if surface_m < 0.1:
surface_m = image_node.getFloat("srtm_surface_m")
yaw_error_deg = image_node.getFloat("yaw_error")
image.set_aircraft_yaw_error_estimate(yaw_error_deg)
proj_list = project.projectVectors(IK, image.get_body2ned(),
image.get_cam2body(), grid_list)
ned, ypr, quat = image.get_camera_pose()
pts_ned = project.intersectVectorsWithGroundPlane(ned, surface_m,
proj_list)
#print(image.name, "pts_3d (ned):\n", pts_ned)
# convert ned to xyz and stash the result for each image
image.grid_list = []
for p in pts_ned:
image.grid_list.append([p[1], p[0], -p[2]])
# generate the panda3d egg models
dir_node = getNode('/config/directories', True)
img_src_dir = dir_node.getString('images_source')
panda3d.generate_from_grid(proj,
name_list,
src_dir=img_src_dir,
analysis_dir=proj.analysis_dir,
resolution=args.texture_resolution)
# call the ac3d generator
# AC3D.generate(proj.image_list, group_list[0], src_dir=img_src_dir,
# analysis_dir=proj.analysis_dir, base_name='direct',
# version=1.0, trans=0.1, resolution=args.texture_resolution)
image.z_avg,
proj_list)
elif True:
# intersect with our polygon surface approximation
pts_ned = intersect_vectors(ned, proj_list, -image.z_avg)
elif False:
# (moving away from the binned surface approach in this
# script towards the above delauney interpolation
# approach)
# intersect with 2d binned surface approximation
pts_ned = bin2d.intersect_vectors(ned, proj_list, -image.z_avg)
#print(image.name, "pts_3d (ned):\n", pts_ned)
# convert ned to xyz and stash the result for each image
image.grid_list = []
for p in pts_ned:
image.grid_list.append( [p[1], p[0], -p[2]] )
# generate the panda3d egg models
dir_node = getNode('/config/directories', True)
img_src_dir = dir_node.getString('images_source')
panda3d.generate_from_grid(proj, group_list[args.group], src_dir=img_src_dir,
analysis_dir=proj.analysis_dir,
resolution=args.texture_resolution)
# call the ac3d generator
# AC3D.generate(proj.image_list, group_list[0], src_dir=img_src_dir,
# analysis_dir=proj.analysis_dir, base_name='direct',
# version=1.0, trans=0.1, resolution=args.texture_resolution)