def image_offsets(img, coordinates):
gt = img.GetGeoTransform()
inv_gt = gdal.InvGeoTransform(gt)
offsets_ul = list(
map(int, gdal.ApplyGeoTransform(inv_gt, coordinates[0],
coordinates[1])))
offsets_lr = list(
map(int, gdal.ApplyGeoTransform(inv_gt, coordinates[2],
coordinates[3])))
return offsets_ul + offsets_lr
def RasterOverlapToArray(file_list):
UL_x_list = []
UL_y_list = []
LR_x_list = []
LR_y_list = []
for file in file_list:
ds = gdal.Open(root_folder + file, gdal.GA_ReadOnly)
gt = ds.GetGeoTransform(
) # UL_x, x-coordinate spatial resolution, UL_y, # y-coord. spat.res.
# Upper left
UL_x, UL_y = gt[0], gt[
3] #calculate corner lat/lon coordinates (for x/y cell coordinates use inv_gt)
UL_x_list.append(UL_x)
UL_y_list.append(UL_y)
# Lower right
LR_x = UL_x + (gt[1] * ds.RasterXSize)
LR_y = UL_y + (gt[5] * ds.RasterYSize)
LR_x_list.append(LR_x)
LR_y_list.append(LR_y)
UL_x_ext = max(UL_x_list) #corner coordinates and extent of common extent
UL_y_ext = min(UL_y_list)
LR_x_ext = min(LR_x_list)
LR_y_ext = max(LR_y_list)
extent_x = int(round(
(min(LR_x_list) - max(UL_x_list)) /
gt[1])) #width of common extent/pixel width = number of columns
extent_y = int(
round(min(UL_y_list) - max(LR_y_list)) /
gt[1]) #height of common extent/pixel height = number of rows
overlap = [UL_x_ext, UL_y_ext, LR_x_ext,
LR_y_ext] #only upper left and lower right coordinates
print("Common extent UL/LR coordinates: ", overlap)
print("Common extent in x and y direction: ", extent_x, extent_y)
spat_res = [gt[1], abs(gt[5])]
print("Common extent spatial resolution: ", spat_res, "\n")
for file in file_list: #convert real-world coordinates (lat/lon) to image coordinates (x,y)
print(file) #for overview in console
ds = gdal.Open(root_folder + file, gdal.GA_ReadOnly)
gt = ds.GetGeoTransform(
) # UL_x, x-coordinate spatial resolution, UL_y, # y-coord. spat.res.
inv_gt = gdal.InvGeoTransform(
gt) # transform geographic coordinates into array coordinates
x1, y1 = gdal.ApplyGeoTransform(inv_gt, overlap[0], overlap[1])
x2, y2 = gdal.ApplyGeoTransform(inv_gt, overlap[2], overlap[3])
minX = int(round(min(x1, x2))) # x value for UL/origin
minY = int(round(min(y1, y2))) # y value for UL/origin
maxX = int(round(max(x1, x2))) # x value for LR
maxY = int(round(max(y1, y2))) # y value for LR
print("Cell coordinates of common extent: ", minX, maxX, minY,
maxY) #cell coordinates of extent for each file
x1off, y1off = map(int, [x1, y1]) #UL
print("UL x offset: ", x1off)
print("UL y offset: ", y1off, "\n")
array_list.append(ds.ReadAsArray(x1off, y1off, extent_x,
extent_y)) #Upper Left corner
def transbox(self, ds, bbox, topix=False, clip=False):
''' transform bounding box coordinates in lonlat to projected coordinates or pixel coordinates '''
src = osr.SpatialReference()
src.ImportFromEPSG(4326)
dest = osr.SpatialReference()
dsproj = ds.GetProjection()
dest.ImportFromWkt(dsproj)
trans = osr.CoordinateTransformation(src, dest)
x1, y1, x2, y2 = bbox
ll = trans.TransformPoint(x1, y1)
ul = trans.TransformPoint(x1, y2)
lr = trans.TransformPoint(x2, y1)
ur = trans.TransformPoint(x2, y2)
x1 = min(ll[0], ul[0])
x2 = max(lr[0], ur[0])
y1 = min(ll[1], lr[1])
y2 = max(ul[1], ur[1])
if clip or topix:
fwd = ds.GetGeoTransform()
inv = gdal.InvGeoTransform(fwd)
px1, py1 = gdal.ApplyGeoTransform(inv, x1, y1)
px2, py2 = gdal.ApplyGeoTransform(inv, x2, y2)
if py1 > py2:
t = py1
py1 = py2
py2 = t
if clip:
px1 = int(max(0, px1))
py1 = int(max(0, py1))
px2 = int(min(ds.RasterXSize - 1, px2))
py2 = int(min(ds.RasterYSize - 1, py2))
if topix:
x1 = px1
y1 = py1
x2 = px2
y2 = py2
else:
x1, y1 = gdal.ApplyGeoTransform(fwd, px1, py1)
x2, y2 = gdal.ApplyGeoTransform(fwd, px2, py2)
if y1 > y2:
return (x1, y2, x2, y1)
else:
return (x1, y1, x2, y2)
def pixel_to_point(self, pixel_x, pixel_y, geotransform):
"""Translates grid pixels coordinates to output projection points
(using the geotransformation of the output projection)"""
point_x, point_y = gdal.ApplyGeoTransform(geotransform, pixel_x,
pixel_y)
return point_x, point_y
def image_offsets(img, coordinates):
'''
Function that calculates the image offsets from the upper left and lower right corners.
