pixel_size = sensor_width / image_cols # unit: mm/px
pixel_size = pixel_size / 1000 # unit: m/px
end_time = time.time()
print("--- %s seconds ---" % (time.time() - start_time))
read_time = end_time - start_time
else:
print('Read EOP - ' + file)
print('Longitude | Latitude | Height | Omega | Phi | Kappa')
eo = readEO(file_path)
eo = latlon2tmcentral(eo)
# 3. System Calibration
OPK = calibrate(eo[3], eo[4], eo[5], R_CB)
eo[3] = OPK[0]
eo[4] = OPK[1]
eo[5] = OPK[2]
R = Rot3D(eo)
# 4. Extract a projected boundary of the image
print('boundary')
bbox = boundary(restored_image, eo, R, ground_height,
pixel_size, focal_length)
print("--- %s seconds ---" % (time.time() - start_time))
# 5. Compute GSD & Boundary size
# GSD
gsd = (pixel_size *
(eo[2] - ground_height)) / focal_length # unit: m/px
def rectify(path, name):
print(path, name)
ground_height = 0 # unit: m
height_threshold = 100 # unit: m
focal_length = 5 / 1000 # unit: m
pixel_size = 0.00375 / 1000 # unit: m/px
# 190911
R_CB = np.array(
[[0.990635238726878, 0.135295782209043, 0.0183541578119133],
[-0.135993334134149, 0.989711806459606, 0.0444561944563446],
[-0.0121505910810649, -0.0465359159242159, 0.998842716179817]],
dtype=float)
dst_path = path + "/" + name + '/odm_orthophoto/'
if not (os.path.isdir(dst_path)):
os.mkdir(dst_path)
dst_path2 = path + "/" + name + '/odm_individual_orthophoto/'
if not (os.path.isdir(dst_path2)):
os.mkdir(dst_path2)
file_list = []
for root, dirs, files in os.walk(path + "/" + name + '/images'):
files.sort()
count = 0
len_files = len(files)
for file in files:
filename = os.path.splitext(file)[0]
extension = os.path.splitext(file)[1]
file_path = root + '/' + file
if extension == '.JPG' or extension == '.jpg':
print('Read the image - ' + file)
image = cv2.imread(file_path, -1)
elif extension == '.txt':
print('Read EOP - ' + file)
eo = read_eo(file_path, 3)
eo = convertCoordinateSystem(eo)
if eo[2] - ground_height <= height_threshold:
print("The height of the image is too low: ",
eo[2] - ground_height, " m")
return "The height of the image is too low"
# System Calibration
OPK = calibrate(eo[3], eo[4], eo[5], R_CB)
eo[3:] = OPK
print(eo)
if abs(OPK[0]) > 30 * (np.pi / 180) or abs(
OPK[1]) > 30 * (np.pi / 180):
print('Too much omega/phi will kill you')
return
R = Rot3D(eo)
# 4. Extract a projected boundary of the image
bbox = boundary(image, eo, R, ground_height, pixel_size,
focal_length)
# 5. Compute GSD & Boundary size
# GSD
gsd = (pixel_size *
(eo[2] - ground_height)) / focal_length # unit: m/px
print("GSD: ", gsd)
# Boundary size
boundary_cols = int((bbox[1, 0] - bbox[0, 0]) / gsd)
boundary_rows = int((bbox[3, 0] - bbox[2, 0]) / gsd)
print(boundary_rows, boundary_cols)
# 6. Compute coordinates of the projected boundary
proj_coords = projectedCoord(bbox, boundary_rows,
boundary_cols, gsd, eo,
ground_height)
# Image size
image_size = np.reshape(image.shape[0:2], (2, 1))
# 6. Back-projection into camera coordinate system
backProj_coords = backProjection(proj_coords, R, focal_length,
pixel_size, image_size)
# 7. Resample the pixels
b, g, r, a = resample(backProj_coords, boundary_rows,
boundary_cols, image)
# 8. Create GeoTiff
dst = dst_path2 + filename
createGeoTiff(b, g, r, a, bbox, gsd, boundary_rows,
boundary_cols, dst)
# file_list.append("../../" + dst + '.tif') # in relative path
file_list.append(dst + '.tif') # in absolute path
count += 1
progressbc.send_update(count / len_files * 100 * 0.9)
# 10. Mosaic individual orthophotos for each band
working_path1 = './OTB-7.0.0-Linux64/'
working_path2 = './bin/'
set_env = './otbenv.profile'
mosaic_execution = './otbcli_Mosaic'
start_time = time.time()
os.chdir(working_path1) # change path
# https://stackoverflow.com/questions/13702425/source-command-not-found-in-sh-shell/13702876
subprocess.call(set_env, shell=True)
os.chdir(working_path2)
# subprocess.call("ls", shell=True)
print(file_list)
# subprocess.call(mosaic_execution + ' -il ' + ' '.join(file_list) +
# ' -comp.feather ' + 'large' +
# ' -out ' + dst_path + 'IMG_RGB.tif', shell=True)
# subprocess.call(mosaic_execution + ' -il ' + ' '.join(file_list) +
# ' -out ' + "../../" + dst_path + 'odm_orthophoto.tif', shell=True) # in relative path
subprocess.call(mosaic_execution + ' -il ' + ' '.join(file_list) +
' -out ' + dst_path + 'odm_orthophoto.tif',
shell=True) # in absolute path
print("--- %s seconds ---" % (time.time() - start_time))
progressbc.send_update(100)
print("Sent!")