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using MetadataExtractor;
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using MetadataExtractor.Formats.Exif;
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using MetadataExtractor.Formats.Xmp;
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using System;
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using System.IO;
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using System.Linq;
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using System.Text;
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using XmpCore;
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using ZeroLevel.ML.LocationMath;
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namespace ZeroLevel.ML
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{
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public sealed class DewarpData
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{
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/*
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For the parameter values conversion I used the following formulas (from Luhmann et al., 2019):
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k1 pixel units = k1 focal units / focal length^2
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k2 pixel units = k2 focal units / focal length^4
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k3 pixel units = k3 focal units / focal length^6
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p1 pixel units = p1 focal units / focal length
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p2 pixel units = -p2 focal units / focal length
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*/
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public string Date = null!;
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/// <summary>
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/// Focal length
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/// </summary>
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public float Fx;
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/// <summary>
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/// Focal length
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/// </summary>
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public float Fy;
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/// <summary>
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/// Principal points
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/// </summary>
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public float Cx;
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/// <summary>
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/// Principal points
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/// </summary>
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public float Cy;
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/// <summary>
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/// Lens distortion
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/// </summary>
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public float K1;
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/// <summary>
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/// Lens distortion
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/// </summary>
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public float K2;
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/// <summary>
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/// Lens distortion
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/// </summary>
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public float P1;
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/// <summary>
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/// Lens distortion
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/// </summary>
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public float P2;
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/// <summary>
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/// Lens distortion
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/// </summary>
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public float K3;
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public DewarpData(string data)
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{
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if (!string.IsNullOrWhiteSpace(data))
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{
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var parts = data.Split(';');
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if (parts.Length == 2)
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{
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Date = parts[0];
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var par_parts = parts[1].Split(",");
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if (par_parts.Length >= 9)
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{
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Fx = ToFloat(par_parts[0]);
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Fy = ToFloat(par_parts[1]);
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Cx = ToFloat(par_parts[2]);
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Cy = ToFloat(par_parts[3]);
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K1 = ToFloat(par_parts[4]);
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K2 = ToFloat(par_parts[5]);
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P1 = ToFloat(par_parts[6]);
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P2 = ToFloat(par_parts[7]);
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K3 = ToFloat(par_parts[8]);
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}
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}
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}
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}
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private static float ToFloat(string s)
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{
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var ns = ImageMetainfo.GetNumber(s);
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if (float.TryParse(ns, out var f))
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{
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return f;
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}
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return 0f;
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}
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public float CalculateDistortedX(float x)
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{
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return x * (1 + K1);
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}
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}
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public sealed class ImageMetainfo
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{
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private CameraMath _camera = null!;
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public CameraMath CreateCamera()
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{
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if (_camera == null)
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{
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_camera = new CameraMath(CameraPixelSizes.GetPixelSizeByModel(this.Model), this.FocalLength, this.ImageWidth, this.ImageHeight);
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}
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return _camera;
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}
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public DateTime Created { get; set; }
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public string Make { get; set; } = null!;
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public string Model { get; set; } = null!;
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public string SerialNumber { get; set; } = null!;
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public double FocalLength { get; set; }
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public double ImageWidth { get; set; }
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public double ImageHeight { get; set; }
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public double GPSLatitude { get; set; }
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public double GPSLongitude { get; set; }
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public double GPSAltitude { get; set; }
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public double DJILatitude { get; set; }
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public double DJILongitude { get; set; }
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public double DJIAltitude { get; set; }
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private double GimbalYawDegree { get; set; }
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private double FlightYawDegree { get; set; }
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private static double Diff(double a, double b)
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{
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var a1 = Math.Abs(a - b);
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var a2 = 360 - Math.Max(a, b) + Math.Min(a, b);
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return Math.Min(a1, a2);
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}
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public double Yaw
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{
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get
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{
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var fn = (FlightYawDegree + 360) % 360;
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var gn = (GimbalYawDegree + 360) % 360;
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var gni = (GimbalYawDegree + 540) % 360;
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var gy = GimbalYawDegree;
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if (gy < 0)
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{
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gy = 180 + GimbalYawDegree;
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}
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else
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{
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gy = -180 + GimbalYawDegree;
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}
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var d1 = Diff(fn, gn);
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var d2 = Diff(fn, gni);
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if (d2 < d1)
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{
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return gy;
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}
