rotate.py

#!/usr/bin/env python3

# Rotate a DTED into Gazebo format (270deg rotate)
# So it matches the Gazebo axis format
# Requires GDAL to be installed

from osgeo import gdal, osr
import numpy as np
import argparse, os

if __name__ == '__main__':
    parser = argparse.ArgumentParser(description='DTED rotator for Gazebo simulator')
    
    parser.add_argument('-file', action="store", dest="file", default="HoganIsland2.tif")
    args = parser.parse_args()
    
    dataset = gdal.Open(args.file)
    band = dataset.GetRasterBand(1)

    array = dataset.ReadAsArray()

    array_rot90 = (list(list(x) for x in zip(*array))[::-1])
    array_rot180 = (list(list(x) for x in zip(*array_rot90))[::-1])
    array_rot270 = (list(list(x) for x in zip(*array_rot180))[::-1])

    geotransform = dataset.GetGeoTransform()
    wkt = dataset.GetProjection()

    # Create gtif file
    driver = gdal.GetDriverByName("GTiff")
    output_file = "{0}_{2}{1}".format(*os.path.splitext(args.file) + ("rot270",))

    dst_ds = driver.Create(output_file,
                           band.XSize,
                           band.YSize,
                           1,
                           gdal.GDT_Float32)

    array_rot270 = np.array(array_rot270)

    #writting output raster
    dst_ds.GetRasterBand(1).WriteArray( array_rot270 )
    #setting extension of output raster
    # top left x, w-e pixel resolution, rotation, top left y, rotation, n-s pixel resolution
    dst_ds.SetGeoTransform(geotransform)
    # setting spatial reference of output raster
    srs = osr.SpatialReference()
    srs.ImportFromWkt(wkt)
    dst_ds.SetProjection( srs.ExportToWkt() )
    #Close output raster dataset

    dataset = None
    dst_ds = None
    
    print("Generated: {0}_{2}{1}".format(*os.path.splitext(args.file) + ("rot270",)))