Unverified Commit b4ca7a57 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Various bug fixes (#422) 

* Fixed variable name

* Added a try catch for when orb can't find a point

* Fixed NetworkNode creation

* Typo fix

* Added km to meters conversion

* Added a check that the point stays in the overlap

* Removed in geom check

* Fixed acn_overlaps kwarg call

* Added geom in overlap check
parent 4c916693

autocnet/graph/node.py

+10 −1
Original line number Diff line number Diff line
@@ -68,7 +68,6 @@ class Node(dict, MutableMapping): 
        self['node_id'] = node_id

        self['hash'] = image_name

        self.masks = pd.DataFrame()

        self.ignore = False



    @property

    def camera(self):
@@ -100,6 +99,16 @@ class Node(dict, MutableMapping): 
    def keypoints(self, kps):

        self._keypoints = kps



    @property

    def ignore(self):

        if not hasattr(self, '_ignore'):

            self._ignore = False

        return self._ignore



    @ignore.setter

    def ignore(self, ignore):

        self._ignore = ignore



    def __repr__(self):

        return """

        NodeID: {}

autocnet/spatial/overlap.py

+29 −13
Original line number Diff line number Diff line
@@ -195,7 +195,11 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 


        # Extract ORB features in a sub-image around the desired point

        image, _, _ = clip_roi(node.geodata, sample, line, size_x=size, size_y=size)

        try:

            interesting = extract_most_interesting(image)

        except:

            warnings.warn('Could not find an interesting feature around point')

            continue



        # kps are in the image space with upper left origin, so convert to

        # center origin and then convert back into full image space
@@ -204,30 +208,42 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 


        # Get the updated lat/lon from the feature in the node

        if cam_type == "isis":

            p = isis.point_info(node["image_path"], newsample, newline, pointtype="image")

            p = isis.point_info(node["image_path"], newsample, newline, point_type="image")

            x, y, z = p["GroundPoint"]["BodyFixedCoordinate"].value

            if p["GroundPoint"]["BodyFixedCoordinate"].units.lower() == "km":

                x = x * 1000

                y = y * 1000

                z = z * 1000

        elif cam_type == "csm":

            image_coord = csmapi.ImageCoord(newline, newsample)

            pcoord = node.camera.imageToGround(image_coord)

            # Get the BCEF coordinate from the lon, lat

            lon, lat, _ = reproject([pcoord.x, pcoord.y, pcoord.z], semi_major, semi_minor,

                            'geocent', 'latlon')

            updated_lon, updated_lat, _ = reproject([pcoord.x, pcoord.y, pcoord.z],

                                                    semi_major, semi_minor, 'geocent', 'latlon')



            # Get the new DEM height

            if dem is None:

                height = 0

                updated_height = 0

            else:

                px, py = dem.latlon_to_pixel(lat, lon)

                height = dem.read_array(1, [px, py, 1, 1])[0][0]

                px, py = dem.latlon_to_pixel(updated_lat, updated_lon)

                updated_height = dem.read_array(1, [px, py, 1, 1])[0][0]





            # Get the BCEF coordinate from the lon, lat

            x, y, z = reproject([lon, lat, height], semi_major, semi_minor,

                                'latlon', 'geocent')

            x, y, z = reproject([updated_lon, updated_lat, updated_height],

                                semi_major, semi_minor, 'latlon', 'geocent')



        geom = shapely.geometry.Point(x, y, z)

        point = Points(apriori=geom,

                       adjusted=geom,

        # If the updated point is outside of the overlap, then revert back to the

        # original point and hope the matcher can handle it when sub-pixel registering

        updated_lon, updated_lat, updated_height = reproject([x, y, z], semi_major, semi_minor,

                                                             'geocent', 'latlon')

        if not geom.contains(shapely.geometry.Point(updated_lon, updated_lat)):

            x, y, z = reproject([lon, lat, height],

                                semi_major, semi_minor, 'latlon', 'geocent')



        point_geom = shapely.geometry.Point(x, y, z)

        point = Points(apriori=point_geom,

                       adjusted=point_geom,

                       pointtype=2, # Would be 3 or 4 for ground

                       cam_type=cam_type)
@@ -237,7 +253,7 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 
                image_coord = node.camera.groundToImage(gnd)

                sample, line = image_coord.samp, image_coord.line

            if cam_type == "isis":

                line, sample = isis.ground_to_image(node["image_path"], lon ,lat)

                line, sample = isis.ground_to_image(node["image_path"], updated_lon, updated_lat)



            point.measures.append(Measures(sample=sample,

                                           line=line,

bin/acn_overlaps

+1 −1
Original line number Diff line number Diff line
@@ -39,7 +39,7 @@ def main(msg, config): 


    print('Placing points in overlap', oid)

    points = place_points_in_overlap(nodes, geom, msg["cam_type"],

                                     msg['distribute_points_kwargs'])

                                     distribute_points_kwargs=msg['distribute_points_kwargs'])



    print('Adding {} points to the database.'.format(len(points)))

    Points.bulkadd(points)

autocnet/matcher/cpu_extractor.py

+4 −4

File changed.

Contains only whitespace changes.