def corresponding_roi(rpc1, rpc2, x, y, w, h):
"""
Uses RPC functions to determine the region of im2 associated to the
specified ROI of im1.
Args:
rpc1, rpc2: two instances of the rpc_model.RPCModel class, or paths to
the xml files
x, y, w, h: four integers defining a rectangular region of interest
(ROI) in the first view. (x, y) is the top-left corner, and (w, h)
are the dimensions of the rectangle.
Returns:
four integers defining a ROI in the second view. This ROI is supposed
to contain the projections of the 3D points that are visible in the
input ROI.
"""
# read rpc files
if not isinstance(rpc1, rpc_model.RPCModel):
rpc1 = rpc_model.RPCModel(rpc1)
if not isinstance(rpc2, rpc_model.RPCModel):
rpc2 = rpc_model.RPCModel(rpc2)
m, M = altitude_range(rpc1, x, y, w, h, 0, 0)
# build an array with vertices of the 3D ROI, obtained as {2D ROI} x [m, M]
a = np.array([x, x, x, x, x + w, x + w, x + w, x + w])
b = np.array([y, y, y + h, y + h, y, y, y + h, y + h])
c = np.array([m, M, m, M, m, M, m, M])
# corresponding points in im2
xx, yy = find_corresponding_point(rpc1, rpc2, a, b, c)[0:2]
# return coordinates of the bounding box in im2
out = common.bounding_box2D(np.vstack([xx, yy]).T)
return np.round(out)
def compute_correction(img1, rpc1, img2, rpc2, x, y, w, h):
"""
Computes pointing correction matrix for specific ROI
Args:
img1: path to the reference image.
rpc1: paths to the xml file containing the rpc coefficients of the
reference image
img2: path to the secondary image.
rpc2: paths to the xml file containing the rpc coefficients of the
secondary image
x, y, w, h: four integers defining the rectangular ROI in the reference
image. (x, y) is the top-left corner, and (w, h) are the dimensions
of the rectangle. The ROI may be as big as you want. If bigger than
1 Mpix, only five crops will be used to compute sift matches.
Returns:
a 3x3 matrix representing the planar transformation to apply to img2 in
order to correct the pointing error, and the list of sift matches used
to compute this correction.
"""
# read rpcs
r1 = rpc_model.RPCModel(rpc1)
r2 = rpc_model.RPCModel(rpc2)
m = sift.matches_on_rpc_roi(img1, img2, r1, r2, x, y, w, h)
if m is not None:
A = local_translation(r1, r2, x, y, w, h, m)
else:
A = None
return A, m
def get_coordinates_with_config(tile, m, M):
tile_cfg = s2p.read_config_file(os.path.join(tile, "config.json"))
x = tile_cfg['roi']['x']
y = tile_cfg['roi']['y']
w = tile_cfg['roi']['w']
h = tile_cfg['roi']['h']
rpcfile = tile_cfg['images'][0]['rpc']
rpc = rpc_model.RPCModel(rpcfile)
a = np.array([x, x, x, x, x + w, x + w, x + w, x + w])
b = np.array([y, y, y + h, y + h, y, y, y + h, y + h])
c = np.array([m, M, m, M, m, M, m, M])
lon, lat, __ = rpc.direct_estimate(a, b, c)
out = list(common.bounding_box2D(np.vstack([lon, lat]).T))
out[2] += out[0]
out[3] += out[1]
latlon = [[out[0], out[3], 0], [out[2], out[3], 0], [out[2], out[1], 0],
[out[0], out[1], 0], [out[0], out[3], 0]]
return latlon
def utm_zone(rpc, x, y, w, h):
"""
Compute the UTM zone where the ROI probably falls (or close to its border).
Args:
rpc: instance of the rpc_model.RPCModel class, or path to the xml file
x, y, w, h: four integers defining a rectangular region of interest
(ROI) in the image. (x, y) is the top-left corner, and (w, h)
are the dimensions of the rectangle.
Returns:
a string of the form '18N' or '18S' where 18 is the utm zone
identificator.
