Commit ba2bde7c authored by Kaitlyn Lee's avatar Kaitlyn Lee Committed by Jesse Mapel
Browse files

Added height calculation from DEM instead of using a hardcoded value. (#315) 

* Added height calculation from aeroid instead of using a hardcoded value.

* Changed method to use mola instead of aeroid to calculate height.

* Changed name of config variable to DEM so that the variable can hold a tiff file without changing the name again and added comment to method doc string
parent 755ad92f

autocnet/spatial/overlap.py

+13 −7
Original line number Diff line number Diff line
@@ -10,14 +10,16 @@ import numpy as np 
import pyproj

import shapely

import sqlalchemy

from plio.io.io_gdal import GeoDataset





def place_points_in_overlaps(cg, size_threshold=0.0007, reference=None, height=0,

def place_points_in_overlaps(cg, size_threshold=0.0007, reference=None,

                             iterative_phase_kwargs={'size':71}):

    """

    Given a geometry, place points into the geometry by back-projecing using

    a sensor model.compgeom



    The DEM specified in the config file will be used to calculate height point elevations.



    TODO: This shoucompgeomn once that package is stable.



    Parameters
@@ -31,10 +33,6 @@ def place_points_in_overlaps(cg, size_threshold=0.0007, reference=None, height=0 
    reference : int

                the i.d. of a reference node to use when placing points. If not

                speficied, this is the node with the lowest id



    height : numeric

             The distance (in meters) above or below the aeroid (meters above or

             below the BCBF spheroid).

    """

    if not Session:

        warnings.warn('This function requires a database connection configured via an autocnet config file.')
@@ -47,6 +45,8 @@ def place_points_in_overlaps(cg, size_threshold=0.0007, reference=None, height=0 
    semi_minor = config['spatial']['semiminor_rad']

    ecef = pyproj.Proj(proj='geocent', a=semi_major, b=semi_minor)

    lla = pyproj.Proj(proj='latlon', a=semi_major, b=semi_minor)

    dem = config['spatial']['dem']

    gd = GeoDataset(dem)

    

    # TODO: This should be a passable query where we can subset.

    for o in session.query(Overlay).\
@@ -68,12 +68,18 @@ def place_points_in_overlaps(cg, size_threshold=0.0007, reference=None, height=0 
        overlaps.remove(source)

        source = cg.node[source]['data']

        source_camera = source.camera



        for v in valid:

            point = Points(geom=shapely.geometry.Point(*v),

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



            # Calculate the height, the distance (in meters) above or 

            # below the aeroid (meters above or below the BCBF spheroid).

            px, py = gd.latlon_to_pixel(v[1], v[0])

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



            # Get the BCEF coordinate from the lon, lat

            x, y, z = pyproj.transform(lla, ecef, v[0], v[1], height)  # -3000 working well in elysium, need aeroid

            x, y, z = pyproj.transform(lla, ecef, v[0], v[1], height)

            gnd = csmapi.EcefCoord(x, y, z)



            # Grab the source image. This is just the node with the lowest ID, nothing smart.

config/sample.yml

+2 −0
Original line number Diff line number Diff line
@@ -70,6 +70,8 @@ spatial: 
    # A compliant proj4 string. Checkout http://spatialreference.org for examples 

    # for planetary bodies.

    proj4_str: '+proj:longlat +a:3396190 +b:3376200 +no_defs'

    # DEM used to generate height values for projection

    dem: '/scratch/jlaura/mars/molaMarsPlanetaryRadius.cub'



### Working Directories ###

directories: