Project runner

.gitignore

@@ -1,2 +1,5 @@
 *~
 *.pyc
+**.vscode
+**/aura-props
+**/tmp

cameras/DJI_FC330.json

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+{
+    "K": [
+        3666.666504,
+        0.0,
+        2432.0,
+        0.0,
+        3666.666504,
+        1824.0,
+        0.0,
+        0.0,
+        1.0
+    ],
+    "ccd_height_mm": 4.72,
+    "ccd_width_mm": 6.30,
+    "dist_coeffs": [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+    ],
+    "focal_len_mm": 4,
+    "height_px": 3000,
+    "lens_model": "unknown",
+    "make": "DJI",
+    "model": "FC330",
+    "width_px": 4000
+}

scripts/1a_create_project.py

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+#!/usr/bin/python3
+
+import os, sys, argparse
+
+from lib import ProjectMgr
+
+# initialize a new project workspace
+def new_project(project_dir):
+    # test if images directory exists
+    if not os.path.isdir(project_dir):
+        print("Images directory doesn't exist:", args.project)
+        quit()
+
+    # create an empty project
+    proj = ProjectMgr.ProjectMgr(project_dir, create=True)
+
+    # and save what we have so far ...
+    proj.save()
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Create an empty project.')
+    parser.add_argument('--project', required=True, help='Directory with a set of aerial images.')
+
+    args = parser.parse_args()
+    new_project(args.project)

scripts/1b_set_camera_config.py

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+#!/usr/bin/python3
+
+import argparse
+import fnmatch
+import os.path
+
+# from the aura-props package
+from props import getNode, PropertyNode
+import props_json
+
+from lib import ProjectMgr
+
+
+def set_camera(project_dir, camera, yaw_deg = 0.0, pitch_deg = -90.0, roll_deg = 0.0):
+    proj = ProjectMgr.ProjectMgr(project_dir)
+
+    if camera:
+        # specified on command line
+        camera_file = camera
+    else:
+        # auto detect camera from image meta data
+        camera, make, model, lens_model = proj.detect_camera()
+        camera_file = os.path.join("..", "cameras", camera + ".json")
+    print("Camera:", camera_file)
+
+    # copy/overlay/update the specified camera config into the existing
+    # project configuration
+    cam_node = getNode('/config/camera', True)
+    tmp_node = PropertyNode()
+    if props_json.load(camera_file, tmp_node):
+        for child in tmp_node.getChildren(expand=False):
+            if tmp_node.isEnum(child):
+                # print(child, tmp_node.getLen(child))
+                for i in range(tmp_node.getLen(child)):
+                    cam_node.setFloatEnum(child, i, tmp_node.getFloatEnum(child, i))
+            else:
+                # print(child, type(tmp_node.__dict__[child]))
+                child_type = type(tmp_node.__dict__[child])
+                if child_type is float:
+                    cam_node.setFloat(child, tmp_node.getFloat(child))
+                elif child_type is int:
+                    cam_node.setInt(child, tmp_node.getInt(child))
+                elif child_type is str:
+                    cam_node.setString(child, tmp_node.getString(child))
+                else:
+                    print('Unknown child type:', child, child_type)
+
+        proj.cam.set_mount_params(yaw_deg, pitch_deg, roll_deg)
+
+        # note: dist_coeffs = array[5] = k1, k2, p1, p2, k3
+
+        # ... and save
+        proj.save()
+    else:
+        # failed to load camera config file
+        if not camera:
+            print("Camera autodetection failed.")
+            print("Consider running the new camera script to create a camera config")
+            print("and then try running this script again.")
+        else:
+            print("Provided camera config not found:", camera)
+
+if __name__ == "__main__":
+    # set all the various camera configuration parameters
+    parser = argparse.ArgumentParser(description='Set camera configuration.')
+    parser.add_argument('--project', required=True, help='project directory')
+    parser.add_argument('--camera', help='camera config file')
+    parser.add_argument('--yaw-deg', type=float, default=0.0,
+                        help='camera yaw mounting offset from aircraft')
+    parser.add_argument('--pitch-deg', type=float, default=-90.0,
+                        help='camera pitch mounting offset from aircraft')
+    parser.add_argument('--roll-deg', type=float, default=0.0,
+                        help='camera roll mounting offset from aircraft')
+    args = parser.parse_args()

scripts/2a_set_poses.py

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+#!/usr/bin/python3
+
+import argparse
+import os
+
+from props import getNode
+
+from lib import Pose
+from lib import ProjectMgr
+
+# for all the images in the project image_dir, detect features using the
+# specified method and parameters
+
+def set_pose(project_dir, max_angle = 25.0 ):
+    proj = ProjectMgr.ProjectMgr(project_dir)
+    print("Loading image info...")
+    proj.load_images_info()
+
+    # simplifying assumption
+    image_dir = project_dir
+
+    pix4d_file = os.path.join(image_dir, 'pix4d.csv')
+    meta_file = os.path.join(image_dir, 'image-metadata.txt')
+    if os.path.exists(pix4d_file):
+        Pose.setAircraftPoses(proj, pix4d_file, order='rpy',
+                            max_angle=max_angle)
+    elif os.path.exists(meta_file):
+        Pose.setAircraftPoses(proj, meta_file, order='ypr',
+                            max_angle=max_angle)
+    else:
+        print("Error: no pose file found in image directory:", image_dir)
+        quit()
+
+    # compute the project's NED reference location (based on average of
+    # aircraft poses)
+    proj.compute_ned_reference_lla()
+    ned_node = getNode('/config/ned_reference', True)
+    print("NED reference location:")
+    ned_node.pretty_print("  ")
+
+    # set the camera poses (fixed offset from aircraft pose) Camera pose
+    # location is specfied in ned, so do this after computing the ned
+    # reference point for this project.
+    Pose.compute_camera_poses(proj)
+
+    # save the poses
+    proj.save_images_info()
+
+    # save change to ned reference
+    proj.save()
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Set the aircraft poses from flight data.')
+    parser.add_argument('--project', required=True, help='project directory')
+    #parser.add_argument('--meta', help='use the specified image-metadata.txt file (lat,lon,alt,yaw,pitch,roll)')
+    #parser.add_argument('--pix4d', help='use the specified pix4d csv file (lat,lon,alt,roll,pitch,yaw)')
+    parser.add_argument('--max-angle', type=float, default=25.0, help='max pitch or roll angle for image inclusion')
+
+    args = parser.parse_args()