"""
# read rpc file
if not isinstance(rpc, rpc_model.RPCModel):
rpc = rpc_model.RPCModel(rpc)
# determine lat lon of the center of the roi, assuming median altitude
lon, lat = rpc.direct_estimate(x + .5 * w, y + .5 * h, rpc.altOff)[:2]
# compute the utm zone number and add the hemisphere letter
zone = utm.conversion.latlon_to_zone_number(lat, lon)
if lat < 0:
return '%dS' % zone
else:
return '%dN' % zone
def rpc_from_geotiff(geotiff_path, outrpcfile='.rpc'):
"""
extracts the rpc from a geotiff file (including vsicurl)
"""
import os
import subprocess
env = os.environ.copy()
if geotiff_path.startswith(('http://', 'https://')):
env['CPL_VSIL_CURL_ALLOWED_EXTENSIONS'] = geotiff_path[-3:]
path = '/vsicurl/{}'.format(geotiff_path)
else:
path = geotiff_path
f = open(outrpcfile, 'wb')
x = subprocess.Popen(["gdalinfo", path],
stdout=subprocess.PIPE).communicate()[0]
x = x.splitlines()
for l in x:
if (b'SAMP_' not in l) and (b'LINE_' not in l) and (
b'HEIGHT_' not in l) and (b'LAT_' not in l) and (
b'LONG_' not in l) and (b'MAX_' not in l) and (b'MIN_'
not in l):
continue
y = l.strip().replace(b'=', b': ')
if b'COEFF' in y:
z = y.split()
t = 1
for j in z[1:]:
f.write(b'%s_%d: %s\n' % (z[0][:-1], t, j))
t += 1
else:
f.write((y + b'\n'))
f.close()
return rpc_model.RPCModel(outrpcfile)
def kml_roi_process(rpc, kml):
"""
"""
# extract lon lat from kml
with open(kml, 'r') as f:
a = bs4.BeautifulSoup(f,
"lxml").find_all('coordinates')[0].text.split()
ll_bbx = np.array([list(map(float, x.split(','))) for x in a])[:4, :2]
# save lon lat bounding box to cfg dictionary
lon_min = min(ll_bbx[:, 0])
lon_max = max(ll_bbx[:, 0])
lat_min = min(ll_bbx[:, 1])
lat_max = max(ll_bbx[:, 1])
cfg['ll_bbx'] = (lon_min, lon_max, lat_min, lat_max)
# convert lon lat bbox to utm
z = utm.conversion.latlon_to_zone_number((lat_min + lat_max) * .5,
(lon_min + lon_max) * .5)
utm_bbx = np.array(
[utm.from_latlon(p[1], p[0], force_zone_number=z)[:2] for p in ll_bbx])
east_min = min(utm_bbx[:, 0])
east_max = max(utm_bbx[:, 0])
nort_min = min(utm_bbx[:, 1])
nort_max = max(utm_bbx[:, 1])
cfg['utm_bbx'] = (east_min, east_max, nort_min, nort_max)
# project lon lat vertices into the image
if not isinstance(rpc, rpc_model.RPCModel):
rpc = rpc_model.RPCModel(rpc)
img_pts = [
rpc.inverse_estimate(p[0], p[1], rpc.altOff)[:2] for p in ll_bbx
]
# return image roi
x, y, w, h = common.bounding_box2D(img_pts)
return {'x': x, 'y': y, 'w': w, 'h': h}
def utm_roi_to_img_roi(rpc, roi):
"""
"""
# define utm rectangular box
x, y, w, h = [roi[k] for k in ['x', 'y', 'w', 'h']]
box = [(x, y), (x + w, y), (x + w, y + h), (x, y + h)]
# convert utm to lon/lat
utm_z = roi['utm_band']
north = roi['hemisphere'] == 'N'
box_latlon = [
utm.to_latlon(p[0], p[1], utm_z, northern=north) for p in box
]
# project lon/lat vertices into the image
if not isinstance(rpc, rpc_model.RPCModel):
rpc = rpc_model.RPCModel(rpc)
img_pts = [
rpc.inverse_estimate(p[1], p[0], rpc.altOff)[:2] for p in box_latlon
]
# return image roi
x, y, w, h = common.bounding_box2D(img_pts)
return {'x': x, 'y': y, 'w': w, 'h': h}
def plot_matches(im1, im2, rpc1, rpc2, matches, x=None, y=None, w=None, h=None,
outfile=None):
"""
Plot matches on Pleiades images
Args:
im1, im2: paths to full Pleiades images
rpc1, rpc2: two instances of the RPCModel class, or paths to xml files
containing the rpc coefficients
matches: 2D numpy array of size 4xN containing a list of matches (a
list of pairs of points, each pair being represented by x1, y1, x2,
y2). The coordinates are given in the frame of the full images.