:param img:
:param coordinates:
:return:
'''
gt = img.GetGeoTransform()
inv_gt = gdal.InvGeoTransform(gt)
offsets_ul = list(
map(int, gdal.ApplyGeoTransform(inv_gt, coordinates[0],
coordinates[1])))
offsets_lr = list(
map(int, gdal.ApplyGeoTransform(inv_gt, coordinates[2],
coordinates[3])))
return offsets_ul + offsets_lr
def center_of_raster(self):
geo_transform = self.raster.GetGeoTransform(
) # col, row ---> lon, lat
x, y = gdal.ApplyGeoTransform(geo_transform,
self.raster.RasterXSize / 2,
self.raster.RasterYSize / 2)
return x, y
def xy2lcc(name,lon_0,lat_0,x,y):
radius = 6370e3
lcc_proj = pyproj.Proj(proj='lcc',
lat_1=lat_0,
lat_2=lat_0,
lat_0=lat_0,
lon_0=lon_0,
a=radius, b=radius, towgs84='0,0,0', no_defs=True)
print 'lcc:',lcc_proj.srs
tif_proj = pyproj.Proj(projparams=proj_string(name))
print 'tif:',tif_proj.srs
print 'ref:',ref_proj.srs
ds=gdal.Open(name)
xoffset, px_w, rot1, yoffset, rot2, px_h = ds.GetGeoTransform()
posX = px_w * x + rot1 * y + xoffset
posY = rot2 * x + px_h * y + yoffset
gX, gY = gdal.ApplyGeoTransform(ds.GetGeoTransform(),x,y)
print posX, posY
print gX, gY
posX += px_w / 2.0
posY += px_h / 2.0
print 'tif:', posX, posY
lon, lat = pyproj.transform(tif_proj, ref_proj, posX, posY)
print "ref lon lat:", lon, lat, deg2str(lon,0), deg2str(lat,1)
lccX, lccY = pyproj.transform(ref_proj,lcc_proj,lon, lat)
print "lcc x y:", lccX, lccY
lcc2X, lcc2Y = pyproj.transform(tif_proj, lcc_proj, posX, posY) # different result?
print "lcc2 x y:", lcc2X, lcc2Y
lcc3X, lcc3Y = lcc_proj(lon, lat)
print "lcc3 x y:", lcc3X, lcc3Y
return lccX, lccY
def get_weights(self, ds, geom):
fwd = ds.GetGeoTransform()
_, inv = gdal.InvGeoTransform(fwd)
x1, x2, y1, y2 = geom.GetEnvelope()
px1, py1 = gdal.ApplyGeoTransform(inv, x1, y1)
px2, py2 = gdal.ApplyGeoTransform(inv, x2, y2)
if py2 < py1:
t = py1
py1 = py2
py2 = t
px1 = max(0, px1)
py1 = max(0, py1)
px2 = min(ds.RasterXSize, px2)
py2 = min(ds.RasterYSize, py2)
if px2 < px1 or py2 < py1:
return []
weights = []
for y in range(int(py1), int(py2)):
for x in range(int(px1), int(px2)):
x1, y1 = gdal.ApplyGeoTransform(fwd, x, y)
x2, y2 = gdal.ApplyGeoTransform(fwd, x + 1, y + 1)
ring = ogr.Geometry(ogr.wkbLinearRing)
ring.AddPoint(x1, y1)
ring.AddPoint(x1, y2)
ring.AddPoint(x2, y2)
ring.AddPoint(x2, y1)
ring.AddPoint(x1, y1)
poly = ogr.Geometry(ogr.wkbPolygon)
poly.AddGeometry(ring)
if geom.Contains(poly):
frac = 1.0
else:
isect = poly.Intersection(geom)
if isect.IsEmpty():
frac = 0.0
else:
frac = isect.GetArea() / poly.GetArea()
if frac != 0:
weights.append([x, y, frac])
return weights
def pix2pos(ds, x, y):
# position coordinates from geotiff pixel indices
gt = ds.GetGeoTransform()
xoffset, px_w, rot1, yoffset, rot2, px_h = gt
posX, posY = gdal.ApplyGeoTransform(gt, x - 1, y - 1) # corner is (0,0)
# move to centers of pixels
# commented out, because gdalinfo does not
# posX += px_w / 2.0
# posY += px_h / 2.0
return posX, posY
def point_to_pixel(self, point_x, point_y, inverse_geotransform):
"""Translates points from input projection (using the inverse
transformation of the output projection) to the grid pixel coordinates in data
array (zero start)"""
# apply inverse geotranformation to convert to pixels
pixel_x, pixel_y = gdal.ApplyGeoTransform(inverse_geotransform,
point_x, point_y)
return pixel_x, pixel_y
def get_px_coord(self, lon, lat):
"""
Convert lon-lat into x-y coordinates of pixel
:param lon: longitude
:param lat: latitude
:return: tuple of pixel coordinates
"""
offsets_coord = gdal.ApplyGeoTransform(self.raster_inv_gt, lon, lat)
px_x, px_y = map(int, offsets_coord)
return px_x, px_y
def lonlat_to_pixel(lon, lat, inverse_geo_transform):
"""Translates the given lon, lat to the grid pixel coordinates
in data array (zero start)"""
wgs84_object = WGS84Transform()
# transform to utm
utm_x, utm_y, utm_z = wgs84_object.wgs84_to_utm(lon, lat)
# apply inverse geo tranform
pixel_x, pixel_y = gdal.ApplyGeoTransform(inverse_geo_transform, utm_x, utm_y)
pixel_x = int(pixel_x) - 1 # adjust to 0 start for array
pixel_y = int(pixel_y) - 1 # adjust to 0 start for array
return pixel_x, abs(pixel_y) # y pixel is likly a negative value given geo_transform
def misc_8():
try:
gdal.ApplyGeoTransform
except:
return 'skip'
gt = (10, 0.1, 0, 20, 0, -1.0)
res = gdal.ApplyGeoTransform(gt, 10, 1)
if res != [11.0, 19.0]:
return 'fail'
return 'success'
def getcolrow(self, ds, lon, lat):
proj = ds.GetProjection()
src = osr.SpatialReference()
src.ImportFromEPSG(4326)
dest = osr.SpatialReference()
dest.ImportFromWkt(proj)
trans = osr.CoordinateTransformation(src, dest)
x, y, z = trans.TransformPoint(lon, lat)
inv = gdal.InvGeoTransform(ds.GetGeoTransform())
return gdal.ApplyGeoTransform(inv, x, y)
def subset(raster, subset, coordinates=True, multiband=False):
"""
Subsets a given raster to a set of coordinates [subset] into an array.
When subset is given as list of geographic coordinates, they will be transformed to array indices.
When subset is given as array indices, image will be subsetted. Indices must be in format [ulx, uly,lrx,lry]
Bool-Arguments don't have to be specified, when called. Defaults to function definition.
