roboflow / dji-aerial-georeferencing Goto Github PK

        center = Point([self.observation["longitude"], self.observation["latitude"]])  # Convert longitude and latitude to GeoJSON Point
        altitude = float(self.observation["ascent(feet)"]) * 0.3048  # Convert ascent to meters
        fov_atan = math.tan(self.fov)
        diagonal_distance = altitude * fov_atan
        distance = diagonal_distance / 2
        bearing = (float(self.observation["compass_heading(degrees)"]) - 90) % 360 # Calculate bearing
        offset = math.atan(self.video_height / self.video_width) * 180 / math.pi  # Calculate offset based on video resolution

        # Calculate GPS coordinates of the video's four corners
        options = {'units': 'm'}
        self.top_left = rhumb_destination(center, distance, (bearing - offset + 180) % 360 - 180, options).geometry.coordinates
        self.top_left = self.top_left[:: -1]

        self.top_right = rhumb_destination(center, distance, (bearing + offset + 180) % 360 - 180,options).geometry.coordinates
        self.top_right = self.top_right[:: -1]

        self.bottom_right = rhumb_destination(center, distance, (bearing - offset) % 360 - 180, options).geometry.coordinates
        self.bottom_right = self.bottom_right[:: -1]

        self.bottom_left = rhumb_destination(center, distance, (bearing + offset) % 360 - 180, options).geometry.coordinates
        self.bottom_left = self.bottom_left[:: -1]

        # print the GPS coordinates of the video's four corners
        self.current_position = [self.observation["latitude"], self.observation["longitude"]]

        normalized = [self.dy - self.video_height / 2, self.dx- self.video_width / 2]
        distanceFromCenterInPixels = math.sqrt((self.video_width / 2 - self.dx) ** 2 + (self.video_height / 2 - self.dy) ** 2)
        diagonalDistanceInPixels = math.sqrt(self.video_width ** 2 + self.video_height ** 2)
        percentOfDiagonal = distanceFromCenterInPixels / diagonalDistanceInPixels
        distance = percentOfDiagonal * diagonal_distance  # in meters
        angle = math.atan(normalized[0] / (normalized[1] or 0.000001)) * 180 / math.pi
        # if the detection is in the right half of the frame, we need to rotate it 180 degrees

        if normalized[1] >= 0:
            angle += 180

        point = rhumb_destination(center, distance, (bearing + angle) % 360, options).geometry.coordinates
        point = point[:: -1]