kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge georeferencing conflicts
Dakota Benjamin
commit
050ba88d81
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@ -102,7 +102,8 @@ set(custom_libs OpenGV
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CMVS
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Catkin
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Ecto
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LAStools)
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LAStools
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PDAL)
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foreach(lib ${custom_libs})
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SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
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@ -0,0 +1,29 @@
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set(_proj_name pdal)
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set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
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ExternalProject_Add(${_proj_name}
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PREFIX ${_SB_BINARY_DIR}
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TMP_DIR ${_SB_BINARY_DIR}/tmp
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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URL https://github.com/PDAL/PDAL/archive/d242c6704aafe85fd49fda11adae63d07ce11b76.zip
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URL_MD5 14a7319e1f8483808eb93732cfa6511a
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-BUILD_PGPOINTCLOUD_TESTS=ON
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-BUILD_PLUGIN_PCL=ON
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-BUILD_PLUGIN_PGPOINTCLOUD=ON
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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#--Build step-----------------
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BINARY_DIR ${_SB_BINARY_DIR}
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#--Install step---------------
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INSTALL_DIR ${SB_INSTALL_DIR}
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#--Output logging-------------
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LOG_DOWNLOAD OFF
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LOG_CONFIGURE OFF
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LOG_BUILD OFF
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)
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@ -25,6 +25,7 @@ pmvs2_path = os.path.join(superbuild_path, "install/bin/pmvs2")
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# define txt2las path
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txt2las_path = os.path.join(superbuild_path, 'src/las-tools/bin')
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pdal_path = os.path.join(superbuild_path, 'build/pdal/bin')
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# define odm modules path
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odm_modules_path = os.path.join(root_path, "build/bin")
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@ -123,25 +123,54 @@ class ODM_GeoRef(object):
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log.ODM_ERROR('Unknown pole format %s' % _pole)
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return
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def convert_to_las(self, _file):
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def convert_to_las(self, _file, pdalXML):
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if not self.epsg:
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log.ODM_ERROR('Empty EPSG: Could not convert to LAS')
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return
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kwargs = { 'bin': context.txt2las_path,
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kwargs = { 'bin': context.pdal_path,
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'f_in': _file,
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'f_out': _file + '.laz',
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'f_out': _file + '.las',
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'east': self.utm_east_offset,
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'north': self.utm_north_offset,
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'epsg': self.epsg }
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'epsg': self.epsg,
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'xml': pdalXML}
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# call txt2las
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system.run('{bin}/txt2las -i {f_in} -o {f_out} -skip 30 -parse xyzRGBssss ' \
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'-set_scale 0.01 0.01 0.01 -set_offset {east} {north} 0 ' \
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'-translate_xyz 0 -epsg {epsg}'.format(**kwargs))
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# system.run('{bin}/txt2las -i {f_in} -o {f_out} -skip 30 -parse xyzRGBssss ' \
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# '-set_scale 0.01 0.01 0.01 -set_offset {east} {north} 0 ' \
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# '-translate_xyz 0 -epsg {epsg}'.format(**kwargs))
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#
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# create pipeline file transform.xml to enable transformation
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pipelineXml = '<?xml version=\"1.0\" encoding=\"utf-8\"?>'
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pipelineXml += '<Pipeline version=\"1.0\">'
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pipelineXml += ' <Writer type=\"writers.las\">'
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pipelineXml += ' <Option name=\"filename\">'
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pipelineXml += ' transformed.las'
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pipelineXml += ' </Option>'
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pipelineXml += ' <Filter type=\"filters.transformation\">'
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pipelineXml += ' <Option name=\"matrix\">'
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pipelineXml += ' 1 0 0 {east}'.format(**kwargs)
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pipelineXml += ' 0 1 0 {north}'.format(**kwargs)
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pipelineXml += ' 0 0 1 0'
