Georeferencing

scripts/georeferencing/ estimates animal ground positions from detection boxes. Both scripts are provenance-heavy on purpose: every output row carries a status, so unreliable projections are flagged rather than silently mixed in.

Camera traps: geolocate_camera_trap_treeoflife_predictions.py

A pinhole-model projection of the bottom-center of each box, using the camera's GPS position, bearing, horizontal field of view, and an assumed target height from camera_geolocation_config.csv. It wraps the geometry of Imageomics/camera-trap-geolocation; point CAMERA_TRAP_GEOLOCATION_SRC at its src/ directory.

export CAMERA_TRAP_GEOLOCATION_SRC=/path/to/camera-trap-geolocation/src
python scripts/georeferencing/geolocate_camera_trap_treeoflife_predictions.py \
  --input-dir  <per-camera Tree-of-Life prediction CSVs> \
  --config-csv scripts/georeferencing/camera_geolocation_config.csv \
  --output-dir <output directory> \
  [--top1-score-min 0.3] [--rank species] [--max-distance-m 500] [--overwrite]

Estimates beyond --max-distance-m are kept but flagged out_of_range.

Drones: geolocate_drone_treeoflife_predictions.py

A ground-ray projection using the aircraft's telemetry (position, altitude, gimbal pitch) and per-platform field of view from drone_projection_config.csv. Each prediction row is joined back to the processed detection CSV to recover pose fields, then the box's bottom-center ray is intersected with a flat ground plane.

python scripts/georeferencing/geolocate_drone_treeoflife_predictions.py \
  --prediction-dir <per-video *.treeoflife_predictions.csv> \
  --detection-dir  <processed *_detections.csv with pose metadata> \
  --config-csv     scripts/georeferencing/drone_projection_config.csv \
  --output-dir     <output directory> \
  [--min-altitude-m 1.0] [--max-ground-range-m 300] [--min-depression-deg 2.0] [--overwrite]

georef_status	Meaning
ok	Projected
invalid_altitude	Altitude below --min-altitude-m
missing_drone_gps	No aircraft position for the frame
horizon_ray	Ray too shallow (depression below --min-depression-deg)
out_of_range	Projected range beyond --max-ground-range-m

The method, its assumptions, and the per-platform parameters are in the supplemental material. The two configuration CSVs used for the release are shipped in this directory.