leftfield-geospatial · dugalh · Sep 7, 2024 · Jun 3, 2024 · Jun 12, 2024 · Jun 12, 2024
diff --git a/README.rst b/README.rst
@@ -8,7 +8,7 @@ Orthority
 
 .. description_start
 
-Orthority provides a command line interface and Python API for orthorectifying drone, aerial and satellite imagery, given a camera model and DEM. It supports common frame, and RPC camera models. Camera parameters can be read from various file formats, or image tags.
+Orthority provides a command line toolkit and Python API for orthorectifying drone, aerial and satellite imagery, given a camera model and DEM. It supports common frame, and RPC camera models. Camera parameters can be read from various file formats, or image tags.  Related algorithms including RPC refinement and pan-sharpening, are also provided.
 
 .. description_end
 
@@ -49,6 +49,7 @@ Orthority command line functionality is accessed with the ``oty`` command, and i
 -  ``exif``: Orthorectify images with frame camera model(s) defined by image EXIF / XMP tags.
 -  ``odm``: Orthorectify images in a processed OpenDroneMap dataset that includes a DSM.
 -  ``rpc``: Orthorectify images with RPC camera models defined by image tags / sidecar files or parameter files.
+-  ``sharpen``: Pan sharpen an image using the Gram-Schmidt method.
 
 Get help on ``oty`` with:
 
@@ -103,6 +104,19 @@ Orthorectify ``source.tif`` with the DEM in ``dem.tif``, and RPC camera model de
 
    oty rpc --dem dem.tif source.tif
 
+As above, but refine the RPC camera model with GCPs in ``source.tif`` tags:
+
+.. code-block:: bash
+
+   oty rpc --dem dem.tif --gcp-refine tags source.tif
+
+Pan sharpen the multispectral image ``ms.tif`` with the panchromatic image ``pan.tif``:
+
+.. code-block:: bash
+
+   oty sharpen  --pan pan.tif --multispectral ms.tif --out-file pan_sharp.tif
+
+
 API
 ~~~
 
@@ -115,9 +129,7 @@ Orthorectify an image using interior and exterior parameter files to generate th
     import orthority as oty
 
     # URLs of required files
-    url_root = (
-        'https://raw.githubusercontent.com/leftfield-geospatial/orthority/main/tests/data/'
-    )
+    url_root = 'https://raw.githubusercontent.com/leftfield-geospatial/orthority/main/tests/data/'
     src_file = url_root + 'ngi/3324c_2015_1004_05_0182_RGB.tif'  # aerial image
     dem_file = url_root + 'ngi/dem.tif'  # DEM covering imaged area
     int_param_file = url_root + 'io/ngi_int_param.yaml'  # interior parameters
@@ -132,6 +144,23 @@ Orthorectify an image using interior and exterior parameter files to generate th
     ortho.process('ortho.tif')
 
 
+Pan sharpen a multispectral image with the matching panchromatic image:
+
+.. below copied from docs/scripts/api_pan_sharp.py
+
+.. code-block:: python
+
+    import orthority as oty
+
+    # URLs of required files
+    url_root = 'https://raw.githubusercontent.com/leftfield-geospatial/orthority/main/tests/data/'
+    pan_file = url_root + 'pan_sharp/pan.tif'  # panchromatic drone image
+    ms_file = url_root + 'pan_sharp/ms.tif'  # multispectral (RGB) drone image
+
+    # create PanSharpen object and pan sharpen
+    pan_sharp = oty.PanSharpen(pan_file, ms_file)
+    pan_sharp.process('pan_sharp.tif')
+
 Documentation
 -------------
 

diff --git a/docs/api/camera.rst b/docs/api/camera.rst
@@ -1,4 +1,4 @@
-Camera Models
+Camera models
 =============
 
 .. automodule:: orthority.camera

diff --git a/docs/api/fit.rst b/docs/api/fit.rst
@@ -0,0 +1,6 @@
+Camera model fitting
+====================
+
+.. automodule:: orthority.fit
+    :members:
+    :show-inheritance:
diff --git a/docs/api/pan_sharp.rst b/docs/api/pan_sharp.rst
@@ -0,0 +1,6 @@
+Pan sharpening
+===============
+
+.. automodule:: orthority.pan_sharp
+    :members:
+    :show-inheritance:
diff --git a/docs/background/camera_models.rst b/docs/background/camera_models.rst
@@ -1,7 +1,7 @@
 Camera models
 =============
 
-A camera model describes the relationship between 3D :ref:`world <background/coordinates:world coordinates>` and 2D :ref:`pixel <background/coordinates:pixel coordinates>` coordinates.
+A camera model describes the relationship between 3D :ref:`world <background/coordinates:world coordinates>` and 2D :ref:`pixel <background/coordinates:pixel coordinates>` coordinates.  Model parameters can be specified with supported :doc:`files <../file_formats/index>`, or directly with the :mod:`~orthority.camera` API.
 
 Frame cameras
 -------------
@@ -11,13 +11,12 @@ Orthority uses the term *frame camera* for area-scan cameras like those used in
 Interior parameters
 ~~~~~~~~~~~~~~~~~~~
 
