def set_boresight_matrix_from_camera_relative_rpy_params(self,
relative_roll, # type: float
relative_pitch, # type: float
relative_yaw, # type: float
roll_units='radians', # type: str
pitch_units='radians', # type: str
yaw_units='radians', # type; str
order='rpy',
):
roll_radians = relative_roll * ureg.parse_expression(roll_units).to("radians").magnitude
pitch_radians = relative_pitch * ureg.parse_expression(pitch_units).to("radians").magnitude
yaw_radians = relative_yaw * ureg.parse_expression(yaw_units).to("radians").magnitude
boresight_matrix = photogrammetry_utils.create_M_matrix(roll_radians, pitch_radians, yaw_radians, order=order)
self.set_boresight_matrix(boresight_matrix)
def set_relative_camera_xyz(
self,
x_relative_to_fixture_center, # type: float
y_relative_to_fixture_center, # type: float
z_relative_to_fixture_center, # type: float
x_units='meters',
y_units='meters',
z_units='meters'):
x = x_relative_to_fixture_center * ureg.parse_expression(x_units)
y = y_relative_to_fixture_center * ureg.parse_expression(y_units)
z = z_relative_to_fixture_center * ureg.parse_expression(z_units)
x_meters = x.to(ureg['meters'])
y_meters = y.to(ureg['meters'])
z_meters = z.to(ureg['meters'])
self.x_rel_to_fixture = x_meters.magnitude
self.y_rel_to_fixture = y_meters.magnitude
self.z_rel_to_fixture = z_meters.magnitude
def init_from_wgs84_params(
cls,
sensor_lon_decimal_degrees, # type: float
sensor_lat_decimal_degrees, # type: float
sensor_altitude, # type: float
omega, # type: float
phi, # type: float
kappa, # type: float
npix_x, # type: int
npix_y, # type: int
pixel_pitch_x, # type: float
pixel_pitch_y, # type: float
focal_length, # type: float
alt_units='meters', # type: str
omega_units='radians', # type: str
phi_units='radians', # type: str
kappa_units='radians', # type: str
pixel_pitch_x_units='micrometer', # type: str
pixel_pitch_y_units='micrometer', # type: str
focal_length_units='mm', # type: str
flip_x=False, # type: bool
flip_y=False, # type: bool
): # type: (...) -> IdealPinholeFpaLocalUtmPointCalc
"""
:param sensor_lon_decimal_degrees:
:param sensor_lat_decimal_degrees:
:param sensor_altitude:
:param omega:
:param phi:
:param kappa:
:param npix_x:
:param npix_y:
:param pixel_pitch_x:
:param pixel_pitch_y:
:param focal_length:
:param alt_units:
:param omega_units:
:param phi_units:
:param kappa_units:
:param pixel_pitch_x_units:
:param pixel_pitch_y_units:
:param focal_length_units:
:param flip_x:
:param flip_y:
:return:
For now the altitude must be relative to the DEM used for orthorectification.
For example, if the DEM is relative to the geoid, then sensor_altitude must also be relative to the geoid too.
"""
native_proj = proj_utils.decimal_degrees_to_local_utm_proj(
sensor_lon_decimal_degrees, sensor_lat_decimal_degrees)
proj_4326 = crs_defs.PROJ_4326
sensor_x_local, sensor_y_local = transform(proj_4326, native_proj,
sensor_lon_decimal_degrees,
sensor_lat_decimal_degrees)
utm_point_calc = IdealPinholeFpaLocalUtmPointCalc()
pinhole_camera = PinholeCamera()
pinhole_camera.init_pinhole_from_coeffs(
sensor_x_local,
sensor_y_local,
sensor_altitude,
omega,
phi,
kappa,
focal_length,
x_units='meters',
y_units='meters',
z_units=alt_units,
omega_units=omega_units,
phi_units=phi_units,
kappa_units=kappa_units,
focal_length_units=focal_length_units)
utm_point_calc.set_projection(native_proj)
pp_x_meters = pixel_pitch_x * ureg.parse_expression(
pixel_pitch_x_units)
pp_y_meters = pixel_pitch_y * ureg.parse_expression(
pixel_pitch_y_units)
pp_x_meters = pp_x_meters.to('meters').magnitude
pp_y_meters = pp_y_meters.to('meters').magnitude
utm_point_calc._pixel_pitch_x_meters = pp_x_meters
utm_point_calc._pixel_pitch_y_meters = pp_y_meters
utm_point_calc.set_approximate_lon_lat_center(sensor_x_local,
sensor_y_local)
utm_point_calc._npix_x = npix_x
utm_point_calc._npix_y = npix_y
utm_point_calc._flip_x = flip_x
utm_point_calc._flip_y = flip_y
utm_point_calc._pinhole_camera = pinhole_camera
return utm_point_calc
def init_from_local_params(
cls,
sensor_lon, # type: float
sensor_lat, # type: float
sensor_altitude, # type: float
native_proj, # type: Proj
omega, # type: float
phi, # type: float
kappa, # type: float
npix_x, # type: int
npix_y, # type: int
pixel_pitch_x, # type: float
pixel_pitch_y, # type: float
focal_length, # type: float
alt_units='meters', # type: str
omega_units='radians', # type: str
phi_units='radians', # type: str
kappa_units='radians', # type: str
pixel_pitch_x_units='micrometer', # type: str
pixel_pitch_y_units='micrometer', # type: str
focal_length_units='mm', # type: str
flip_x=False, # type: bool
flip_y=False, # type: bool
): # type: (...) -> IdealPinholeFpaLocalUtmPointCalc
utm_point_calc = IdealPinholeFpaLocalUtmPointCalc()
pinhole_camera = PinholeCamera()
pinhole_camera.init_pinhole_from_coeffs(
sensor_lon,
sensor_lat,
sensor_altitude,
omega,
phi,
kappa,
focal_length,
x_units='meters',
y_units='meters',
z_units=alt_units,
omega_units=omega_units,
phi_units=phi_units,
kappa_units=kappa_units,
focal_length_units=focal_length_units)
utm_point_calc.set_projection(native_proj)
pp_x_meters = pixel_pitch_x * ureg.parse_expression(
pixel_pitch_x_units)
pp_y_meters = pixel_pitch_y * ureg.parse_expression(
pixel_pitch_y_units)
pp_x_meters = pp_x_meters.to('meters').magnitude
pp_y_meters = pp_y_meters.to('meters').magnitude
utm_point_calc._pixel_pitch_x_meters = pp_x_meters
utm_point_calc._pixel_pitch_y_meters = pp_y_meters
utm_point_calc.set_approximate_lon_lat_center(sensor_lon, sensor_lat)
utm_point_calc._npix_x = npix_x
utm_point_calc._npix_y = npix_y
utm_point_calc._flip_x = flip_x
utm_point_calc._flip_y = flip_y
utm_point_calc._pinhole_camera = pinhole_camera
return utm_point_calc
def compute_ifov_y(self, output_units="microradians"):
ifov = numpy.arctan(
self._pixel_pitch_y_meters /
self._pinhole_camera.f) * ureg.parse_expression('radians')
return ifov.to(output_units).magnitude