:param raster:
:param subset:
:param coordinates:
:param multiband:
:return array:
"""
if coordinates:
gt = raster.GetGeoTransform()
inv_gt = gdal.InvGeoTransform(gt)
app_gt_offset_upperleft = gdal.ApplyGeoTransform(
inv_gt, geo_overlap[0], geo_overlap[1])
app_gt_offset_lowerright = gdal.ApplyGeoTransform(
inv_gt, geo_overlap[2], geo_overlap[3])
off_ulx, off_uly = map(int, app_gt_offset_upperleft)
off_lrx, off_lry = map(int, app_gt_offset_lowerright)
rows = off_lry - off_uly
columns = off_lrx - off_ulx
# idx = [off_ulx, off_uly, columns, rows ]
array = raster.ReadAsArray(off_ulx, off_uly, columns, rows)
return array
else:
idx = subset
if gdal:
array = raster.ReadAsArray(idx[0], idx[1], idx[2] - idx[0],
idx[3] - idx[1])
else:
if multiband:
array = raster[:, idx[0]:idx[2], idx[1]:idx[3]]
else:
array = raster[idx[0]:idx[2], idx[1]:idx[3]]
return array
def get_envelope(filepath):
ds = gdal.Open(filepath, gdal.GA_ReadOnly)
y,x = np.mgrid[:ds.RasterYSize:2j,:ds.RasterXSize:2j]
bbox = np.array([gdal.ApplyGeoTransform(ds.GetGeoTransform(), xx, yy)
for xx,yy in zip(x.ravel(), y.ravel())])
srs = osr.SpatialReference(wkt=ds.GetProjection())
geom = ogr.CreateGeometryFromWkt(
'POLYGON(({b[0][0]} {b[0][1]}, '
'{b[1][0]} {b[1][1]}, '
'{b[3][0]} {b[3][1]}, '
'{b[2][0]} {b[2][1]}, '
'{b[0][0]} {b[0][1]}))'.format(b=bbox),
srs)
return geom
def get_cached_value(self, filename, lon, lat):
""" Get a single value at (lon,lat) from cache """
path = os.path.join(self.cache, filename)
ds = gdal.OpenShared(path)
fwd = ds.GetGeoTransform()
inv = gdal.InvGeoTransform(fwd)
# older versions of gdal have a different signature of InvGeoTransform()
if inv and len(inv) == 2:
_success, inv = inv
x, y = gdal.ApplyGeoTransform(inv, lon, lat)
x = int(max(0, min(ds.RasterXSize - 1, x)))
y = int(max(0, min(ds.RasterYSize - 1, y)))
value = ds.GetRasterBand(1).ReadAsArray(x, y, 1, 1)
return value[0][0]
def read_GPS_file(filename, inv_trans):
all_data = []
with open(filename, 'r') as f:
for line in f.readlines():
vals = line.split(',')
if line[:6] == '$GPGGA' and len(vals) > 10:
lat_str, _, lon_str, _ = vals[2:6]
lat = str_to_coord(lat_str)
lon = -str_to_coord(lon_str) #W = negative, generalize later
x, y, _, _ = utm.from_latlon(lat, lon)
all_data.append((x, y))
ASV_X = []
ASV_Y = []
for x, y in all_data:
row, col = gdal.ApplyGeoTransform(inv_trans, x, y)
ASV_X.append(row)
ASV_Y.append(col)
return np.asarray(ASV_X), np.asarray(ASV_Y)
def read_mission_file(filename, inv_trans):
coords = []
with open(filename, 'r') as f:
for line in f.readlines():
if line[-1] == '\n':
line = line[:-1]
coords.append(list(map(float, line.split(','))))
X_all = []
Y_all = []
R = []
C = []
for lat, lon in coords:
x, y, _, _ = utm.from_latlon(lat, lon)
row, col = gdal.ApplyGeoTransform(inv_trans, x, y)
X_all.append(x)
Y_all.append(y)
R.append(row)
C.append(col)
return X_all, Y_all, R, C
def geogrid_index(self):
"""
Geolocation in a form suitable for geogrid index.
:return: dictionary key:value
"""
# spacing
dx,dy = self.gt[1],self.gt[5]
# known points in the center of the array (mass-staggered mesh from 1 at origin)
known_x = (self.nx+1)/2.
known_y = (self.ny+1)/2.
# known points in the center of the array (unstaggered mesh from 0 at origin)
known_x_uns = known_x-.5
known_y_uns = known_y-.5
# get pyproj element for reference lat-long coordinates
ref_proj = self.pyproj.to_latlong()
# lat/lon known points
posX, posY = gdal.ApplyGeoTransform(self.gt,known_x_uns,known_y_uns)
known_lon,known_lat = pyproj.transform(self.pyproj,ref_proj,posX,posY)
# print center lon-lat coordinates to check with gdalinfo
if not self.resampled:
logging.info('GeoTIFF.geogrid_index - center lon/lat coordinates using pyproj.transform: %s' % coord2str(known_lon,known_lat))
logging.info('GeoTIFF.geogrid_index - center lon/lat coordinates using gdal.Info: %s' % gdal.Info(self.ds).split('Center')[1].split(') (')[1].split(')')[0])
# row order depends on dy
if dy > 0:
row_order = 'bottom_top'
else:
row_order = 'top_bottom'
# write geogrid index
return Dict({'projection' : self.projwrf,
'dx' : dx,
'dy' : dy,
'truelat1' : self.crs.GetProjParm("standard_parallel_1"),
'truelat2' : self.crs.GetProjParm("standard_parallel_2"),
'stdlon' : self.crs.GetProjParm("longitude_of_center",self.crs.GetProjParm("central_meridian",self.crs.GetProjParm("longitude_of_origin"))),
'known_x' : known_x,
'known_y' : known_y,
'known_lon' : known_lon,
'known_lat' : known_lat,
'row_order' : row_order
})
def get_value_at_position(self, lat, lon, raster_band=1):
band = self.ds.GetRasterBand(raster_band)
bandtype = gdal.GetDataTypeName(band.DataType)
px, py = gdal.ApplyGeoTransform(self.transfInv, lon, lat)
if px > self.cols or py > self.rows:
return None
structval = band.ReadRaster(int(px),
int(py),
1,
1,
buf_type=band.DataType)
fmt = self._pt2fmt(band.DataType)
value = struct.unpack(fmt, structval)
if value[0] == band.GetNoDataValue():
if fmt == 'f':
return float('nan')
else:
return None
else:
result = value[0]
return value[0]
def update_GPS(self):
'''Get local x, y coordinate from robot. Then convert to utm for graphing'''
x = self.controller.robot.state_est.x
y = self.controller.robot.state_est.y
# print('x,y: ', x, y)
if self.controller.mode == "SIM MODE":
heading = self.controller.robot.state_est.theta / math.pi * 180
else:
heading = self.controller.robot.state_est.theta
# Convert local x y to lat lon
if x <= 0:
lat = 0.0
lon = 0.0
else:
lat, lon = utm.to_latlon(x, y, 11, 'S')
self.gps['text'] = 'Latitude: ' + str(lat) + '\nLongitude: ' + str(
lon) + '\nHeading: ' + str(round(heading, 2))
# Convert UTM to graphing row and column
img_col, img_row = gdal.ApplyGeoTransform(self.inv_trans, x, y)
row = int(img_row * MAP_HEIGHT / IMAGE_HEIGHT)
col = int(img_col * MAP_WIDTH / IMAGE_WIDTH)
# Update ASV location on map
self.draw_arrow(col, row, heading * np.pi / 180.)