-The *interior* component describes the relationship between :ref:`camera <background/coordinates:camera coordinates>` and :ref:`pixel <background/coordinates:pixel coordinates>` coordinates.  It depends on the interior geometry and optical properties of the camera.  Interior parameters are: image size, focal length, sensor size, principal point and distortion coefficients.  Parameter values can be specified with supported :doc:`files <../file_formats/index>`, or directly with the :mod:`~orthority.camera` API.
+The *interior* component describes the relationship between :ref:`camera <background/coordinates:camera coordinates>` and :ref:`pixel <background/coordinates:pixel coordinates>` coordinates.  It depends on the interior geometry and optical properties of the camera.  Interior parameters are: image size, focal length, sensor size, principal point and distortion coefficients.
 
 Exterior parameters
 ~~~~~~~~~~~~~~~~~~~
 
-The *exterior* component describes the relationship between :ref:`world <background/coordinates:world coordinates>` and :ref:`camera <background/coordinates:camera coordinates>` coordinates. It is an affine transform consisting of a translation and rotation.  Orthority represents exterior parameters as a world coordinate (*x*, *y*, *z*) camera position, and (*omega*, *phi*, *kappa*) camera orientation, where the (*omega*, *phi*, *kappa*) angles rotate from camera to world coordinates.  Parameter values can be read from supported :doc:`files <../file_formats/index>`, or specified directly with the :mod:`~orthority.camera` API.
-
+The *exterior* component describes the relationship between :ref:`world <background/coordinates:world coordinates>` and :ref:`camera <background/coordinates:camera coordinates>` coordinates. It is an affine transform consisting of a translation and rotation.  Orthority represents exterior parameters as a world coordinate (*x*, *y*, *z*) camera position, and (*omega*, *phi*, *kappa*) camera orientation, where the (*omega*, *phi*, *kappa*) angles rotate from camera to world coordinates.
 
 RPC cameras
 -----------

diff --git a/docs/cli/index.rst b/docs/cli/index.rst
@@ -9,4 +9,5 @@ Command line reference
     exif
     odm
     rpc
+    sharpen
     simple_ortho
diff --git a/docs/cli/sharpen.rst b/docs/cli/sharpen.rst
@@ -0,0 +1,2 @@
+.. click:: orthority.cli:sharpen
+  :prog: oty sharpen
diff --git a/docs/file_formats/exif_xmp.rst b/docs/file_formats/exif_xmp.rst
@@ -1,5 +1,5 @@
-EXIF / XMP tags
-===============
+Image EXIF / XMP tags
+=====================
 
 :ref:`Frame camera <background/camera_models:frame cameras>` interior and exterior parameters can be read from image EXIF / XMP tags.  The tables below list required tag sets.  If more than one set is present, the first complete set is used.
 

diff --git a/docs/file_formats/image_gcps.rst b/docs/file_formats/image_gcps.rst
@@ -0,0 +1,6 @@
+.. include:: ../shared.txt
+
+Image GCP tags
+==============
+
+GCPs can read from image tags.  This capability is provided by the Rasterio_ / GDAL_ package.  GCP pixel coordinates should use the :ref:`Orthority convention <background/coordinates:pixel coordinates>`.
diff --git a/docs/file_formats/index.rst b/docs/file_formats/index.rst
@@ -1,7 +1,7 @@
 File formats
 ============
 
-Camera model file formats supported by Orthority:
+Camera model and related file formats supported by Orthority:
 
 .. toctree::
     :maxdepth: 1
@@ -14,6 +14,8 @@ Camera model file formats supported by Orthority:
     image_rpc
     oty_rpc
     legacy
+    image_gcps
+    oty_gcps
 
 .. note::
 

diff --git a/docs/file_formats/oty_gcps.rst b/docs/file_formats/oty_gcps.rst
@@ -0,0 +1,49 @@
+Orthority GCPs
+==============
+
+The native Orthority GCP format is a standard GeoJSON ``FeatureCollection`` of ``Point`` features, that can be visualised in a GIS.  Each ``Feature`` is a GCP, where the geometry is its position in 3D WGS84 geographic coordinates.  ``Feature`` properties are as follows:
+
+.. list-table::
+    :widths: auto
+    :header-rows: 1
+
+    * - Property
+      - Value
+    * - ``filename``
+      - Image file name excluding parent path, with or without extension.
+    * - ``ji``
+      - Image ``[j, i]`` position in :ref:`pixel coordinates <background/coordinates:pixel coordinates>`.
+    * - ``id``
+      - ID string (optional).
+    * - ``info``
+      - Information string (optional).
+
+An example file defining a single GCP:
+
+.. code-block:: json
+
+    {
+        "type": "FeatureCollection",
+        "features": [
+            {
+                "type": "Feature",
+                "properties": {
+                    "filename": "qb2_basic1b.tif",
+                    "ji": [
+                        821.3001696660183,
+                        62.303697728645055
+                    ],
+                    "id": "concrete-plinth-70",
+                    "info": "concrete-plinth-70"
+                },
+                "geometry": {
+                    "type": "Point",
+                    "coordinates": [
+                        24.41948061951812,
+                        -33.65426900104435,
+                        214.75143153141929
+                    ]
+                }
+            }
+        ]
+    }
diff --git a/docs/getting_started/api/camera.rst b/docs/getting_started/api/camera.rst
@@ -70,7 +70,7 @@ The ``cam_kwargs`` argument can be used in :class:`~orthority.factory.FrameCamer
 Model export
 ~~~~~~~~~~~~
 