x, y, w, h (optional, default is None): ROI in the reference image
outfile (optional, default is None): path to the output file. If None,
the file image is displayed using the pvflip viewer
Returns:
path to the displayed output
"""
# if no matches, no plot
if not matches.size:
print("visualisation.plot_matches: nothing to plot")
return
# read rpcs
for r in [rpc1, rpc2]:
if not isinstance(r, rpc_model.RPCModel):
r = rpc_model.RPCModel(r)
# determine regions to crop in im1 and im2
if x is not None:
x1 = x
else:
x1 = np.min(matches[:, 0])
if y is not None:
y1 = y
else:
y1 = np.min(matches[:, 1])
if w is not None:
w1 = w
else:
w1 = np.max(matches[:, 0]) - x1
if h is not None:
h1 = h
else:
h1 = np.max(matches[:, 1]) - y1
x2, y2, w2, h2 = rpc_utils.corresponding_roi(rpc1, rpc2, x1, y1, w1, h1)
# x2 = np.min(matches[:, 2])
# w2 = np.max(matches[:, 2]) - x2
# y2 = np.min(matches[:, 3])
# h2 = np.max(matches[:, 3]) - y2
# # add 20 pixels offset and round. The image_crop_gdal function will round
# # off the coordinates before it does the crops.
# x1 -= 20; x1 = np.round(x1)
# y1 -= 20; y1 = np.round(y1)
# x2 -= 20; x2 = np.round(x2)
# y2 -= 20; y2 = np.round(y2)
# w1 += 40; w1 = np.round(w1)
# h1 += 40; h1 = np.round(h1)
# w2 += 40; w2 = np.round(w2)
# h2 += 40; h2 = np.round(h2)
# do the crops
crop1 = common.image_qauto(common.image_crop_gdal(im1, x1, y1, w1, h1))
crop2 = common.image_qauto(common.image_crop_gdal(im2, x2, y2, w2, h2))
# compute matches coordinates in the cropped images
pts1 = matches[:, 0:2] - [x1, y1]
pts2 = matches[:, 2:4] - [x2, y2]
# plot the matches on the two crops
to_display = plot_matches_low_level(crop1, crop2, np.hstack((pts1, pts2)))
if outfile is None:
os.system('v %s &' % (to_display))
else:
common.run('cp %s %s' % (to_display, outfile))
return
(w, h, in_img_file, tmp_vrt))
common.run((
'gdalwarp -co RPB=NO -co PROFILE=GeoTIFF -r %s -co "BIGTIFF=IF_NEEDED" -co "TILED=YES" -ovr NONE -overwrite -to SRC_METHOD=NO_GEOTRANSFORM -to DST_METHOD=NO_GEOTRANSFORM -tr'
' %d %d %s %s') % (filt, scale_x, scale_y, tmp_vrt, out_img_file))
try:
# Remove aux files if any
os.remove(out_img_file + ".aux.xml")
except OSError:
pass
# Clean tmp vrt file
os.remove(tmp_vrt)
print("Done")
# generate rpc file
print("Generating {} ...".format(out_rcp_file))
r = rpc_model.RPCModel(in_rpc_file)
r.linScale /= scale_y
r.linOff /= scale_y
r.colScale /= scale_x
r.colOff /= scale_x
r.write(out_rcp_file)
print("Done")
sys.exit(0)
def rectify_pair(im1,
im2,
rpc1,
rpc2,
x,
y,
w,
h,
out1,
out2,
A=None,
sift_matches=None,
method='rpc',
hmargin=0,
vmargin=0):
"""
Rectify a ROI in a pair of images.
Args:
im1, im2: paths to two image files
rpc1, rpc2: paths to the two xml files containing RPC data
x, y, w, h: four integers defining the rectangular ROI in the first
image. (x, y) is the top-left corner, and (w, h) are the dimensions
of the rectangle.
out1, out2: paths to the output rectified crops
A (optional): 3x3 numpy array containing the pointing error correction
for im2. This matrix is usually estimated with the pointing_accuracy
module.
sift_matches (optional): Nx4 numpy array containing a list of sift
matches, in the full image coordinates frame
method (default: 'rpc'): option to decide wether to use rpc of sift
matches for the fundamental matrix estimation.