self.gps_local['text'] = 'x: ' + str(
col - self.origin_coords[0]) + ', y: ' + str(-row +
self.origin_coords[1])
if self.goto_coords[0] != -1:
self.control_wp_dxdy['text'] = 'dx: ' + str(
int(self.goto_coords[0] - x)) + ', dy: ' + str(
int(self.goto_coords[1] - y))
# Add border
if self.set_border_mode:
self.border_markers.append(self.draw_circle(
col, row, border=True)) #TODO: make this more elegant?
def convertChartListGDAL(chartlist):
for chart in chartlist:
dataset = gdal.Open(chart, gdal.GA_ReadOnly)
if dataset is None:
warn("gdal cannot handle file " + chart)
continue
else:
log("chart " + chart + " succcessfully opened")
inosr = osr.SpatialReference()
outosr = osr.SpatialReference()
llosr = osr.SpatialReference()
outosr.SetWellKnownGeogCS("WGS84")
inosr.ImportFromWkt(dataset.GetProjection())
if not inosr.IsSameGeogCS(outosr):
warn(chart + " is not in WGS84, cannot convert")
continue
llosr.CopyGeogCSFrom(inosr)
transformer = osr.CoordinateTransformation(inosr, llosr)
if transformer.this is None:
warn(
chart +
" seems not to have a coordinate system, cannot transform (potentially missing some files)"
)
continue
geotr = dataset.GetGeoTransform()
(ullon, ullat, z) = transformer.TransformPoint(geotr[0], geotr[3], 0)
(lrlon, lrlat) = gdal.ApplyGeoTransform(geotr, dataset.RasterXSize,
dataset.RasterYSize)
log("raster: ullat=%f ullon=%f lrlat=%f lrlon=%f" %
(geotr[3], geotr[0], lrlat, lrlon))
(lrlon, lrlat, z) = transformer.TransformPoint(lrlon, lrlat, 0)
cmd = "%s %s %f %f %f %f" % (imgkap(), chart, ullat, ullon, lrlat,
lrlon)
log("running " + cmd)
os.system(cmd)
def visible_region(self,
geo_x=None,
geo_y=None,
width=None,
height=None,
scale=None):
if self.raster is None: return
if geo_x is None: geo_x = self.geo_x
if geo_y is None: geo_y = self.geo_y
if width is None: width = self.width()
if height is None: height = self.height()
if scale is None: scale = self.scale
assert geo_x is not None and geo_y is not None
geo_transform = self.raster.GetGeoTransform(
) # col, row ---> lon, lat
ok, inverse_geo_transform = gdal.InvGeoTransform(
geo_transform) # lon, lat ---> col, row
col, row = gdal.ApplyGeoTransform(inverse_geo_transform, self.geo_x,
self.geo_y)
# col, row are now where we are centered in the image
# I want scale=1 to be viewing the image at 1m per pixel.
# The image may be sampled at a different resolution, fetch the meters-per-pixel from the geo-transform
# Also, the pixels generally are not square.
meters_x = geo_transform[1]
meters_y = geo_transform[5]
# Determine the size and offset within the raster
x_size = abs(int(width * meters_x / scale))
y_size = abs(int(height * meters_y / scale))
x_off = int(col - x_size / 2)
y_off = int(row - y_size / 2)
return x_off, y_off, x_size, y_size
def __init__(self, controller):
# Load map for display/GPS conversions
dataset = gdal.Open(MAP_FILE)
data = dataset.ReadAsArray()
self.geo_trans = dataset.GetGeoTransform()
self.inv_trans = gdal.InvGeoTransform(self.geo_trans)
# Control parameters
self.robot_stopped = True
self.quit_gui = False
self.mission_wps = [] #format [(lat, lon)...]
#######################################################################
# GUI SECTION
#######################################################################
# Set up GUI
self.controller = controller
self.tk = Tk()
self.tk.report_callback_exception = handle_exception
self.tk.title("ASV Control Interface")
self.tk.protocol("WM_DELETE_WINDOW", self.on_quit)
# GUI marker variables (labels on map)
# Go to location
self.goto_coords = (-1, -1) #UTM! #TODO: CURRENTLY NOT CHANGED
self.location_select_mode = False
self.cur_pos_marker = None
self.target_pos_marker = None
# Mission planning
self.add_wps_mode = False
self.remove_wps_mode = False
self.running_mission_mode = False
self.transect_mode = False
# self.repeat_mission_mode = False
self.set_border_mode = False
self.wp_markers = []
self.wp_labels = []
self.border_markers = []
# Origin setting
self.origin_coords = (0, 0) #pixel coords
x, y = gdal.ApplyGeoTransform(self.geo_trans, 0, 0)
print('Origin UTM:', x, y)
self.set_origin_mode = False
# Frames: Sidebar + Map Area
self.sidebar_frame = Frame(self.tk,
width=500,
relief='sunken',
borderwidth=2)
self.map_frame = Frame(self.tk)
self.sidebar_frame.pack(expand=True,
fill='both',
side='left',
anchor='nw')
self.map_frame.pack(expand=True, fill='both', side='right')
#######################################################################
# SIDEBAR FRAME
#######################################################################
# GPS Coordinates
self.gps_title = Label(self.sidebar_frame,
anchor='w',
text='ASV GPS Information',
font='Helvetica 14 bold').pack()
self.gps = Label(self.sidebar_frame,
anchor='w',
width=30,
text='Latitude: ???\nLongitude: ???\nHeading: ???')
self.gps_local = Label(self.sidebar_frame,
anchor='w',
width=30,
text='x: ???, y: ???')
self.gps.pack()
#self.gps_local.pack()
# ADCP Data
self.adcp_title = Label(self.sidebar_frame,
anchor='w',
text='ADCP Information',
font='Helvetica 14 bold').pack()
self.adcp_data = Label(self.sidebar_frame,
anchor='w',
width=30,
text='Water depth: ???\nCurrent speed: ???')
self.adcp_data.pack()
# ASV Control Panel
self.control_title = Label(self.sidebar_frame,
anchor='w',
text='ASV Control Panel',
font='Helvetica 14 bold').pack()
# 1) Go to map location
# self.control_wp_dxdy = Label(self.sidebar_frame, anchor='w', width=30, text='dx: ???, dy: ???')
# self.control_wp_dxdy.pack()
self.auv_status = Label(self.sidebar_frame,
anchor='w',
text='ASV Status: STOPPED',
fg="red")
self.auv_status.pack()
self.transect_mission_label = Label(self.sidebar_frame,
anchor='w',
text='Transect Mission: NO',
fg="red")
self.transect_mission_label.pack()
self.transect_mission = Button(self.sidebar_frame,
anchor='w',
text='Enable Transect Mission',
command=self.on_toggle_transect)
self.transect_mission.pack()
# Repeat mission (has been commented out because not useful)
# self.repeat_mission_label = Label(self.sidebar_frame, anchor='w', text='Repeat Mission: NO', fg="red")
# self.repeat_mission_label.pack()
# self.repeat_frame = Frame(self.sidebar_frame)
# self.repeat_frame.pack()
# self.repeat_label = Label(self.repeat_frame, anchor='w', text='# Repeats').pack(side='left')
# self.repeat_times = Entry(self.repeat_frame, width=5)
# self.repeat_times.insert(END, '10')
# self.repeat_times.pack(side='right')
# self.repeat_mission = Button(self.sidebar_frame, anchor='w', text='Enable Repeat Mission', command=self.on_toggle_repeat_mission)
# self.repeat_mission.pack()
self.start_frame = Frame(self.sidebar_frame)
self.start_frame.pack()
self.start_stop = Button(self.start_frame,
anchor='w',
text='Start ASV',
command=self.on_startstop)
self.start_stop.pack(side='left')
self.mission = Button(self.start_frame,
anchor='w',
text='Start Mission',
command=self.on_toggle_mission)
self.mission.pack(side='right')
# 2) Mission planning
self.mission_title = Label(self.sidebar_frame,
anchor='w',
text='Mission Planning',
font='Helvetica 14 bold').pack()
self.mission_disclaimer = Label(
self.sidebar_frame,
anchor='w',
text=
'Red=Point Tracking(1), Orange=Transect(2).\nClick on WP in map to change color.',
font='Helvetica 10 italic').pack()
self.mission_frame = Frame(self.sidebar_frame)
self.scrollbar = Scrollbar(self.mission_frame)
self.scrollbar.pack(side='right')
self.w_name = Label(self.mission_frame, text='')
self.wp_list = Listbox(self.mission_frame,
width=30,
height=12,
yscrollcommand=self.scrollbar.set)
self.wp_list.pack(side='left')
self.wp_list.bind('<<ListboxSelect>>', self.on_waypoint_selection)
self.scrollbar.config(command=self.wp_list.yview)
self.mission_frame.pack()
self.mission_file_frame = Frame(self.sidebar_frame)
self.mission_file_frame.pack()
self.load_mission = Button(
self.mission_file_frame,
anchor='w',
text='Load Mission File',
command=self.on_load_mission).pack(side='left')
self.save_mission = Button(
self.mission_file_frame,
anchor='w',
text='Save Mission to File',
command=self.on_save_mission).pack(side='right')
self.mission_add_wps = Button(self.sidebar_frame,
anchor='w',
text='Add Waypoints',
command=self.on_toggle_add_wps)
self.mission_add_wps.pack()
self.mission_remove_wps = Button(self.sidebar_frame,
anchor='w',
text='Remove Waypoints',
command=self.on_toggle_remove_wps)
self.mission_remove_wps.pack()
self.clear_wps = Button(self.sidebar_frame,
anchor='w',
text='Clear All Waypoints',
command=self.on_clear_wps)
self.clear_wps.pack()
#######################################################################
# MAP CANVAS
#######################################################################
# Load map image
pilImg = Image.open(MAP_FILE)
pilImg = pilImg.resize((MAP_WIDTH, MAP_HEIGHT), Image.ANTIALIAS)
self.img = ImageTk.PhotoImage(pilImg)
# map
self.canvas = Canvas(self.map_frame,
width=MAP_WIDTH,
height=MAP_HEIGHT)
self.canvas.create_image(0, 0, image=self.img, anchor=NW)
self.canvas.pack(side='top')
self.canvas.bind("<Button 1>", self.on_location_click)
self.origin_marker1 = self.canvas.create_line(
0, -10, 0, 10, fill='black', width=2) #to create a cross
self.origin_marker2 = self.canvas.create_line(-10,
0,
10,
0,
fill='black',
width=2)
#######################################################################
# CONFIGURATION FRAME
#######################################################################
self.control_config_frame = Frame(self.map_frame, height=15)
self.control_config_frame.pack(side='left')
self.misc_frame = Frame(self.map_frame)
self.misc_frame.pack(side='right')
self.border_frame = Frame(self.misc_frame, height=15)
self.border_frame.pack(side='top')
self.compass_frame = Frame(self.misc_frame, height=15)
self.compass_frame.pack(side='bottom')
# Tracing border
self.border_label = Label(self.border_frame,
anchor='w',
text='Border Configuration',
font='Helvetica 14 bold').pack()
self.border = Button(self.border_frame,
anchor='w',
text='Trace Border',
command=self.on_toggle_border)
self.border.pack()
self.clear_border = Button(self.border_frame,
anchor='w',
text='Clear Border',
command=self.on_clear_border).pack()
self.load_border = Button(self.border_frame,
anchor='w',
text='Load Border',
command=self.on_load_border).pack()
self.save_border = Button(self.border_frame,
anchor='w',
text='Save Border',
command=self.on_save_border).pack()
# Compass calibration
self.compass_label = Label(self.compass_frame,
anchor='w',