-Camera model parameters can be exported to Orthority format :doc:`interior <../../file_formats/oty_int>` and :doc:`exterior <../../file_formats/oty_ext>` parameter files with :meth:`~orthority.factory.RpcCameras.write_param`:
+Camera model parameters can be exported to Orthority format :doc:`interior <../../file_formats/oty_int>` and :doc:`exterior <../../file_formats/oty_ext>` parameter files with :meth:`~orthority.factory.FrameCameras.write_param`:
 
 .. literalinclude:: ../../scripts/api_frame.py
     :language: python
@@ -100,7 +100,7 @@ Camera models can also be created from :doc:`image RPC tags / sidecar files <../
 Parameter IO
 ~~~~~~~~~~~~
 
-The ``io_kwargs`` argument can be used in :meth:`~orthority.factory.RpcCameras.from_images` to pass keyword arguments to :meth:`~orthority.param_io.read_im_rpc_param`.
+Internally, the :func:`~orthority.param_io.read_im_rpc_param` function is used to read image RPC tags / sidecar files.  The ``io_kwargs`` argument can be used in :meth:`~orthority.factory.RpcCameras.from_images` to pass keyword arguments to :func:`~orthority.param_io.read_im_rpc_param`.
 
 E.g. to display a progress bar while reading image RPC tags / sidecar files:
 
@@ -112,20 +112,57 @@ E.g. to display a progress bar while reading image RPC tags / sidecar files:
 Camera options
 ~~~~~~~~~~~~~~
 
-The ``cam_kwargs`` argument can be used in :class:`~orthority.factory.RpcCameras` or :meth:`~orthority.factory.RpcCameras.from_images` to pass keyword arguments to :class:`~orthority.camera.RpcCamera`.  E.g. to pass the world / ortho ``crs`` argument:
+The ``cam_kwargs`` argument can be used in :class:`~orthority.factory.RpcCameras` or :meth:`~orthority.factory.RpcCameras.from_images` to pass keyword arguments to :class:`~orthority.camera.RpcCamera`.  E.g. to specify a world / ortho ``crs``:
 
 .. literalinclude:: ../../scripts/api_rpc.py
     :language: python
     :start-after: [cam_kwargs]
     :end-before: [end cam_kwargs]
 
