2016-12-14 18:36:23 +00:00
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import os
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2018-06-04 01:01:04 +00:00
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import struct
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2018-12-26 18:34:11 +00:00
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import pipes
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2015-12-01 16:25:14 +00:00
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from opendm import io
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from opendm import log
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2015-12-10 17:17:39 +00:00
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from opendm import types
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2015-12-01 16:25:14 +00:00
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from opendm import system
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from opendm import context
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2018-01-04 17:08:59 +00:00
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from opendm.cropper import Cropper
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2019-03-06 00:03:04 +00:00
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from opendm import point_cloud
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2019-05-31 16:12:59 +00:00
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from opendm import entwine
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2016-02-25 20:02:48 +00:00
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2019-04-22 19:14:39 +00:00
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class ODMGeoreferencingStage(types.ODM_Stage):
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def process(self, args, outputs):
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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2015-12-01 16:25:14 +00:00
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2018-01-02 20:02:33 +00:00
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doPointCloudGeo = True
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2018-07-03 16:37:39 +00:00
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transformPointCloud = True
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2019-04-22 19:14:39 +00:00
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verbose = '-verbose' if self.params.get('verbose') else ''
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2015-12-01 16:25:14 +00:00
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2017-04-05 17:56:48 +00:00
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runs = [{
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2017-04-05 18:27:52 +00:00
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'georeferencing_dir': tree.odm_georeferencing,
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'texturing_dir': tree.odm_texturing,
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2017-04-05 17:56:48 +00:00
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'model': os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
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}]
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2018-01-02 17:38:15 +00:00
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2018-07-03 16:37:39 +00:00
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if args.skip_3dmodel:
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2018-01-02 17:38:15 +00:00
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runs = []
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2018-07-03 16:37:39 +00:00
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if not args.use_3dmesh:
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2019-02-15 17:15:01 +00:00
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# Make sure 2.5D mesh is georeferenced before the 3D mesh
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# Because it will be used to calculate a transform
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# for the point cloud. If we use the 3D model transform,
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# DEMs and orthophoto might not align!
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runs.insert(0, {
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2017-04-05 18:27:52 +00:00
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'georeferencing_dir': tree.odm_25dgeoreferencing,
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'texturing_dir': tree.odm_25dtexturing,
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2017-04-05 17:56:48 +00:00
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'model': os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj)
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2019-02-15 17:15:01 +00:00
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})
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2017-04-05 17:56:48 +00:00
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for r in runs:
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2017-04-05 18:27:52 +00:00
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odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
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odm_georeferencing_log = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_log)
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2017-06-12 10:23:32 +00:00
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odm_georeferencing_transform_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_transform_file)
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2018-04-25 14:00:56 +00:00
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odm_georeferencing_model_txt_geo_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
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2017-04-05 17:56:48 +00:00
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if not io.file_exists(odm_georeferencing_model_obj_geo) or \
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2019-04-22 19:14:39 +00:00
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not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
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2017-04-05 17:56:48 +00:00
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# odm_georeference definitions
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kwargs = {
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'bin': context.odm_modules_path,
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2019-04-03 18:47:06 +00:00
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'input_pc_file': tree.filtered_point_cloud,
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2017-04-05 17:56:48 +00:00
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'bundle': tree.opensfm_bundle,
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2017-08-24 19:19:51 +00:00
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'imgs': tree.dataset_raw,
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2017-04-05 17:56:48 +00:00
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'imgs_list': tree.opensfm_bundle_list,
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'model': r['model'],
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'log': odm_georeferencing_log,
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2018-01-26 19:38:26 +00:00
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'input_trans_file': tree.opensfm_transformation,
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2017-06-12 10:23:32 +00:00
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'transform_file': odm_georeferencing_transform_file,
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2017-04-05 17:56:48 +00:00
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'coords': tree.odm_georeferencing_coords,
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2018-12-26 18:34:11 +00:00
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'output_pc_file': tree.odm_georeferencing_model_laz,
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2018-04-25 14:00:56 +00:00
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'geo_sys': odm_georeferencing_model_txt_geo_file,
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2017-04-05 17:56:48 +00:00
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'model_geo': odm_georeferencing_model_obj_geo,
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'verbose': verbose
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}
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2018-07-01 21:28:55 +00:00
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2018-07-03 16:37:39 +00:00
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if transformPointCloud:
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2018-12-26 18:34:11 +00:00
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kwargs['pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(**kwargs)
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2019-06-20 19:39:49 +00:00
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if reconstruction.is_georeferenced():
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kwargs['pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(reconstruction.georef.proj4())
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2018-12-26 18:34:11 +00:00
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else:
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log.ODM_WARNING('NO SRS: The output point cloud will not have a SRS.')
