Sun sensor, DLS pose

opendm/config.py

@@ -289,8 +289,7 @@ def config():
                 default=False,
                 help='Skips dense reconstruction and 3D model generation. '
                 'It generates an orthophoto directly from the sparse reconstruction. '
-                'If you just need an orthophoto and do not need a full 3D model, turn on this option. '
+                'If you just need an orthophoto and do not need a full 3D model, turn on this option.')
-                'Experimental.')
 
     parser.add_argument('--crop',
                     metavar='<positive float>',

opendm/multispectral.py

@@ -14,7 +14,7 @@ def dn_to_radiance(photo, image):
     :return numpy array with radiance image values
     """
 
-    image = image.astype(float)
+    image = image.astype("float32")
 
     # Handle thermal bands (experimental)
     if photo.band_name == 'LWIR':
@@ -133,12 +133,12 @@ def compute_irradiance(photo, use_sun_sensor=True):
 
     # TODO: support for calibration panels
 
-    if use_sun_sensor and photo.sun_sensor:
+    if use_sun_sensor and photo.get_sun_sensor():
         # Estimate it
         dls_orientation_vector = np.array([0,0,-1])
         sun_vector_ned, sensor_vector_ned, sun_sensor_angle, \
         solar_elevation, solar_azimuth = dls.compute_sun_angle([photo.latitude, photo.longitude],
-                                        (0,0,0), # TODO: add support for sun sensor pose
+                                        photo.get_dls_pose(),
                                         photo.get_utc_time(),
                                         dls_orientation_vector)
 
@@ -148,8 +148,8 @@ def compute_irradiance(photo, use_sun_sensor=True):
 
         # TODO: support for direct and scattered irradiance
 
-        direct_to_diffuse_ratio = 6.0 # Assumption
+        direct_to_diffuse_ratio = 6.0 # Assumption, clear skies
-        spectral_irradiance = photo.sun_sensor
+        spectral_irradiance = photo.get_sun_sensor()
 
         percent_diffuse = 1.0 / direct_to_diffuse_ratio
         sensor_irradiance = spectral_irradiance / angular_correction

opendm/photo.py

@@ -46,12 +46,17 @@ class ODM_Photo:
         self.bits_per_sample = None
         self.vignetting_center = None
         self.vignetting_polynomial = None
-        # self.irradiance = None
+        self.spectral_irradiance = None
         self.horizontal_irradiance = None
         self.irradiance_scale_to_si = None
-        self.sun_sensor = None
         self.utc_time = None
 
+        # DLS
+        self.sun_sensor = None
+        self.dls_yaw = None
+        self.dls_pitch = None
+        self.dls_roll = None
+
         # self.center_wavelength = None
         # self.bandwidth = None
 
@@ -86,7 +91,10 @@ class ODM_Photo:
                     self.latitude = self.dms_to_decimal(tags['GPS GPSLatitude'], tags['GPS GPSLatitudeRef'])
                 if 'GPS GPSLongitude' in tags and 'GPS GPSLongitudeRef' in tags:
                     self.longitude = self.dms_to_decimal(tags['GPS GPSLongitude'], tags['GPS GPSLongitudeRef'])
+            except IndexError as e:
+                log.ODM_WARNING("Cannot read basic EXIF tags for %s: %s" % (_path_file, e.message))
 
+            try:
                 if 'Image Tag 0xC61A' in tags:
                     self.black_level = self.list_values(tags['Image Tag 0xC61A'])
                 elif 'BlackLevel' in tags:
@@ -125,15 +133,16 @@ class ODM_Photo:
                     timezone = pytz.timezone('UTC')
                     epoch = timezone.localize(datetime.utcfromtimestamp(0))
                     self.utc_time = (timezone.localize(utc_time) - epoch).total_seconds() * 1000.0
+            except Exception as e:
+                log.ODM_WARNING("Cannot read extended EXIF tags for %s: %s" % (_path_file, e.message))
 
-            except IndexError as e:
-                log.ODM_WARNING("Cannot read EXIF tags for %s: %s" % (_path_file, e.message))
 
             # Extract XMP tags
             f.seek(0)
             xmp = self.get_xmp(f)
 
             for tags in xmp:
+                try:
                     band_name = self.get_xmp_tag(tags, 'Camera:BandName')
                     if band_name is not None:
                         self.band_name = band_name.replace(" ", "")
@@ -167,9 +176,21 @@ class ODM_Photo:
 
                     self.set_attr_from_xmp_tag('sun_sensor', tags, [
                         'Camera:SunSensor',
+                    ], float)
+
+                    self.set_attr_from_xmp_tag('spectral_irradiance', tags, [
+                        'Camera:SpectralIrradiance',
                         'Camera:Irradiance',                    
                     ], float)
 
+                    if 'DLS:Yaw' in tags:
+                        self.set_attr_from_xmp_tag('dls_yaw', tags, ['DLS:Yaw'], float)
+                        self.set_attr_from_xmp_tag('dls_pitch', tags, ['DLS:Pitch'], float)
+                        self.set_attr_from_xmp_tag('dls_roll', tags, ['DLS:Roll'], float)
+                except Exception as e:
+                    log.ODM_WARNING("Cannot read XMP tags for %s: %s" % (_path_file, e.message))
+
+
                 # self.set_attr_from_xmp_tag('center_wavelength', tags, [
                 #     'Camera:CentralWavelength'
                 # ], float)
@@ -188,6 +209,10 @@ class ODM_Photo:
             # print(self.vignetting_center)
             # print(self.sun_sensor)
             # print(self.get_vignetting_polynomial())
+            # print(self.dls_yaw)
+            # print(self.dls_pitch)
+            # print(self.fnumber)
+    
             # exit(1)
         self.width, self.height = get_image_size.get_image_size(_path_file)
         
@@ -328,3 +353,23 @@ class ODM_Photo:
                 scale = self.irradiance_scale_to_si
             
             return self.horizontal_irradiance * scale
+    
+    def get_sun_sensor(self):
+        if self.sun_sensor is not None:
+            # TODO: Presence of XMP:SunSensorExposureTime
+            # and XMP:SunSensorSensitivity might
+            # require additional logic. If these two tags are present, 
+            # then sun_sensor is not in physical units?
+
+            return self.sun_sensor / 65535 # uint16 normalized (TODO: is this correct? Documentation from manufacturers is missing)
+        elif self.spectral_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.spectral_irradiance * scale
+
+    def get_dls_pose(self):
+        if self.dls_yaw is not None:
+            return [self.dls_yaw, self.dls_pitch, self.dls_roll]
+        return [0.0, 0.0, 0.0]