{h,v}margin (optional): horizontal and vertical margins added on the
sides of the rectified images
Returns:
H1, H2: Two 3x3 matrices representing the rectifying homographies that
have been applied to the two original (large) images.
disp_min, disp_max: horizontal disparity range
"""
# read RPC data
rpc1 = rpc_model.RPCModel(rpc1)
rpc2 = rpc_model.RPCModel(rpc2)
# compute real or virtual matches
if method == 'rpc':
# find virtual matches from RPC camera models
matches = rpc_utils.matches_from_rpc(rpc1, rpc2, x, y, w, h,
cfg['n_gcp_per_axis'])
# correct second image coordinates with the pointing correction matrix
if A is not None:
matches[:, 2:] = common.points_apply_homography(
np.linalg.inv(A), matches[:, 2:])
else:
matches = sift_matches
# compute rectifying homographies
H1, H2, F = rectification_homographies(matches, x, y, w, h)
if cfg['register_with_shear']:
# compose H2 with a horizontal shear to reduce the disparity range
a = np.mean(rpc_utils.altitude_range(rpc1, x, y, w, h))
lon, lat, alt = rpc_utils.ground_control_points(
rpc1, x, y, w, h, a, a, 4)
x1, y1 = rpc1.inverse_estimate(lon, lat, alt)[:2]
x2, y2 = rpc2.inverse_estimate(lon, lat, alt)[:2]
m = np.vstack([x1, y1, x2, y2]).T
m = np.vstack({tuple(row)
for row in m}) # remove duplicates due to no alt range
H2 = register_horizontally_shear(m, H1, H2)
# compose H2 with a horizontal translation to center disp range around 0
if sift_matches is not None:
sift_matches = filter_matches_epipolar_constraint(
F, sift_matches, cfg['epipolar_thresh'])
if len(sift_matches) < 10:
print('WARNING: no registration with less than 10 matches')
else:
H2 = register_horizontally_translation(sift_matches, H1, H2)
# compute disparity range
if cfg['debug']:
out_dir = os.path.dirname(out1)
np.savetxt(os.path.join(out_dir, 'sift_matches_disp.txt'),
sift_matches,
fmt='%9.3f')
visualisation.plot_matches(
im1, im2, rpc1, rpc2, sift_matches, x, y, w, h,
os.path.join(out_dir, 'sift_matches_disp.png'))
disp_m, disp_M = disparity_range(rpc1, rpc2, x, y, w, h, H1, H2,
sift_matches, A)
# recompute hmargin and homographies
hmargin = int(np.ceil(max([hmargin, np.fabs(disp_m), np.fabs(disp_M)])))
T = common.matrix_translation(hmargin, vmargin)
H1, H2 = np.dot(T, H1), np.dot(T, H2)
# compute rectifying homographies for non-epipolar mode (rectify the secondary tile only)
if block_matching.rectify_secondary_tile_only(cfg['matching_algorithm']):
H1_inv = np.linalg.inv(H1)
H1 = np.eye(
3
) # H1 is replaced by 2-D array with ones on the diagonal and zeros elsewhere
H2 = np.dot(H1_inv, H2)
T = common.matrix_translation(-x + hmargin, -y + vmargin)
H1 = np.dot(T, H1)
H2 = np.dot(T, H2)
# compute output images size
roi = [[x, y], [x + w, y], [x + w, y + h], [x, y + h]]
pts1 = common.points_apply_homography(H1, roi)
x0, y0, w0, h0 = common.bounding_box2D(pts1)
# check that the first homography maps the ROI in the positive quadrant
np.testing.assert_allclose(np.round([x0, y0]), [hmargin, vmargin],
atol=.01)
# apply homographies and do the crops
common.image_apply_homography(out1, im1, H1, w0 + 2 * hmargin,
h0 + 2 * vmargin)
common.image_apply_homography(out2, im2, H2, w0 + 2 * hmargin,
h0 + 2 * vmargin)
if block_matching.rectify_secondary_tile_only(cfg['matching_algorithm']):
pts_in = [[0, 0], [disp_m, 0], [disp_M, 0]]
pts_out = common.points_apply_homography(H1_inv, pts_in)
disp_m = pts_out[1, :] - pts_out[0, :]
disp_M = pts_out[2, :] - pts_out[0, :]
return H1, H2, disp_m, disp_M