import sfmio
import xtrelio
import geometry
import sgen
import ba_problem as ba
import rasterio
import numpy as np
import os
import time
flightMissionImages = geometry.ImageCollection(
collectionId=0) #creating empty collection of images with id = 0
# We create our camera:
# missionCamera = geometry.PinholeCamera(name = "myCamera" , pixelSizeMilimeters=0.004, numberOfRows = 4000, numberOfColumns= 6000, principalDistanceMilimeters = 20.0)
missionCamera = geometry.PinholeCamera(name="DJIPhantom4PRO",
pixelSizeMilimeters=0.0024,
numberOfRows=3648,
numberOfColumns=5472,
principalDistanceMilimeters=8.8)
missionCamera.setCalibrationFlags([0, 0, 0, 0])
baSettings = xtrelio.readBaSettings(
"ExampleSimulateBaProblem/inputData/baconfig_eo_large_noise.yaml"
) #Reading settings for our problem
outputXtrelDirectoryName = "ExampleSimulateBaProblem/baProblem"
# eozFile = "ExampleSimulateBaProblem/inputData/CaliforniaEO.txt"
eozFile = "ExampleSimulateBaProblem/inputData/EOZ_zielonki_50.txt"
sfmio.importFromExternalOrientationTextfile(
eozFile,
' ', #importing external orientation for our images
def createImageCollectionFromXtrelReport(filename, collectionId):
reportFile = open(filename,"r")
lines = reportFile.readlines()
numberOfImages = 0
#looking for line with number of images:
for line in lines:
if len(line) < 28:
continue
if line[0:27] == "Number of images :":
elements = line.split()
numberOfImages = int(elements[len(elements)-1])
positionOfCameras = lines.index("Cameras assignments and number of points:\n")
cameraAssignments = {}
cameraFiles = set()
#reading file names of cameras
for lineId in range(positionOfCameras+2, positionOfCameras + 2 + numberOfImages):
elements = lines[lineId].split()
cameraAssignments[elements[0]] = elements[1]
cameraFiles.add(elements[1])
cameras = {}
for cameraFile in cameraFiles:
try:
camera = readCameraFromCamFile(cameraFile)
cameras[cameraFile] = camera
except:
print("Error while reading camera from cam file")
#reading coordinates of projection centers
positionOfCoordinatesStart = lines.index("Coordinates:\n")
projectionCenterCoordinates = {}
for lineId in range(positionOfCoordinatesStart+2, positionOfCoordinatesStart + 2 + numberOfImages):
elements = lines[lineId].split()
imageId = elements[1]
coordinates = np.zeros((3,1))
coordinates[0,0] = float(elements[2])
coordinates[1,0] = float(elements[3])
coordinates[2,0] = float(elements[4])
projectionCenterCoordinates[imageId] = coordinates
#reading rotation
positionOfRotationsStart = lines.index("Rotation:\n")
anglesRad = {}
parametrization = {}
for lineId in range(positionOfRotationsStart+2, positionOfRotationsStart + 2 + numberOfImages):
elements = lines[lineId].split()
imageId = elements[1]
angles = np.zeros(3)
angles[0] = conv.degrees2Radians(float(elements[3]))
angles[1] = conv.degrees2Radians(float(elements[4]))
angles[2] = conv.degrees2Radians(float(elements[5]))
anglesRad[imageId] = angles
parametrization[imageId] = elements[2]
reportFile.close()
#building collection:
mapRotationSequenceToName = {"om-fi-ka" : "xyz", "al-ni-ka" : "zxz" }
collectionOfImages = geometry.ImageCollection(collectionId = collectionId)
for imageId, position in projectionCenterCoordinates.items():
pose = geometry.Pose()
pose.setTranslation(position)
pose.setRotationEuler(anglesRad[imageId], mapRotationSequenceToName[parametrization[imageId]] )
image = geometry.Image()
image.setPose(pose)
image.setCamera(cameras[cameraAssignments[imageId]])
image.rotationSequence = mapRotationSequenceToName[parametrization[imageId]]
collectionOfImages.addImage(image, imageId)
return collectionOfImages
numberOfColumns=6000,
principalDistanceMilimeters=12.0)
pose1.setRotationEuler(conv.degrees2Radians(np.array([25.0, -3.0, -0.75])),
'xyz')
pose1.setTranslation(projectionCenter1)
pose2.setRotationEuler(conv.degrees2Radians(np.array([0.0, -1.0, -0.55])),
'xyz')
pose2.setTranslation(projectionCenter2)
print("getting transformation matrix for pose 1")
print(pose1.T)
print("getting transformation matrix for pose 2")
print(pose2.T)
image1 = geometry.Image()
image1.setCamera(camera1)
image1.setPose(pose1)
image2 = geometry.Image()
image2.setCamera(camera1)
image2.setPose(pose2)
collectionOfImages = geometry.ImageCollection()
collectionOfImages.addImage(image1, "im1")
collectionOfImages.addImage(image2, "im2")
sfmio.writeImageCollectionToObj(collectionOfImages, "test.obj")
import sfmio
import xtrelio
import geometry
import rasterio
import sgen
import ba_problem as ba
import numpy as np
flightMissionImages = geometry.ImageCollection(collectionId=0)
missionCamera = geometry.PinholeCamera(name="myCamera",
pixelSizeMilimeters=0.004,
numberOfRows=4000,
numberOfColumns=6000,
principalDistanceMilimeters=20.0)
baSettings = xtrelio.readBaSettings("baconfig.yaml")
outputXtrelDirectoryName = "CaliforniaSmall"
sfmio.importFromExternalOrientationTextfile("CaliforniaSmallEO.txt",
' ',
flightMissionImages,
"xyz",
observedPosition=False,
observedOrientation=False,
camera=missionCamera)
sfmio.writeImageCollectionToObj(flightMissionImages,
"test",
imageWidthInMeters=12,
axesLenghtInMeters=7.0)
#generating structure
dsm = rasterio.open("D:/DANE/tutorials/rasterio/opentopography/output_be.tif",
driver="GTiff")