def shot_lla_and_compass(
shot: pymap.Shot, reference: types.TopocentricConverter
) -> Tuple[float, float, float, float]:
"""Lat, lon, alt and compass of the reconstructed shot position."""
topo = shot.pose.get_origin()
lat, lon, alt = reference.to_lla(*topo)
dz = shot.pose.get_R_cam_to_world()[:, 2]
angle = np.rad2deg(np.arctan2(dz[0], dz[1]))
angle = (angle + 360) % 360
return lat, lon, alt, angle
def exif_to_metadata(
exif: Dict[str, Any], use_altitude: bool, reference: types.TopocentricConverter
) -> pymap.ShotMeasurements:
"""Construct a metadata object from raw EXIF tags (as a dict)."""
metadata = pymap.ShotMeasurements()
gps = exif.get("gps")
if gps and "latitude" in gps and "longitude" in gps:
lat, lon = gps["latitude"], gps["longitude"]
if use_altitude:
alt = min([oexif.maximum_altitude, gps.get("altitude", 2.0)])
else:
alt = 2.0 # Arbitrary value used to align the reconstruction
x, y, z = reference.to_topocentric(lat, lon, alt)
metadata.gps_position.value = np.array([x, y, z])
metadata.gps_accuracy.value = gps.get("dop", 15.0)
if metadata.gps_accuracy.value == 0.0:
metadata.gps_accuracy.value = 15.0
else:
metadata.gps_position.value = np.array([0.0, 0.0, 0.0])
metadata.gps_accuracy.value = 999999.0
opk = exif.get("opk")
if opk and "omega" in opk and "phi" in opk and "kappa" in opk:
omega, phi, kappa = opk["omega"], opk["phi"], opk["kappa"]
metadata.opk_angles.value = np.array([omega, phi, kappa])
metadata.opk_accuracy.value = opk.get("accuracy", 1.0)
metadata.orientation.value = exif.get("orientation", 1)
if "accelerometer" in exif:
metadata.accelerometer.value = exif["accelerometer"]
if "compass" in exif:
metadata.compass_angle.value = exif["compass"]["angle"]
if "accuracy" in exif["compass"]:
metadata.compass_accuracy.value = exif["compass"]["accuracy"]
if "capture_time" in exif:
metadata.capture_time.value = exif["capture_time"]
if "skey" in exif:
metadata.sequence_key.value = exif["skey"]
return metadata
def add_gcp_to_bundle(
ba: orec.pybundle.BundleAdjuster,
reference: types.TopocentricConverter,
gcp: List[pymap.GroundControlPoint],
gcp_std,
shots,
):
"""Add Ground Control Points constraints to the bundle problem."""
for point in gcp:
point_id = "gcp-" + point.id
coordinates = multiview.triangulate_gcp(
point,
shots,
reproj_threshold=1,
min_ray_angle_degrees=0.1,
)
if coordinates is None:
if point.lla:
enu = reference.to_topocentric(*point.lla_vec)
logger.warning(
f"Could not triangulate GCP '{point.id}'."
f"Using {enu} (derived from lat,lon)"
)
coordinates = enu
else:
logger.warning(
"Cannot initialize GCP '{}'." " Ignoring it".format(point.id)
)
continue
ba.add_point(point_id, coordinates, False)
for observation in point.observations:
if observation.shot_id in shots:
ba.add_point_projection_observation(
observation.shot_id,
point_id,
observation.projection,
gcp_std,
)
def exif_to_metadata(
exif: Dict[str, Any], use_altitude: bool,
reference: types.TopocentricConverter) -> pymap.ShotMeasurements:
"""Construct a metadata object from raw EXIF tags (as a dict)."""
metadata = pymap.ShotMeasurements()
if "gps" in exif and "latitude" in exif["gps"] and "longitude" in exif[
"gps"]:
lat = exif["gps"]["latitude"]
lon = exif["gps"]["longitude"]
if use_altitude:
alt = min(
[oexif.maximum_altitude, exif["gps"].get("altitude", 2.0)])
else:
alt = 2.0 # Arbitrary value used to align the reconstruction
x, y, z = reference.to_topocentric(lat, lon, alt)
metadata.gps_position.value = [x, y, z]
metadata.gps_accuracy.value = exif["gps"].get("dop", 15.0)
if metadata.gps_accuracy.value == 0.0:
metadata.gps_accuracy.value = 15.0
else:
metadata.gps_position.value = [0.0, 0.0, 0.0]
metadata.gps_accuracy.value = 999999.0
metadata.orientation.value = exif.get("orientation", 1)
if "accelerometer" in exif:
metadata.accelerometer.value = exif["accelerometer"]
if "compass" in exif:
metadata.compass_angle.value = exif["compass"]["angle"]
if "accuracy" in exif["compass"]:
metadata.compass_accuracy.value = exif["compass"]["accuracy"]
if "capture_time" in exif:
metadata.capture_time.value = exif["capture_time"]
if "skey" in exif:
metadata.sequence_key.value = exif["skey"]
return metadata