max_workers == step:
for j in range(h):
# i, j = (168, 442) # TODO REMOVE
# World coordinates
Xa, Ya = dem_raster.xy(i, j)
Xa, Ya = dem_raster.xy(j, i)
Za = dem[j][i]
# Colinearity function http://web.pdx.edu/~jduh/courses/geog493f14/Week03.pdf
@ -65,14 +74,23 @@ with rasterio.open(dem_path) as dem_raster:
dy = (Ya - Ys)
dz = (Za - Zs)
# ?
den = r[0][2] * dx + r[1][2] * dy + r[2][2] * dz
x = 0.5 + (-f * (r[0][0] * dx + r[1][0] * dy + r[2][0] * dz) / den)
y = 0.5 + (-f * (r[0][1] * dx + r[1][1] * dy + r[2][1] * dz) / den)
x = (f * (r[0][0] * dx + r[1][0] * dy + r[2][0] * dz) / den)
y = (f * (r[0][1] * dx + r[1][1] * dy + r[2][1] * dz) / den)
# TEST
# den = r[2][0] * dx + r[2][1] * dy + r[2][2] * dz
# x = (img_w - 1) / 2.0 + (-f * (r[0][0] * dx + r[0][1] * dy + r[0][2] * dz) / den)
# y = (img_h - 1) / 2.0 + (-f * (r[1][0] * dx + r[1][1] * dy + r[1][2] * dz) / den)
if x >= 0 and y >= 0 and x <= 1.0 and y <= 1.0:
for b in range(3):
for b in range(num_bands):
imgout[b][i][j] = 255
# if x >= 0 and y >= 0 and x <= img_w and y <= img_h:
# xi = min(round(x), img_w - 1)
# yi = min(round(y), img_h - 1)
# for b in range(num_bands):
# imgout[b][i][j] = shot_image[yi][xi][b]
return imgout
with multiprocessing.Pool(max_workers) as p:
@ -97,4 +115,16 @@ with rasterio.open(dem_path) as dem_raster:
}
with rasterio.open("/datasets/brighton2/odm_meshing/tmp/out.tif", 'w', **profile) as wout:
for b in range(num_bands):
wout.write(imgout[b], b + 1)
wout.write(imgout[b], b + 1)
# # TODO REMOVE
profile = {
'driver': 'GTiff',
'width': w,
'height': h,
'count': 1,
'dtype': dem.dtype.name,
'nodata': None
}
with rasterio.open("/datasets/brighton2/odm_meshing/tmp/dsm_out.tif", 'w', **profile) as wout:
wout.write(dem, 1)