OpenDroneMap-ODM/scripts/odm_georeferencing.py

import ecto
import csv
import os

from opendm import io
from opendm import log
from opendm import types
from opendm import system
from opendm import context
from opendm.cropper import Cropper


class ODMGeoreferencingCell(ecto.Cell):
    def declare_params(self, params):
        params.declare("gcp_file", 'path to the file containing the ground control '
                            'points used for georeferencing.The file needs to '
                            'be on the following line format: \neasting '
                            'northing height pixelrow pixelcol imagename', 'gcp_list.txt')
        params.declare("use_exif", 'use exif', False)
        params.declare("verbose", 'print additional messages to console', False)

    def declare_io(self, params, inputs, outputs):
        inputs.declare("tree", "Struct with paths", [])
        inputs.declare("args", "The application arguments.", {})
        inputs.declare("reconstruction", "list of ODMReconstructions", [])
        outputs.declare("reconstruction", "list of ODMReconstructions", [])

    def process(self, inputs, outputs):

        # Benchmarking
        start_time = system.now_raw()

        log.ODM_INFO('Running ODM Georeferencing Cell')

        # get inputs
        args = inputs.args
        tree = inputs.tree
        reconstruction = inputs.reconstruction
        gcpfile = tree.odm_georeferencing_gcp
        doPointCloudGeo = True
        verbose = '-verbose' if self.params.verbose else ''

        # define paths and create working directories
        system.mkdir_p(tree.odm_georeferencing)
        if args.use_25dmesh: system.mkdir_p(tree.odm_25dgeoreferencing)

        # check if we rerun cell or not
        rerun_cell = (args.rerun is not None and
                      args.rerun == 'odm_georeferencing') or \
                     (args.rerun_all) or \
                     (args.rerun_from is not None and
                      'odm_georeferencing' in args.rerun_from)

        runs = [{
            'georeferencing_dir': tree.odm_georeferencing,
            'texturing_dir': tree.odm_texturing,
            'model': os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
        }]

        if args.fast_orthophoto:
            runs = []

        if args.use_25dmesh:
            runs += [{
                    'georeferencing_dir': tree.odm_25dgeoreferencing,
                    'texturing_dir': tree.odm_25dtexturing,
                    'model': os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj)
                }]

        for r in runs:
            odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
            odm_georeferencing_model_ply_geo = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
            odm_georeferencing_log = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_log)
            odm_georeferencing_transform_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_transform_file)

            if not io.file_exists(odm_georeferencing_model_obj_geo) or \
               not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:

                # odm_georeference definitions
                kwargs = {
                    'bin': context.odm_modules_path,
                    'bundle': tree.opensfm_bundle,
                    'imgs': tree.dataset_raw,
                    'imgs_list': tree.opensfm_bundle_list,
                    'model': r['model'],
                    'log': odm_georeferencing_log,
                    'input_trans_file': tree.opensfm_transformation,
                    'transform_file': odm_georeferencing_transform_file,
                    'coords': tree.odm_georeferencing_coords,
                    'pc_geo': odm_georeferencing_model_ply_geo,
                    'geo_sys': os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo),
                    'model_geo': odm_georeferencing_model_obj_geo,
                    'gcp': gcpfile,
                    'verbose': verbose

                }
                if not args.use_pmvs:
                    if args.fast_orthophoto:
                        kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply')
                    else:
                        kwargs['pc'] = tree.opensfm_model
                else:
                    kwargs['pc'] = tree.pmvs_model

                # Check to see if the GCP file exists

                #if not self.params.use_exif and (self.params.gcp_file or tree.odm_georeferencing_gcp):
                #    log.ODM_INFO('Found %s' % gcpfile)
                #    try:
                #        system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
                #                   '-inputFile {model} -outputFile {model_geo} '
                #                   '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
                #                   '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
                #                   '-outputCoordFile {coords}'.format(**kwargs))
                #    except Exception:
                #        log.ODM_EXCEPTION('Georeferencing failed. ')
                #        return ecto.QUIT
                if io.file_exists(tree.opensfm_transformation):
                    log.ODM_INFO('Running georeferencing with OpenSfM transformation matrix')
                    system.run('{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} '
                               '-inputFile {model} -outputFile {model_geo} '
                               '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
                               '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
                elif io.file_exists(tree.odm_georeferencing_coords):
                    log.ODM_INFO('Running georeferencing with generated coords file.')
                    system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
                               '-inputFile {model} -outputFile {model_geo} '
                               '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
                               '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
                else:
                    log.ODM_WARNING('Georeferencing failed. Make sure your '
                                    'photos have geotags in the EXIF or you have '
                                    'provided a GCP file. ')
                    doPointCloudGeo = False # skip the rest of the georeferencing

                odm_georeferencing_model_ply_geo = os.path.join(tree.odm_georeferencing,
                                                                tree.odm_georeferencing_model_ply_geo)
                if doPointCloudGeo:
                    # update images metadata
                    geo_ref = reconstruction.georef
                    geo_ref.parse_transformation_matrix(tree.opensfm_transformation)

                    # convert ply model to LAS reference system
                    geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
                                           tree.odm_georeferencing_model_las,
                                           tree.odm_georeferencing_las_json)

                    reconstruction.georef = geo_ref

                    # XYZ point cloud output
                    log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
                    with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
                        csvfile_writer = csv.writer(csvfile, delimiter=",")
                        reachedpoints = False
                        with open(odm_georeferencing_model_ply_geo) as f:
                            for lineNumber, line in enumerate(f):
                                if reachedpoints:
                                    tokens = line.split(" ")
                                    csv_line = [float(tokens[0])+geo_ref.utm_east_offset,
                                                float(tokens[1])+geo_ref.utm_north_offset,
                                                tokens[2]]
                                    csvfile_writer.writerow(csv_line)
                                if line.startswith("end_header"):
                                    reachedpoints = True
                    csvfile.close()

                    if args.crop > 0:
                        log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
                        cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
                        cropper.create_bounds_shapefile(tree.odm_georeferencing_model_las, args.crop)

                    # Do not execute a second time, since
                    # We might be doing georeferencing for
                    # multiple models (3D, 2.5D, ...)
                    doPointCloudGeo = False

        else:
            log.ODM_WARNING('Found a valid georeferenced model in: %s'
                            % odm_georeferencing_model_ply_geo)

        outputs.reconstruction = reconstruction

        if args.time:
            system.benchmark(start_time, tree.benchmarking, 'Georeferencing')

        log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
        return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT