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Piero Toffanin 2021-03-17 14:07:32 +00:00
rodzic f3c167029c
commit 9192668051
1 zmienionych plików z 41 dodań i 39 usunięć
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contrib/orthorectify/orthorectify.py
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@ -14,7 +14,7 @@ dataset_path = "/datasets/brighton2"
dem_path = "/datasets/brighton2/odm_meshing/tmp/mesh_dsm.tif"
target_images = [] # all
target_images.append("DJI_0018.JPG")
target_images.append("DJI_0028.JPG")
# Read DSM
@ -41,12 +41,15 @@ with rasterio.open(dem_path) as dem_raster:
print("Processing %s..." % shot.id)
shot_image = udata.load_undistorted_image(shot.id)
r = shot.pose.get_rotation_matrix()
r = shot.pose.get_rotation_matrix().T
Xs, Ys, Zs = shot.pose.get_origin()
A = np.array([[0, 1, 0], [1, 0, 0], [0, 0, 1]])
print("Camera pose: (%f, %f, %f)" % (Xs, Ys, Zs))
# 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)
# r = (np.linalg.inv(r).dot(A)).dot(r)
# r = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
# roll = [[1, 0, 0], [0, -1, 0], [0, 0, -1]]
# pitch = [[-1, 0, 0], [0, 1, 0], [0, 0, -1]]
@ -58,13 +61,13 @@ with rasterio.open(dem_path) as dem_raster:
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)
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):
imgout = np.full((num_bands, h, w), np.nan, dtype=shot_image.dtype)
for j in range(h):
if j % max_workers == step:
for i in range(w):
# World coordinates
Xa, Ya = dem_raster.xy(j, i)
Za = dem[j][i]
@ -74,23 +77,25 @@ with rasterio.open(dem_path) as dem_raster:
dy = (Ya - Ys)
dz = (Za - Zs)
# ?
# if abs(dx) < 3.0 and abs(dy) < 3.0:
# imgout[0][j][i] = 255
# imgout[1][j][i] = 0
# imgout[2][j][i] = 0
# else:
# for b in range(num_bands):
# imgout[b][j][i] = 255
den = r[0][2] * dx + r[1][2] * dy + r[2][2] * dz
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)
x = (img_w - 1) / 2.0 - (f * (r[0][0] * dx + r[1][0] * dy + r[2][0] * dz) / den)
y = (img_h - 1) / 2.0 - (f * (r[0][1] * dx + r[1][1] * dy + r[2][1] * dz) / den)
# 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:
if x >= 0 and y >= 0 and x <= img_w - 1 and y <= img_h - 1:
xi = img_w - 1 - int(x)
yi = img_h - 1 - int(y)
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)
imgout[b][j][i] = shot_image[yi][xi][b]
# for b in range(num_bands):
# imgout[b][i][j] = shot_image[yi][xi][b]
# imgout[b][j][i] = 255
return imgout
with multiprocessing.Pool(max_workers) as p:
@ -98,17 +103,14 @@ with rasterio.open(dem_path) as dem_raster:
# Merge
imgout = results[0]
for i in range(w):
for j in range(h):
for b in range(num_bands):
imgout[b][i] = results[i % max_workers][b][i]
print(w)
print(h)
imgout[b][j] = results[j % max_workers][b][j]
profile = {
'driver': 'GTiff',
'width': imgout.shape[1],
'height': imgout.shape[2],
'width': imgout.shape[2],
'height': imgout.shape[1],
'count': num_bands,
'dtype': imgout.dtype.name,
'nodata': None
@ -118,13 +120,13 @@ with rasterio.open(dem_path) as dem_raster:
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)
# 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)