for u in u_list:
grid_list.append([u, v])
#print 'grid_list:', grid_list
image.distorted_uv = proj.redistort(grid_list, optimized=True)
image_node = smart.smart_node.getChild(image.name, True)
surface_m = image_node.getFloat("tri_surface_m")
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)
else:
#print(image.get_body2ned(opt=True))
proj_list = project.projectVectors( IK,
image.get_body2ned(opt=True),
image.get_cam2body(),
grid_list )
#print 'proj_list:', proj_list
if args.direct:
ned, ypr, quat = image.get_camera_pose()
else:
ned, ypr, quat = image.get_camera_pose(opt=True)
#print('cam orig:', image.camera_pose['ned'], 'optimized:', ned)
if args.ground:
pts_ned = project.intersectVectorsWithGroundPlane(ned,
args.ground,
proj_list)
elif args.srtm:
pts_ned = srtm.interpolate_vectors(ned, proj_list)
else:
# intersect with our polygon surface approximation
pts_ned = 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.fit_xy.append([p[1], p[0]])
image.fit_z.append(-p[2])
image.fit_edge.append(True)
proj_list = project.projectVectors(IK, image.get_body2ned(),
image.get_cam2body(), grid_list)
else:
#print(image.get_body2ned(opt=True))
proj_list = project.projectVectors(IK,
image.get_body2ned(opt=True),
image.get_cam2body(), grid_list)
#print 'proj_list:', proj_list
if args.direct:
ned, ypr, quat = image.get_camera_pose()
else:
ned, ypr, quat = image.get_camera_pose(opt=True)
#print('cam orig:', image.camera_pose['ned'], 'optimized:', ned)
if args.ground:
pts_ned = project.intersectVectorsWithGroundPlane(
ned, args.ground, proj_list)
if args.median:
pts_ned = project.intersectVectorsWithGroundPlane(
ned, median, proj_list)
elif args.srtm:
pts_ned = srtm.interpolate_vectors(ned, proj_list)
elif False:
# this never seemed that productive
print(image.name, image.z_avg)
pts_ned = project.intersectVectorsWithGroundPlane(
ned, 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