Unverified Commit dc0900e7 authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Fixed a bug where planetographic lat/lon values were being passed to campt (#437) 

* Updated points placing to use geocentric

* type

* only ISIS in geocentric

* Fixed bad copy

* removed prints
parent ed8a81d7

autocnet/spatial/overlap.py

+15 −7
Original line number Diff line number Diff line
@@ -183,13 +183,16 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 


        # Need to get the first node and then convert from lat/lon to image space

        node = nodes[0]

        if cam_type == "isis":

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

        if cam_type == "csm":

            # The CSM conversion makes the LLA/ECEF conversion explicit

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

                             semi_major, semi_minor,

                             'latlon', 'geocent')

        if cam_type == "isis":

            # Convert to geocentric lon, lat

            geocent_lon, geocent_lat, _ = reproject([x, y, z],

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

            line, sample = isis.ground_to_image(node["image_path"], geocent_lon ,geocent_lat)

        if cam_type == "csm":

            # The CSM conversion makes the LLA/ECEF conversion explicit

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

            image_coord = node.camera.groundToImage(gnd)

            sample, line = image_coord.samp, image_coord.line
@@ -239,7 +242,7 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 


            # Get the BCEF coordinate from the lon, lat

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

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

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



        # 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
@@ -247,7 +250,9 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 
                                                             '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')

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

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

                                                                 'geocent', 'latlon')



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

        point = Points(apriori=point_geom,
@@ -255,13 +260,16 @@ def place_points_in_overlap(nodes, geom, cam_type="csm", 
                       pointtype=2, # Would be 3 or 4 for ground

                       cam_type=cam_type)



        # Compute ground point to back project into measurtes

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

        geocent_lon, geocent_lat, _ = reproject([x, y, z],

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

        for node in nodes:

            if 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"], updated_lon, updated_lat)

                line, sample = isis.ground_to_image(node["image_path"], geocent_lon, geocent_lat)



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

                                           line=line,