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ethz-asl / aerial_mapper

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs
BSD 3-Clause "New" or "Revised" License
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How to form data from input #44

Closed eokeeffe closed 4 years ago

eokeeffe commented 4 years ago

Great software system, I've got some test images that have gps tags, using OpenCV pinhole model, I can get a spares cloud that I can get the initial geodetic poses and rotation matrices from. I've got a couple of questions on the format of the input data.

  1. Are the rotations in quaternion form?
  2. How does one define the origin flags from my data? --forward_homography_origin_easting_m=464980.0 --forward_homography_origin_northing_m=5.27226e+06 --forward_homography_origin_elevation_m=414.087

is the origin the center of all captures, or is it something else?

eokeeffe commented 4 years ago

I think I see now what the origin refers to the UTM system origin example https://epsg.io/32629 covers Ireland, the only thing is why then is the origin for the northing 5.27226e+06 and not 500000.00 ?

eokeeffe commented 4 years ago

Ah ok, for anyone else, the origin is GDAL image origin. I was able to get results by first getting the ground coordinates of all images and finding the top left hand image coordinate and use that as the origin