Publish pyopf (#12)

Co-authored-by: pix4d_concourse_developers <[email protected]>

CHANGELOG.md

@@ -4,6 +4,13 @@ All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
+## 1.3.1
+
+### Fixed
+
+- `height` in ROI extension was fixed to `thickness` to comply with OPF specification
+- Fix bug causing GlTFPointCloud instances to inherit previous instance nodes
+
 ## 1.3.0
 
 ### Added

examples/compute_reprojection_error.py

@@ -185,10 +185,28 @@ def parse_args() -> argparse.Namespace:
     )
 
     parser.add_argument(
-        "opf_path", type=str, help="[REQUIRED] The path to your project.opf file."
+        "--opf_path", type=str, help="[REQUIRED] The path to your project.opf file."
     )
 
-    return parser.parse_args()
+    parser.add_argument(
+        "--point_type",
+        type=str,
+        choices=["mtps", "gcps"],
+        help="[REQUIRED] Wheter to use MTPs or GCPs",
+    )
+
+    parser.add_argument(
+        "--use_input_3d_coordinates",
+        action="store_true",
+        help="Use input 3d coordinates instead of calibrated ones. Only applicable if point_type is set to gcps",
+    )
+
+    args = parser.parse_args()
+
+    if args.use_input_3d_coordinates and args.point_type == "mtps":
+        raise ValueError("MTPs have no input 3d coordinates")
+
+    return args
 
 
 def main():
@@ -198,25 +216,37 @@ def main():
 
     project = pyopf.resolve.resolve(pyopf.io.load(args.opf_path))
 
-    input_gcps = project.input_control_points.gcps
-    projected_gcps = project.projected_control_points.projected_gcps
+    if args.point_type == "mtps":
+        input_points = project.input_control_points.mtps
+    else:
+        input_points = project.input_control_points.gcps
+
+        if args.use_input_3d_coordinates:
+            projected_input_points = project.projected_control_points.projected_gcps
 
-    # alternatively, we can also use the optimized coordinates for the GCPs
-    # projected_gcps = project.calibration.calibrated_control_points.points
+    calibrated_control_points = project.calibration.calibrated_control_points.points
 
     calibrated_cameras = project.calibration.calibrated_cameras.cameras
     sensors = project.calibration.calibrated_cameras.sensors
 
-    # == for all gcps, compute the reprojection error of all marks and the mean ==
+    # == for all points, compute the reprojection error of all marks and the mean ==
 
-    for gcp in input_gcps:
+    for point in input_points:
 
-        # get the corresponding projected gcp
-        scene_gcp = find_object_with_given_id(projected_gcps, gcp.id)
+        if args.use_input_3d_coordinates:
+            scene_point = find_object_with_given_id(projected_input_points, point.id)
+        else:
+            scene_point = find_object_with_given_id(calibrated_control_points, point.id)
+
+            if scene_point is None:
+                print(point.id, "not calibrated")
+                continue
+
+        scene_point_3d_coordinates = scene_point.coordinates
 
         all_reprojection_errors = []
 
-        for mark in gcp.marks:
+        for mark in point.marks:
 
             # find the corresponding calibrated camera
             calibrated_camera = find_object_with_given_id(
@@ -230,22 +260,25 @@ def main():
             internal_parameters = calibrated_sensor.internals
 
             # project the 3d point on the image
-            gcp_on_image = project_point(
-                calibrated_camera, internal_parameters, scene_gcp.coordinates
+            point_on_image = project_point(
+                calibrated_camera, internal_parameters, scene_point_3d_coordinates
             )
 
             # compute reprojection error
-            reprojection_error = gcp_on_image - mark.position_px
+            reprojection_error = point_on_image - mark.position_px
 
             all_reprojection_errors.append(reprojection_error)
 
-        # compute the mean of the norm of the reprojection errors
-        all_reprojection_errors = np.array(all_reprojection_errors)
-        mean_reprojection_error = np.mean(
-            np.apply_along_axis(np.linalg.norm, 1, all_reprojection_errors)
-        )
+        if len(all_reprojection_errors) > 0:
+            # compute the mean of the norm of the reprojection errors
+            all_reprojection_errors = np.array(all_reprojection_errors)
+            mean_reprojection_error = np.mean(
+                np.apply_along_axis(np.linalg.norm, 1, all_reprojection_errors)
+            )
 
-        print(gcp.id, mean_reprojection_error)
+            print(point.id, mean_reprojection_error)
+        else:
+            print(point.id, "no marks")
 
 
 if __name__ == "__main__":

pyproject.toml

@@ -6,7 +6,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "pyopf"
-version = "1.3.0"
+version = "1.3.1"
 description = "Python library for I/O and manipulation of projects under the Open Photogrammetry Format (OPF)"
 authors = [
     "Pix4D",
@@ -39,6 +39,35 @@ pygltflib = "*"
 python-dateutil = "*"
 simplejson = "*"
 
