OdmConverter

OdmConverter uses OpenDroneMap generated files to convert between geodetic coordinates and image coordinates and between image and orthophoto coordinates.

Getting Started

Prerequisites

The content of a OpenDroneMap project. OpenDroneMap it self is not required.
Python3
OpenCV
python-magic (pip install python-magic)
numpy (pip install numpy)
pyquaternion (pip install pyquaternion)

Installation

• open a terminal in the folder where OdmConverter shall be.
• Clone the repository: git clone git@github.com:egemose/OdmConverter.git

Usage

Import the OdmConverter class in a python file:

from odmConverter import OdmConverter

Class initializing and methods

Initialize the class

OdmConverter(project, only_image_point2geodetic=False)

Initialize the class for a given ODM project.
project: The path to the folder with the ODM project.
If only_image_point2geodetic is True "image_point2geodetic" is the only function working, but initializing is faster.

Set current image

set_image(image_name)

Use to tell the class the current image to work on.
Must be set before the first time image_point2geodetic or image2orthophoto is used.
image_name: is a string with the name of the image.

Convert a image point to geodetic

image_point2geodetic(u, v)

Use to get the geodetic coordinate from image coordinates.
u, v: The image coordinates measured from top left. [pixels]
Returns: latitude [deg], longitude [deg]

Get a dictionary of images with the image coordinates of a geodetic point

geodetic2images(lat, lon)

Use to get a list of images that can see the geodetic point
lat: latitude [deg]
lon: longitude [deg]
Returns: dictionary of images as keys and u, v as values.

Convert image point to a point on the orthophoto

image2orthophoto(u, v)

Use to get the corresponding point in the orthophoto
u, v: The image coordinates measured from top left. [pixels]
Returns: x, y Orthophoto coordinates measured from top left. [pixels]

Get a dictionary of images with the image coordinates from a point on the orthophoto

orthophoto2images(u, v)

Use to get a list of images that can see the orthophoto point.
u, v: The orthophoto coordinates measured from top left. [pixels]
Returns: dict of images as keys and u, v af values.

Show the image coordinates recived from geodetic2images or orthophoto2images on the image

show_coord_on_images(image_and_points, folder, color=(0, 0, 255))

Use to visualize the found images and point from geodetic2images or orthophoto2images. Added as red circle around the point.
image_and_points: dict of images as keys and u, v af values.
folder: Place to save the images.
color: The color to draw with.

In exampleOdmConverter.py examples of how to use the OdmConverter class is showed.

Author

Written by Henrik Dyrberg Egemose (hesc@mmmi.sdu.dk) as part of the InvaDrone project a research project by the University of Southern Denmark UAS Center (SDU UAS Center).

License

This project is licensed under the 3-Clause BSD License - see the LICENSE file for details.

Acknowledgments

• The code uses files generated in a OpenDroneMap project.
• The utm/geodetic converter is made by Kjeld Jensen (FroboMind).