kopia lustrzana https://github.com/OpenDroneMap/ODM
84 wiersze
3.3 KiB
Python
84 wiersze
3.3 KiB
Python
import os
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import math
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from opendm import log
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from opendm import location
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from pyproj import CRS
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class GeoFile:
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def __init__(self, geo_path):
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self.geo_path = geo_path
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self.entries = {}
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self.srs = None
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with open(self.geo_path, 'r') as f:
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contents = f.read().strip()
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lines = list(map(str.strip, contents.split('\n')))
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if lines:
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self.raw_srs = lines[0] # SRS
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self.srs = location.parse_srs_header(self.raw_srs)
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longlat = CRS.from_epsg("4326")
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for line in lines[1:]:
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if line != "" and line[0] != "#":
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parts = line.split()
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if len(parts) >= 3:
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i = 3
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filename = parts[0]
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x, y = [float(p) for p in parts[1:3]]
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z = float(parts[3]) if len(parts) >= 4 else None
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# Always convert coordinates to WGS84
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if z is not None:
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x, y, z = location.transform3(self.srs, longlat, x, y, z)
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else:
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x, y = location.transform2(self.srs, longlat, x, y)
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yaw = pitch = roll = None
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if len(parts) >= 7:
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yaw, pitch, roll = [float(p) for p in parts[4:7]]
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if math.isnan(yaw) or math.isnan(pitch) or math.isnan(roll):
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yaw = pitch = roll = None
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i = 7
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horizontal_accuracy = vertical_accuracy = None
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if len(parts) >= 9:
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horizontal_accuracy,vertical_accuracy = [float(p) for p in parts[7:9]]
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i = 9
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extras = " ".join(parts[i:])
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self.entries[filename] = GeoEntry(filename, x, y, z,
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yaw, pitch, roll,
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horizontal_accuracy, vertical_accuracy,
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extras)
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else:
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log.ODM_WARNING("Malformed geo line: %s" % line)
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def get_entry(self, filename):
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return self.entries.get(filename)
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class GeoEntry:
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def __init__(self, filename, x, y, z, yaw=None, pitch=None, roll=None, horizontal_accuracy=None, vertical_accuracy=None, extras=None):
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self.filename = filename
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self.x = x
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self.y = y
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self.z = z
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self.yaw = yaw
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self.pitch = pitch
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self.roll = roll
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self.horizontal_accuracy = horizontal_accuracy
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self.vertical_accuracy = vertical_accuracy
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self.extras = extras
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def __str__(self):
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return "{} ({} {} {}) ({} {} {}) ({} {}) {}".format(self.filename,
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self.x, self.y, self.z,
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self.yaw, self.pitch, self.roll,
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self.horizontal_accuracy, self.vertical_accuracy,
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self.extras).rstrip()
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def position_string(self):
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return "{} {} {}".format(self.x, self.y, self.z)
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