PoC working

contrib/orthorectify/orthorectify.py

@@ -12,10 +12,37 @@ import multiprocessing
 
 dataset_path = "/datasets/brighton2"
 dem_path = "/datasets/brighton2/odm_meshing/tmp/mesh_dsm.tif"
+interpolation = 'bilinear'
 
 target_images = [] # all
 target_images.append("DJI_0028.JPG")
 
+def bilinear_interpolate(im, x, y):
+    x = np.asarray(x)
+    y = np.asarray(y)
+
+    x0 = np.floor(x).astype(int)
+    x1 = x0 + 1
+    y0 = np.floor(y).astype(int)
+    y1 = y0 + 1
+    print(im.shape)
+    exit(1)
+    x0 = np.clip(x0, 0, im.shape[1]-1)
+    x1 = np.clip(x1, 0, im.shape[1]-1)
+    y0 = np.clip(y0, 0, im.shape[0]-1)
+    y1 = np.clip(y1, 0, im.shape[0]-1)
+
+    Ia = im[ y0, x0 ]
+    Ib = im[ y1, x0 ]
+    Ic = im[ y0, x1 ]
+    Id = im[ y1, x1 ]
+
+    wa = (x1-x) * (y1-y)
+    wb = (x1-x) * (y-y0)
+    wc = (x-x0) * (y1-y)
+    wd = (x-x0) * (y-y0)
+
+    return wa*Ia + wb*Ib + wc*Ic + wd*Id
 
 # Read DSM
 print("Reading DSM: %s" % dem_path)
@@ -90,10 +117,13 @@ with rasterio.open(dem_path) as dem_raster:
                             y = (img_h - 1) / 2.0 - (f * (r[0][1] * dx + r[1][1] * dy + r[2][1] * dz) / den)
 
                             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)
+                                xi = img_w - 1 - int(round(x))
+                                yi = img_h - 1 - int(round(y))
                                 for b in range(num_bands):
-                                    imgout[b][j][i] = shot_image[yi][xi][b]
+                                    if interpolation == 'bilinear':
+                                        imgout[b][j][i] = bilinear_interpolate(shot_image, yi, xi, b)
+                                    else:
+                                        imgout[b][j][i] = shot_image[yi][xi][b]
                                 # for b in range(num_bands):
                                 #     imgout[b][j][i] = 255
                 return imgout