def run_dataset(data: DataSetBase, input, output) -> None:
recs_base = data.load_reconstruction(input)
if len(recs_base) == 0:
return
rec_base = recs_base[0]
tracks_manager = data.load_tracks_manager()
rec_base.add_correspondences_from_tracks_manager(tracks_manager)
images = data.images()
remaining_images = set(images) - set(rec_base.shots)
gcp = data.load_ground_control_points()
report = {}
rec_report = {}
report["extend_reconstruction"] = [rec_report]
rec, rec_report["grow"] = reconstruction.grow_reconstruction(
data,
tracks_manager,
rec_base,
remaining_images,
gcp,
)
rec_report["num_remaining_images"] = len(remaining_images)
report["not_reconstructed_images"] = list(remaining_images)
data.save_reconstruction([rec], output)
data.save_report(io.json_dumps(report), "reconstruction.json")
def run_dataset(dataset: DataSetBase, input, output) -> None:
"""Bundle a reconstructions.
Args:
input: input reconstruction JSON in the dataset
output: input reconstruction JSON in the dataset
"""
reconstructions = dataset.load_reconstruction(input)
camera_priors = dataset.load_camera_models()
rig_cameras_priors = dataset.load_rig_cameras()
tracks_manager = dataset.load_tracks_manager()
# load the tracks manager and add its observations to the reconstruction
# go through all the points and add their shots
for reconstruction in reconstructions:
reconstruction.add_correspondences_from_tracks_manager(tracks_manager)
gcp = dataset.load_ground_control_points()
orec.bundle(reconstruction, camera_priors, rig_cameras_priors, gcp,
dataset.config)
dataset.save_reconstruction(reconstructions, output)
def invent_reference_from_gps_and_gcp(
data: DataSetBase,
images: Optional[List[str]] = None) -> geo.TopocentricConverter:
lat, lon, alt = 0.0, 0.0, 0.0
wlat, wlon, walt = 0.0, 0.0, 0.0
if images is None:
images = data.images()
for image in images:
d = data.load_exif(image)
if "gps" in d and "latitude" in d["gps"] and "longitude" in d["gps"]:
w = 1.0 / max(0.01, d["gps"].get("dop", 15))
lat += w * d["gps"]["latitude"]
lon += w * d["gps"]["longitude"]
wlat += w
wlon += w
if "altitude" in d["gps"]:
alt += w * d["gps"]["altitude"]
walt += w
if not wlat and not wlon:
for gcp in data.load_ground_control_points():
lat += gcp.lla["latitude"]
lon += gcp.lla["longitude"]
wlat += 1
wlon += 1
if gcp.has_altitude:
alt += gcp.lla["altitude"]
walt += 1
if wlat:
lat /= wlat
if wlon:
lon /= wlon
if walt:
alt /= walt
return geo.TopocentricConverter(lat, lon, 0) # Set altitude manually.