text='Compass Calibration',
font='Helvetica 14 bold').pack()
self.heading_frame = Frame(self.compass_frame)
self.heading_frame.pack()
self.heading_offset_label = Label(
self.heading_frame, anchor='w',
text='Heading Offset (deg)').pack(side='left')
self.heading_offset = Entry(self.heading_frame, width=6)
self.heading_offset.insert(END, '-12')
self.heading_offset.pack(side='right')
self.set_heading_offset = Button(
self.compass_frame,
anchor='w',
text='Set Heading Offset',
command=self.on_set_heading_offset).pack()
# Control parameters/speed
self.control_config = Label(self.control_config_frame,
anchor='w',
text='Control',
font='Helvetica 14 bold').pack()
self.control_info = Label(self.control_config_frame,
anchor='w',
text='ASV Speed: ?\n Speed to Dest: ?\n',
fg="red")
self.control_info.pack()
# self.origin = Button(self.sidebar_frame, anchor='w', text='Set Map Origin', command=self.on_toggle_set_origin)
# self.origin.pack()
self.speed_frame = Frame(self.control_config_frame)
self.speed_frame.pack()
# self.set_desired_speed = Button(self.speed_frame, anchor='w', text='Set Desired Speed', command=self.on_set_desired_speed)
# self.set_desired_speed.pack()
# self.desired_speed_label = Label(self.speed_frame, anchor='w', text='Desired Speed (m/s)').pack(side='left')
# self.desired_speed = Entry(self.speed_frame, width=10)
# self.desired_speed.insert(END, '3')
# self.desired_speed.bind('<Return>', self.on_set_desired_speed)
# self.desired_speed.pack(side='right')
#######################################################################
# Point Tracking Parameters
#######################################################################
self.Kp_frame = Frame(self.control_config_frame)
self.Kp_frame.pack()
self.Kp_ang_label = Label(self.Kp_frame, anchor='w',
text='K_ang').pack(side='left')
self.Kp_ang = Entry(self.Kp_frame, width=5)
self.Kp_ang.insert(END, '800')
self.Kp_ang.pack(side='left')
self.Kp_nom_label = Label(self.Kp_frame, anchor='w',
text='K_nom').pack(side='left')
self.Kp_nom = Entry(self.Kp_frame, width=5)
self.Kp_nom.insert(END, '1000')
self.Kp_nom.pack(side='left')
self.K_vi_label = Label(self.Kp_frame, anchor='w',
text='K_vi').pack(side='left')
self.K_vi = Entry(self.Kp_frame, width=5)
self.K_vi.insert(END, '0')
self.K_vi.pack(side='left')
#######################################################################
# Transect Parameters
#######################################################################
self.transect_frame1 = Frame(self.control_config_frame)
self.transect_frame1.pack()
self.K_v_label = Label(self.transect_frame1, anchor='w',
text='K_v').pack(side='left')
self.K_v = Entry(self.transect_frame1, width=5)
self.K_v.insert(END, '0.5')
self.K_v.pack(side='left')
self.K_latAng_label = Label(self.transect_frame1,
anchor='w',
text='K_latAng').pack(side='left')
self.K_latAng = Entry(self.transect_frame1, width=5)
self.K_latAng.insert(END, '0.5')
self.K_latAng.pack(side='left')
self.K_vert_label = Label(self.transect_frame1,
anchor='w',
text='K_vert').pack(side='left')
self.K_vert = Entry(self.transect_frame1, width=5)
self.K_vert.insert(END, '1000')
self.K_vert.pack(side='left')
self.transect_frame2 = Frame(self.control_config_frame)
self.transect_frame2.pack()
self.v_rate_label = Label(self.transect_frame2,
anchor='w',
text='v_rate').pack(side='left')
self.v_rate = Entry(self.transect_frame2, width=5)
self.v_rate.insert(END, '5')
self.v_rate.pack(side='left')
self.a_rate_label = Label(self.transect_frame2,
anchor='w',
text='a_rate').pack(side='left')
self.a_rate = Entry(self.transect_frame2, width=5)
self.a_rate.insert(END, '5')
self.a_rate.pack(side='left')
self.vx_des_label = Label(self.transect_frame2,
anchor='w',
text='vx_des').pack(side='left')
self.vx_des = Entry(self.transect_frame2, width=5)
self.vx_des.insert(END, '1')
self.vx_des.pack(side='left')
#######################################################################
# Throttle Thresholds
#######################################################################
self.throttle_frame = Frame(self.control_config_frame)
self.throttle_frame.pack()
self.fwd_limit_frame = Frame(self.throttle_frame)
self.fwd_limit_frame.pack(side='left')
self.fwd_limit_label = Label(self.fwd_limit_frame,
anchor='w',
text='Fwd Limit').pack(side='left')
self.fwd_limit = Entry(self.fwd_limit_frame, width=5)
self.fwd_limit.insert(END, '1000')
self.fwd_limit.pack(side='right')
self.bwd_limit_frame = Frame(self.throttle_frame)
self.bwd_limit_frame.pack(side='right')
self.bwd_limit_label = Label(self.bwd_limit_frame,
anchor='w',
text='Bwd Limit').pack(side='left')
self.bwd_limit = Entry(self.bwd_limit_frame, width=5)
self.bwd_limit.insert(END, '1000')
self.bwd_limit.pack(side='right')
self.set_control_params = Button(self.control_config_frame,
anchor='w',
text='Set Control Params',
command=self.on_set_control).pack()
def CoordToIndex(geoTransform, x, y):
"""Return the offset of the provided co-ordinate from origin of raster"""
invGeotransform = gdal.InvGeoTransform(geoTransform)
x1, y1 = gdal.ApplyGeoTransform(invGeotransform, x, y)
columnPosition, RowPosition = int(x1), int(y1)
return (columnPosition, RowPosition)
def rasterise_vector(raster_fname,
vector_fname,
where_statement=None,
output_fname="",
output_format="MEM",
verbose=False):
"""Rasterises a vector file to produce a mask where some condition
in the vector dataset is true. The mask will have the same extent and
projection as a (provided) 'master' dataset. The selection of the feature
for the mask will be performed by a command of the form field_name='Value',
where the single quotes are mandatory (e.g. NAME='Ireland').