+Model refinement
+~~~~~~~~~~~~~~~~
+
+RPC models can be refined with GCPs using the :meth:`~orthority.factory.RpcCameras.refine` method.  GCPs can be read from an :doc:`Orthority GCPs file <../../file_formats/oty_gcps>`:
+
+.. literalinclude:: ../../scripts/api_rpc.py
+    :language: python
+    :start-after: [refine]
+    :end-before: [end refine]
+
+Or GCPs can be read from :doc:`image tags <../../file_formats/image_gcps>`:
+
+.. literalinclude:: ../../scripts/api_rpc.py
+    :language: python
+    :start-after: [refine tag]
+    :end-before: [end refine tag]
+
+The :func:`~orthority.param_io.read_im_gcps` function is used internally to read GCPs from image tags.  ``io_kwargs`` can be used in :meth:`~orthority.factory.RpcCameras.refine` to pass keyword arguments to :func:`~orthority.param_io.read_im_gcps` when GCPs are supplied in image tags:
+
+.. literalinclude:: ../../scripts/api_rpc.py
+    :language: python
+    :start-after: [refine io_kwargs]
+    :end-before: [end refine io_kwargs]
+
+The :func:`~orthority.fit.refine_rpc` function is used internally to perform RPC refinement.  ``fit_kwargs`` can be used in :meth:`~orthority.factory.RpcCameras.refine` to pass keyword arguments to :func:`~orthority.fit.refine_rpc`:
+
+.. literalinclude:: ../../scripts/api_rpc.py
+    :language: python
+    :start-after: [refine fit_kwargs]
+    :end-before: [end refine fit_kwargs]
+
 Model export
 ~~~~~~~~~~~~
 
-Camera model parameters can be exported to a :doc:`Orthority RPC parameter file <../../file_formats/oty_rpc>` with :meth:`~orthority.factory.RpcCameras.write_param`:
+Camera model parameters can be exported to an :doc:`Orthority RPC parameter file <../../file_formats/oty_rpc>` with :meth:`~orthority.factory.RpcCameras.write_param`:
 
 .. literalinclude:: ../../scripts/api_rpc.py
     :language: python
     :start-after: [export]
     :end-before: [end export]
 
+When the models have been refined, :meth:`~orthority.factory.RpcCameras.write_param` exports the refined models together with the GCPs used to refine them.  GCPs are written to an :doc:`Orthority GCPs file <../../file_formats/oty_gcps>`:
+
+.. literalinclude:: ../../scripts/api_rpc.py
+    :language: python
+    :start-after: [export gcps]
+    :end-before: [end export gcps]
diff --git a/docs/getting_started/api/index.rst b/docs/getting_started/api/index.rst
@@ -15,6 +15,8 @@ Or, with conda_:
 
     conda install -c conda-forge requests aiohttp
 
+
+
 .. note::
 
     If you're using the Orthority and Rasterio_ packages together, Orthority should be imported first to configure the PROJ setting for :doc:`vertical CRS transformations <../../background/vertical_crs>`.
@@ -24,3 +26,4 @@ Or, with conda_:
 
     camera
     ortho
+    pan_sharp
diff --git a/docs/getting_started/api/ortho.rst b/docs/getting_started/api/ortho.rst
@@ -1,7 +1,7 @@
 Orthorectification
 ==================
 
-Orthorectification is performed by the :class:`~orthority.ortho.Ortho` class, which requires a source image, DEM, camera model and world / ortho CRS to instantiate:
+Orthorectification is performed by the :class:`~orthority.ortho.Ortho` class, which requires a source image, DEM, :doc:`camera model <camera>` and world / ortho CRS to instantiate.  The :meth:`~orthority.ortho.Ortho.process` method orthorectifies:
 
 .. literalinclude:: ../../scripts/api_ortho.py
     :language: python

diff --git a/docs/getting_started/api/pan_sharp.rst b/docs/getting_started/api/pan_sharp.rst
@@ -0,0 +1,9 @@
+Pan sharpening
+==============
+
+The :class:`~orthority.pan_sharp.PanSharpen` class implements Gram-Schmidt pan sharpening.  Panchromatic and multispectral images are required to instantiate.  The :meth:`~orthority.pan_sharp.PanSharpen.process` method pan sharpens:
+
+.. literalinclude:: ../../scripts/api_pan_sharp.py
+    :language: python
+
+See the :meth:`~orthority.pan_sharp.PanSharpen.process` documentation for details on other configuration options.