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2018-07-04 19:33:11 +00:00
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else:
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kwargs['pc_params'] = ''
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2019-01-17 11:29:57 +00:00
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2019-06-20 01:43:34 +00:00
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if io.file_exists(tree.opensfm_transformation) and io.file_exists(tree.odm_georeferencing_coords):
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2018-01-26 19:38:26 +00:00
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log.ODM_INFO('Running georeferencing with OpenSfM transformation matrix')
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2018-04-25 14:00:56 +00:00
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
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2018-01-26 19:38:26 +00:00
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'-inputFile {model} -outputFile {model_geo} '
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2018-07-03 16:37:39 +00:00
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'{pc_params} {verbose} '
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2018-01-26 19:38:26 +00:00
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'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
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2017-04-05 17:56:48 +00:00
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elif io.file_exists(tree.odm_georeferencing_coords):
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log.ODM_INFO('Running georeferencing with generated coords file.')
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
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'-inputFile {model} -outputFile {model_geo} '
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2018-07-03 16:37:39 +00:00
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'{pc_params} {verbose} '
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2017-06-12 11:57:37 +00:00
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'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
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2017-04-05 17:56:48 +00:00
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else:
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log.ODM_WARNING('Georeferencing failed. Make sure your '
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'photos have geotags in the EXIF or you have '
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'provided a GCP file. ')
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2018-01-02 20:02:33 +00:00
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doPointCloudGeo = False # skip the rest of the georeferencing
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2017-04-05 17:56:48 +00:00
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2018-01-02 20:02:33 +00:00
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if doPointCloudGeo:
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2019-06-20 19:39:49 +00:00
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reconstruction.georef.extract_offsets(odm_georeferencing_model_txt_geo_file)
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2018-01-26 19:38:26 +00:00
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2017-10-26 17:14:17 +00:00
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# XYZ point cloud output
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2018-06-04 01:01:04 +00:00
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if args.pc_csv:
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log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
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2018-12-26 18:34:11 +00:00
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system.run("pdal translate -i \"{}\" "
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"-o \"{}\" "
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"--writers.text.format=csv "
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"--writers.text.order=\"X,Y,Z\" "
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"--writers.text.keep_unspecified=false ".format(
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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_xyz_file))
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2019-02-22 20:28:37 +00:00
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# LAS point cloud output
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if args.pc_las:
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log.ODM_INFO("Creating geo-referenced LAS file")
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system.run("pdal translate -i \"{}\" "
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"-o \"{}\" ".format(
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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_model_las))
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2019-05-31 16:12:59 +00:00
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# EPT point cloud output
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if args.pc_ept:
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log.ODM_INFO("Creating geo-referenced Entwine Point Tile output")
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2019-05-31 16:25:26 +00:00
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entwine.build([tree.odm_georeferencing_model_laz], tree.entwine_pointcloud, max_concurrency=args.max_concurrency, rerun=self.rerun())
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2019-02-22 20:28:37 +00:00
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2018-01-04 17:08:59 +00:00
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if args.crop > 0:
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log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
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cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
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2018-12-26 19:56:57 +00:00
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decimation_step = 40 if args.fast_orthophoto or args.use_opensfm_dense else 90
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# More aggressive decimation for large datasets
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if not args.fast_orthophoto:
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2018-12-26 20:33:53 +00:00
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decimation_step *= int(len(reconstruction.photos) / 1000) + 1
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2018-12-26 19:56:57 +00:00
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2019-04-27 19:51:13 +00:00
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cropper.create_bounds_gpkg(tree.odm_georeferencing_model_laz, args.crop,
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decimation_step=decimation_step)
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2018-01-04 17:08:59 +00:00
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2018-01-02 20:02:33 +00:00
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# Do not execute a second time, since
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2018-01-26 19:38:26 +00:00
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# We might be doing georeferencing for
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2018-01-02 20:02:33 +00:00
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# multiple models (3D, 2.5D, ...)
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doPointCloudGeo = False
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2018-07-03 16:37:39 +00:00
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transformPointCloud = False
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2018-04-25 14:00:56 +00:00
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else:
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log.ODM_WARNING('Found a valid georeferenced model in: %s'
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2018-12-26 18:37:31 +00:00
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% tree.odm_georeferencing_model_laz)
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