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return GimbalYawDegree;
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}
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}
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public double CalibratedFocalLength { get; set; }
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public DewarpData Dewarp { get; set; } = null!;
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public double Latitude => Math.Max(DJILatitude, GPSLatitude);
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public double Longitude => Math.Max(DJILongitude, GPSLongitude);
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public double Altitude => DJIAltitude;
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internal static string GetNumber(string line)
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{
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var ns = new StringBuilder();
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var sep = System.Globalization.CultureInfo.CurrentCulture.NumberFormat.NumberDecimalSeparator;
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bool started = false;
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bool separated = false;
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foreach (var ch in line)
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{
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if (char.IsDigit(ch))
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{
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started = true;
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ns.Append(ch);
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}
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else if (ch == '.' || ch == ',' && started)
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{
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if (separated)
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{
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break;
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}
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separated = true;
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ns.Append(sep);
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}
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else if (ch == '-' && !started)
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{
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started = true;
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ns.Append(ch);
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}
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else if (started)
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{
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break;
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}
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}
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return ns.ToString();
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}
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public void ReadMetadata(Stream stream)
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{
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double dBuf;
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try
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{
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var metadata = ImageMetadataReader.ReadMetadata(stream);
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var exif0 = metadata.OfType<ExifIfd0Directory>().FirstOrDefault();
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if (exif0 != null)
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{
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foreach (var t in exif0.Tags)
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{
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if (t.Name.Equals("Make"))
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{
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this.Make = t.Description!;
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}
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else if (t.Name.Equals("Model"))
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{
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this.Model = t.Description!;
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}
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}
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}
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var exif = metadata.OfType<ExifSubIfdDirectory>().FirstOrDefault();
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if (exif != null)
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{
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foreach (var t in exif.Tags)
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{
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if (t.Name.Equals("Focal Length"))
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{
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if (double.TryParse(GetNumber(t.Description ?? string.Empty), out dBuf))
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{
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this.FocalLength = dBuf;
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}
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}
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else if (t.Name.Equals("Exif Image Width"))
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{
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if (double.TryParse(GetNumber(t.Description ?? string.Empty), out dBuf))
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{
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this.ImageWidth = dBuf;
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}
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}
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else if (t.Name.Equals("Exif Image Height"))
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{
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if (double.TryParse(GetNumber(t.Description ?? string.Empty), out dBuf))
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{
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this.ImageHeight = dBuf;
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}
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}
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else if (t.Name.Equals("Body Serial Number"))
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{
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this.SerialNumber = t.Description!;
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}
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else if (t.Name.Equals("CreateDate"))
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{
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this.Created = DateTime.Parse(t.Description ?? string.Empty);
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}
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}
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}
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var gps = metadata.OfType<GpsDirectory>().FirstOrDefault();
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if (gps != null)
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{
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if (gps.TryGetGeoLocation(out var location))
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{
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this.GPSLatitude = location.Latitude;
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this.GPSLongitude = location.Longitude;
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double alt = 0.0d;
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if (gps.TryGetDouble(GpsDirectory.TagAltitude, out alt))
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{
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this.GPSAltitude = alt;
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}
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}
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}
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var xmp = metadata.OfType<XmpDirectory>().FirstOrDefault();
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if (xmp != null)
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{
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foreach (var p in xmp.XmpMeta?.Properties ?? Enumerable.Empty<IXmpPropertyInfo>())
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{
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if (!string.IsNullOrEmpty(p.Path))
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{
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if (p.Path.IndexOf("RelativeAltitude") >= 0)
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{
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if (double.TryParse(GetNumber(p.Value), out dBuf))
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{
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this.DJIAltitude = dBuf;
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}
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}
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else if (p.Path.IndexOf("GpsLatitude") >= 0)
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{
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if (double.TryParse(GetNumber(p.Value), out dBuf))
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{
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this.DJILatitude = dBuf;
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}
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}
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else if (p.Path.IndexOf("GpsLongitude") >= 0)
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{
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if (double.TryParse(GetNumber(p.Value), out dBuf))
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{
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this.DJILongitude = dBuf;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (p.Path.IndexOf("GimbalYawDegree") >= 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (double.TryParse(GetNumber(p.Value), out dBuf))
|
|
|
|
|
|
{
|
|
|
|
|
|
this.GimbalYawDegree = dBuf;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (p.Path.IndexOf("FlightYawDegree") >= 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (double.TryParse(GetNumber(p.Value), out dBuf))
|
|
|
|
|
|
{
|
|
|
|
|
|
this.FlightYawDegree = dBuf;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (p.Path.IndexOf("CalibratedFocalLength") >= 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (double.TryParse(GetNumber(p.Value), out dBuf))
|
|
|
|
|
|
{
|
|
|
|
|
|
this.CalibratedFocalLength = dBuf;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (p.Path.IndexOf("DewarpData") >= 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
this.Dewarp = new DewarpData(p.Value);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch
|
|
|
|
|
|
{
|
|
|
|
|
|
stream.Close();
|
|
|
|
|
|
throw;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