Parameters
-----------
raster_fname: str
A GDAL-compatible raster filename that will be used to extract the
shape, projection, resolution, ... for the rasterisation.
vector_fname: str
The vector filename (e.g. Shapefile)
where_statement: str
The where statement (e.g. "NAME='Colombia'").
output_fname: str, optinal
The output filename, if not provided, an "in-memory array" will be
selected. If not provided and the output_format is other than `MEM`
an error will be raised.
output_format: str, optional
An output format. By default, `MEM`
verbose: Boolean
Whether to get some extra inforamation
Returns
--------
The mask as a Numpy array, 0 where the mask is off, 1 where it is on.
"""
if output_fname == "" and output_format != "MEM":
raise ValueError("You need to provide an ouput filename" +
" for format{:s}".format(output_format))
g = gdal.Open(raster_fname)
if g is None:
raise IOError("Could not open file {:s}".format(raster_fname))
raster_proj = g.GetProjectionRef()
geoT = g.GetGeoTransform()
if verbose:
print(">>> Opened file {:s}".format(raster_fname))
print(">>> Projection: {:s}".format(raster_proj))
xs = []
ys = []
for x, y in [[0, 0], [0, g.RasterYSize], [g.RasterXSize, g.RasterYSize],
[g.RasterXSize, 0]]:
xx, yy = gdal.ApplyGeoTransform(geoT, x, y)
xs.append(xx)
ys.append(yy)
extent = [min(xs), min(ys), max(xs), max(ys)]
xRes = geoT[1]
yRes = geoT[-1]
nx = g.RasterXSize
ny = g.RasterYSize
if verbose:
print(">>> File size {:d} rows, {:d} columns".format(nx, ny))
print(">>> UL corner: {:g}, {:g}".format(min(xs), max(ys)))
src_ds = gdal.OpenEx(vector_fname)
if src_ds is None:
raise IOError("Can't read the vector file {}".format(vector_fname))
v = gdal.VectorTranslate('',
src_ds,
format='Memory',
dstSRS=raster_proj,
where=where_statement)
gg = gdal.Rasterize(output_fname,
v,
format=output_format,
outputType=gdal.GDT_Byte,
xRes=xRes,
yRes=yRes,
where=where_statement,
outputBounds=[min(xs),
min(ys),
max(xs),
max(ys)],
width=nx,
height=ny,
noData=0,
burnValues=1)
if gg is not None:
if verbose:
print("Done! {:d} non-zero pixels".format(gg.ReadAsArray().sum()))
else:
raise ValueError("Couldn't generate the mask. Check input parameters")
return gg.ReadAsArray()
def main():
img, inv_trans, geo_trans, MAP_WIDTH, MAP_HEIGHT = load_map(map_file)
#GPS DATA
ASV_X, ASV_Y = read_GPS_file(GPS_file, inv_trans)
num_measurements = len(ASV_X)
#ADCP DATA
Z = read_ADCP_file(depths_file, num_measurements) #Z = water depths
min_depth = Z.min()
#HEADINGS
headings = read_heading_file(heading_file, num_measurements)
#Normalize positions
min_x = min(ASV_X)
min_y = min(ASV_Y)
X = [v - min_x for v in ASV_X]
Y = [v - min_y for v in ASV_Y]
max_x = max(X)
max_y = max(Y)
# Method 0: 1D Kalman Filter
m = int(np.ceil(max_x / CELL_RES))
n = int(np.ceil(max_y / CELL_RES))
baseFloor = min_depth
B = baseFloor * np.ones((m, n))
Bvar = np.zeros((m, n))
for t in range(num_measurements):
cur_x = X[t]
cur_y = Y[t]
cur_alt = Z[t]
i = int(np.floor(cur_x / CELL_RES))
j = int(np.floor(cur_y / CELL_RES))
for k in range(max(0, i - win), min(m, i + win)):
for l in range(max(0, j - win), min(n, j + win)):
dist2 = 0.1 + CELL_RES * ((k - i)**2 + (l - j)**2)**0.5
if B[k][l] == baseFloor:
B[k][l] = cur_alt
Bvar[k][l] = (dist2 * sigma_slope + sigma_offset)**2
else:
var = (dist2 * sigma_slope + sigma_offset)**2
cur_K = float(Bvar[k][l]) / (Bvar[k][l] + var)
B[k][l] = B[k][l] + cur_K * (cur_alt - B[k][l])
Bvar[k][l] = Bvar[k][l] - cur_K * Bvar[k][l]
# Method 1: Linear Interpolation
xi, yi = np.mgrid[ASV_X.min():ASV_X.max():1000j,
ASV_Y.min():ASV_Y.max():1000j]
# Z is a matrix of x-y values
points = []
for i in range(len(ASV_X)):
points.append([ASV_X[i], ASV_Y[i]])
zi = griddata(points, Z, (xi, yi), method='linear')
for i in range(len(zi)):
for j in range(len(zi[0])):
if np.isnan(zi[i][j]):
zi[i][j] = min_depth
###########################################################################
# PLOTS
# 1) Map w/ ASV path
imgplot = plt.imshow(img)
plt.plot(ASV_X, ASV_Y, color='black', zorder=2)
plt.xlabel('Meters')
plt.ylabel('Meters')
x0, y0 = gdal.ApplyGeoTransform(geo_trans, 0, 0) #UTM of top left corner
x1, y1 = gdal.ApplyGeoTransform(geo_trans, 4000, 3000)
print('Offsets', x1 - x0, y1 - y0)
ax = plt.gca() # grab the current axis
ax.set_xticks(np.arange(0, MAP_WIDTH + 500,
500)) # choose which x locations to have ticks
xlabels = np.linspace(0, x1 - x0, int(MAP_WIDTH / 500.) + 1)
xlabels = [int(p) for p in xlabels]
ax.set_xticklabels(xlabels) # set the labels to display at those ticks
ax.set_yticks(np.arange(0, MAP_HEIGHT,
500)) # choose which x locations to have ticks
ylabels = np.linspace(0, y0 - y1, int(MAP_HEIGHT / 500.) + 1)
ylabels = [int(p) for p in ylabels]
ax.set_yticklabels(ylabels) # set the labels to display at those ticks
#plt.contourf(xi, yi, zi, 10, cmap=plt.cm.rainbow, zorder=1)
# 2) Depth surface map
# B_new = np.zeros((n,m))
# for i in range(n):
# for j in range(m):
# B_new[i][j] = B[j][i]
# X_plot, Y_plot = np.meshgrid(np.arange(m), np.arange(n))
# ax1 = plt.figure(figsize=(8,6)).gca(projection='3d')
# surf = ax1.plot_surface(X_plot, Y_plot, B_new, cmap=cm.viridis)
# p = ax1.plot(X, Y, np.zeros(len(X)), color='red')
# ax1.view_init(200, -50)
# ax1.set_zlabel('Depth (m)')
# ax1.invert_zaxis()
# ax1.set_xlabel('Easting (m)')
# ax1.set_ylabel('Northing (m)')
plt.show()
index = 0
for i in convexhulls:
