/geo-mapper

Maps object locations in `SaeMessages` to geo coordinates

Primary LanguagePythonGNU Affero General Public License v3.0AGPL-3.0

SAE geo-mapper

A SAE stage that maps object locations from camera / pixel space to geo-coordinate space. For that it needs to be configured with a number of optical and geometrical camera parameters.

Setup

Due to cameratransform being stuck on Python 3.11 (due to Pandas 1.x), we need to use pyenv for this repository.

  • Make sure pyenv is installed
  • Install the latest Python 3.11 (e.g. Python 3.11.9 at the time of writing): pyenv install 3.11.9
    • If you encounter installation error, check that you have all Python build dependencies installed (refer to pyenv README)
  • Set the installed Python version for this directory, e.g. pyenv local 3.11.9
  • Run poetry install, it should automatically pick up the correct Python version and use it for the virtualenv

Input/Output

  • Input message must be a SaeMessage. The geo-mapping is done on each Detection message within. If there are no Detection messages, the processing is effectively a no-op.
  • Output is the input SaeMessage with geo-coordinates added to every Detection. All other fields are preserved.