kopia lustrzana https://github.com/OpenDroneMap/ODM
Sun sensor, DLS pose
Piero Toffanin
rodzic
49d109199e
commit
f79df2fd36
stages
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@ -289,8 +289,7 @@ def config():
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default=False,
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help='Skips dense reconstruction and 3D model generation. '
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'It generates an orthophoto directly from the sparse reconstruction. '
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'If you just need an orthophoto and do not need a full 3D model, turn on this option. '
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'Experimental.')
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'If you just need an orthophoto and do not need a full 3D model, turn on this option.')
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parser.add_argument('--crop',
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metavar='<positive float>',
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@ -14,7 +14,7 @@ def dn_to_radiance(photo, image):
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:return numpy array with radiance image values
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"""
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image = image.astype(float)
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image = image.astype("float32")
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# Handle thermal bands (experimental)
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if photo.band_name == 'LWIR':
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@ -133,12 +133,12 @@ def compute_irradiance(photo, use_sun_sensor=True):
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# TODO: support for calibration panels
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if use_sun_sensor and photo.sun_sensor:
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if use_sun_sensor and photo.get_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.get_dls_pose(),
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photo.get_utc_time(),
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dls_orientation_vector)
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@ -148,8 +148,8 @@ def compute_irradiance(photo, use_sun_sensor=True):
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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
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direct_to_diffuse_ratio = 6.0 # Assumption, clear skies
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spectral_irradiance = photo.get_sun_sensor()
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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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117
opendm/photo.py
117
opendm/photo.py
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@ -46,12 +46,17 @@ class ODM_Photo:
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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.spectral_irradiance = None
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self.horizontal_irradiance = None
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self.irradiance_scale_to_si = None
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self.sun_sensor = None
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self.utc_time = None
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# DLS
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self.sun_sensor = None
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self.dls_yaw = None
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self.dls_pitch = None
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self.dls_roll = None
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# self.center_wavelength = None
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# self.bandwidth = None
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@ -86,7 +91,10 @@ class ODM_Photo:
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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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except IndexError as e:
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log.ODM_WARNING("Cannot read basic EXIF tags for %s: %s" % (_path_file, e.message))
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try:
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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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elif 'BlackLevel' in tags:
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@ -125,50 +133,63 @@ class ODM_Photo:
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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 Exception as e:
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log.ODM_WARNING("Cannot read extended EXIF tags for %s: %s" % (_path_file, e.message))
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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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try:
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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('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_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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self.set_attr_from_xmp_tag('horizontal_irradiance', tags, [
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'Camera:HorizontalIrradiance'
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], float)
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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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self.set_attr_from_xmp_tag('horizontal_irradiance', tags, [
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'Camera:HorizontalIrradiance'
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], float)
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self.set_attr_from_xmp_tag('irradiance_scale_to_si', tags, [
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'Camera:IrradianceScaleToSIUnits'
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], float)
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self.set_attr_from_xmp_tag('irradiance_scale_to_si', tags, [
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'Camera:IrradianceScaleToSIUnits'
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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('spectral_irradiance', tags, [
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'Camera:SpectralIrradiance',
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'Camera:Irradiance',
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], float)
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if 'DLS:Yaw' in tags:
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self.set_attr_from_xmp_tag('dls_yaw', tags, ['DLS:Yaw'], float)
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self.set_attr_from_xmp_tag('dls_pitch', tags, ['DLS:Pitch'], float)
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self.set_attr_from_xmp_tag('dls_roll', tags, ['DLS:Roll'], float)
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except Exception as e:
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log.ODM_WARNING("Cannot read XMP tags for %s: %s" % (_path_file, e.message))
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self.set_attr_from_xmp_tag('sun_sensor', tags, [
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'Camera:SunSensor',
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'Camera:Irradiance',
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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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@ -187,7 +208,11 @@ class ODM_Photo:
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# print(self.bits_per_sample)
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# print(self.vignetting_center)
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# print(self.sun_sensor)
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#print(self.get_vignetting_polynomial())
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# print(self.get_vignetting_polynomial())
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# print(self.dls_yaw)
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# print(self.dls_pitch)
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# print(self.fnumber)
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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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@ -328,3 +353,23 @@ class ODM_Photo:
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scale = self.irradiance_scale_to_si
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return self.horizontal_irradiance * scale
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def get_sun_sensor(self):
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if self.sun_sensor is not None:
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# TODO: Presence of XMP:SunSensorExposureTime
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# and XMP:SunSensorSensitivity might
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# require additional logic. If these two tags are present,
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# then sun_sensor is not in physical units?
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return self.sun_sensor / 65535 # uint16 normalized (TODO: is this correct? Documentation from manufacturers is missing)
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elif self.spectral_irradiance is not None:
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scale = 1.0 # Assumed
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if self.irradiance_scale_to_si is not None:
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scale = self.irradiance_scale_to_si
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return self.spectral_irradiance * scale
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def get_dls_pose(self):
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if self.dls_yaw is not None:
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return [self.dls_yaw, self.dls_pitch, self.dls_roll]
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return [0.0, 0.0, 0.0]
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@ -63,7 +63,7 @@ class ODMOpenSfMStage(types.ODM_Stage):
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else:
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# TODO: does this work for multi-band RGB images?
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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 multispectral.dn_to_reflectance(photo, image, use_sun_sensor=args.radiometric_calibration=="camera+sun")
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