# 0 means read-only. 1 means writeable.
vect_data_source = driver.Open(i, 0)
# Get the Layer class object
layer = vect_data_source.GetLayer(0)
# Determine the spatial extent of the track
# is a list with x_left, x_right, y_bottom, y_top
extent = layer.GetExtent()
print('vector extent is', extent)
# Decide on the size of the buffer around the track
buffer = 0.002
x1, y1 = gdal.ApplyGeoTransform(inv_gt, extent[0] - buffer,
extent[2] - buffer)
x2, y2 = gdal.ApplyGeoTransform(inv_gt, extent[1] + buffer,
extent[3] + buffer)
# round these indices, (especially when not using a buffer)
# y indices increase from top to bottom!!
#print('column numbers are', x1, x2, y1, y2)
x1 = int(round(x1))
y1 = int(round(y1))
x2 = int(round(x2))
y2 = int(round(y2))
print(x1, x2, y1, y2)
#print('column numbers are', x1, x2, y1, y2)
# calculate how many rows and columns the ranges cover
out_columns = x2 - x1
# y indices increase from top to bottom!!
def main(args):
parser = argparse.ArgumentParser()
parser.add_argument(
'--input_geon',
# default='../out_geon/D4_Curve_Geon.npy',
type=str,
help='input geon file.')
parser.add_argument(
'--input_dtm',
# default='/dvmm-filer2/projects/Core3D/D4_Jacksonville/DTMs/D4_DTM.tif',
type=str,
help='Input dtm') # D3_UCSD D4_Jacksonville
parser.add_argument(
'--output_mesh',
# default='../out_geon/D4_Curve_Mesh.ply',
type=str,
help='Output ply mesh file.')
parser.add_argument(
'--as-text',
action='store_true',
default=False,
help='Output ply as ASCII instead of binary')
args = parser.parse_args(args)
original_dtm = gdal.Open(args.input_dtm, gdal.GA_ReadOnly)
gt = original_dtm.GetGeoTransform() # captures origin and pixel size
left = gdal.ApplyGeoTransform(gt, 0, 0)[0]
top = gdal.ApplyGeoTransform(gt, 0, 0)[1]
right = gdal.ApplyGeoTransform(
gt, original_dtm.RasterXSize, original_dtm.RasterYSize)[0]
bottom = gdal.ApplyGeoTransform(
gt, original_dtm.RasterXSize, original_dtm.RasterYSize)[1]
dtm = original_dtm.ReadAsArray()
projection_model = {}
projection_model['corners'] = [left, top, right, bottom]
projection_model['project_model'] = gt
projection_model['scale'] = 1.0
geon_model = []
all_vertex = []
all_face = []
center_of_mess, geon_model = pickle.load(open(args.input_geon, "rb"))
for model in geon_model:
if model['name'] == 'poly_cylinder':
centroid, ex, ey, coefficients, min_axis_z,\
max_axis_z, ortho_x_min, ortho_x_max, fitted_indices_length, mean_diff = model[
'model']
vertex, face = utils.get_poly_ply_volume(dtm, projection_model, centroid, ex, ey,
coefficients, min_axis_z, max_axis_z,
ortho_x_min, ortho_x_max, len(all_vertex),
center_of_mess)
if len(all_vertex) > 0:
all_vertex.extend(vertex)
all_face.extend(face)
else:
all_vertex = vertex
all_face = face
elif model['name'] == 'sphere':
centroid, r, min_axis_z,\
max_axis_z, fitted_indices_length = model['model']
theta_max = get_theta(min_axis_z, r)
theta_min = get_theta(max_axis_z, r)
vertex, face = utils.get_sphere_volume(dtm, projection_model, centroid, r,
theta_min, theta_max, len(all_vertex),
center_of_mess)
if len(all_vertex) > 0:
all_vertex.extend(vertex)
all_face.extend(face)
else:
all_vertex = vertex
all_face = face
for idx in range(len(all_vertex)):
all_vertex[idx] = (all_vertex[idx][0]+center_of_mess[0],
all_vertex[idx][1]+center_of_mess[1],
all_vertex[idx][2]+center_of_mess[2])
all_vertex = np.array(
all_vertex, dtype=[('x', 'f4'), ('y', 'f4'), ('z', 'f4')])
all_face = np.array(all_face, dtype=[(
'vertex_indices', 'i4', (3,)), ('red', 'u1'), ('green', 'u1'), ('blue', 'u1')])
el_vertex = plyfile.PlyElement.describe(all_vertex, 'vertex')
el_face = plyfile.PlyElement.describe(all_face, 'face')
plyfile.PlyData([el_vertex, el_face],
text=args.as_text).write(args.output_mesh)