+[tool.poetry.dependencies.laspy]
+version = "2.4.1"
+optional = true
+
+[tool.poetry.dependencies.plyfile]
+version = "0.9"
+optional = true
+
+[tool.poetry.dependencies.pyproj]
+version = "3.6.0"
+optional = true
+
+[tool.poetry.dependencies.shapely]
+version = "*"
+optional = true
+
+[tool.poetry.dependencies.tqdm]
+version = "^4.65.0"
+optional = true
+
+[tool.poetry.extras]
+tools = [
+    "laspy",
+    "plyfile",
+    "pyproj",
+    "shapely",
+    "tqdm",
+]
+
 [tool.poetry.scripts]
 opf_crop = "opf_tools.crop.cropper:main"
 opf_undistort = "opf_tools.undistort.undistorter:main"

src/opf_tools/crop/cropper.py

@@ -47,7 +47,7 @@ class RoiPolygons:
     roi: Pix4DRegionOfInterest
     outer_boundary: Polygon
     inner_boundaries: list[Polygon]
-    height: Optional[float]
+    thickness: Optional[float]
 
     def __init__(self, roi: Pix4DRegionOfInterest, matrix: Optional[np.ndarray] = None):
         """Construct a RoiPolygons wrapper for a region of interest.
@@ -73,7 +73,7 @@ def __init__(self, roi: Pix4DRegionOfInterest, matrix: Optional[np.ndarray] = No
                 _make_polygon(boundary, roi) for boundary in roi.plane.inner_boundaries
             ]
 
-        self.height = roi.height
+        self.thickness = roi.thickness
         self.matrix = matrix
 
         self.roi = roi
@@ -94,14 +94,14 @@ def _is_inside_elevation_bounds(self, point: np.ndarray) -> bool:
         """Check if a point is within the elevation bounds of the region of interest.
         The point must be in the same system of coordinates as the boudnaries.
         """
-        if self.height is None:
+        if self.thickness is None:
             return True
 
         elevation_difference = point[2] - self.roi.plane.vertices3d[0][2]
 
         elevation_along_normal = elevation_difference * self.roi.plane.normal_vector[2]
 
-        return elevation_along_normal > 0 and elevation_along_normal < self.height
+        return elevation_along_normal > 0 and elevation_along_normal < self.thickness
 
     def is_inside(self, point: np.ndarray) -> bool:
         """Check if a point is inside the ROI.

src/pyopf/ext/pix4d_region_of_interest.py

@@ -11,46 +11,45 @@
 
 
 class Pix4DRegionOfInterest(ExtensionItem):
-
     """Definition of a region of interest: a planar polygon with holes and an optional
-    height, defined as a the distance from the plane in the normal direction. All the
+    thickness, defined as a the distance from the plane in the normal direction. All the
     points on the hemispace where the normal lies that project inside the polygon and is at a
-    distance less than the height of the ROI, is considered to be within.
+    distance less than the thickness of the ROI, is considered to be within.
     """
 
     plane: Plane
-    """The height of the ROI volume, defined as a limit distance from the plane in the normal
-    direction. If not specified, the height is assumed to be infinite.
+    thickness: Optional[float]
+    """The thickness of the ROI volume, defined as a limit distance from the plane in the normal
+    direction. If not specified, the thickness is assumed to be infinite.
     """
-    height: Optional[float]
 
     def __init__(
         self,
         plane: Plane,
-        height: Optional[float],
+        thickness: Optional[float],
         pformat: ExtensionFormat = format,
         version: VersionInfo = version,
     ) -> None:
         super(Pix4DRegionOfInterest, self).__init__(format=pformat, version=version)
 
         assert self.format == format
         self.plane = plane
-        self.height = height
+        self.thickness = thickness
 
     @staticmethod
     def from_dict(obj: Any) -> "Pix4DRegionOfInterest":
         base = ExtensionItem.from_dict(obj)
         plane = Plane.from_dict(obj["plane"])
-        height = from_union([from_float, from_none], obj.get("height"))
-        result = Pix4DRegionOfInterest(plane, height, base.format, base.version)
+        thickness = from_union([from_float, from_none], obj.get("thickness"))
+        result = Pix4DRegionOfInterest(plane, thickness, base.format, base.version)
         result._extract_unknown_properties_and_extensions(obj)
         return result
 
     def to_dict(self) -> dict:
         result = super(Pix4DRegionOfInterest, self).to_dict()
         result["plane"] = to_class(Plane, self.plane)
-        if self.height is not None:
-            result["height"] = from_union([to_float, from_none], self.height)
+        if self.thickness is not None:
+            result["thickness"] = from_union([to_float, from_none], self.thickness)
         return result
 
 

src/pyopf/pointcloud/pcl.py

@@ -499,7 +499,7 @@ class GlTFPointCloud:
 
     _format: CoreFormat
     _version: VersionInfo
-    nodes: list[Node] = []
+    nodes: list[Node]
     metadata: Optional["Metadata"]  # noqa: F821 # type: ignore
 
     mode_type = Literal[
@@ -560,6 +560,7 @@ def _open_accessors(
         return accessors
 
     def __init__(self):
+        self.nodes = []
         self._format = CoreFormat.GLTF_MODEL
         self._version = FormatVersion.GLTF_OPF_ASSET