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pipelineXml += ' 0 0 0 1'
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pipelineXml += ' </Option>'
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pipelineXml += ' <Reader type=\"readers.ply\">'
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pipelineXml += ' <Option name=\"filename\">'
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pipelineXml += ' untransformed.ply'
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pipelineXml += ' </Option>'
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pipelineXml += ' </Reader>'
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pipelineXml += ' </Filter>'
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pipelineXml += ' </Writer>'
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pipelineXml += '</Pipeline>'
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with open(pdalXML, 'w') as f:
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f.write(pipelineXml)
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# call pdal
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system.run('{bin}/pdal pipeline -i {xml} --readers.ply.filename={f_in} '
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'--writers.las.filename={f_out}'.format(**kwargs))
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def utm_to_latlon(self, _file, _photo, idx):
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@ -154,8 +183,8 @@ class ODM_GeoRef(object):
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'y': gcp.y + self.utm_north_offset,
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'z': gcp.z }
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latlon = system.run_and_return('echo {x} {y} | cs2cs +proj=utm ' \
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'+datum={datum} +ellps={datum} +zone={zone} +units=m +to ' \
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latlon = system.run_and_return('echo {x} {y} | cs2cs +proj=utm '
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'+datum={datum} +ellps={datum} +zone={zone} +units=m +to '
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'+proj=latlon +ellps={datum}'.format(**kwargs)).split()
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# Example: 83d18'16.285"W
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@ -261,6 +290,7 @@ class ODM_GeoRef(object):
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# update EPSG
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self.epsg = self.calculate_EPSG(self.utm_zone, self.utm_pole)
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class ODM_Tree(object):
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def __init__(self, root_path):
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### root path to the project
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@ -279,6 +309,7 @@ class ODM_Tree(object):
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self.odm_texturing = io.join_paths(self.root_path, 'odm_texturing')
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self.odm_georeferencing = io.join_paths(self.root_path, 'odm_georeferencing')
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self.odm_orthophoto = io.join_paths(self.root_path, 'odm_orthophoto')
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self.odm_pdal = io.join_paths(self.root_path, 'pdal')
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### important files paths
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@ -327,8 +358,9 @@ class ODM_Tree(object):
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self.odm_georeferencing_model_mtl_geo = io.join_paths(
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self.odm_georeferencing, 'odm_textured_model_geo.mtl')
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self.odm_georeferencing_xyz_file = io.join_paths(
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self.odm_georeferencing, 'odm_georeferenced_model.csv'
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)
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self.odm_georeferencing, 'odm_georeferenced_model.csv')
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self.odm_georeferencing_pdal = io.join_paths(
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self.odm_georeferencing, 'pipeline.xml')
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# odm_orthophoto
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self.odm_orthophoto_file = io.join_paths(self.odm_orthophoto, 'odm_orthophoto.png')
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@ -337,9 +369,3 @@ class ODM_Tree(object):
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self.odm_orthophoto_log = io.join_paths(self.odm_orthophoto, 'odm_orthophoto_log.txt')
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self.odm_orthophoto_tif_log = io.join_paths(self.odm_orthophoto, 'gdal_translate_log.txt')
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@ -7,6 +7,7 @@ from opendm import types
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from opendm import system
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from opendm import context
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class ODMGeoreferencingCell(ecto.Cell):
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def declare_params(self, params):
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params.declare("gcp_file", 'path to the file containing the ground control '
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@ -39,8 +40,9 @@ class ODMGeoreferencingCell(ecto.Cell):
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if not self.params.use_gcp and \
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not io.file_exists(tree.odm_georeferencing_coords):
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log.ODM_WARNING('Warning: No coordinates file. ' \
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'Generating coordinates file in: %s' % tree.odm_georeferencing_coords)
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log.ODM_WARNING('Warning: No coordinates file. '
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'Generating coordinates file in: %s'
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% tree.odm_georeferencing_coords)
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try:
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# odm_georeference definitions
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kwargs = {
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@ -52,14 +54,14 @@ class ODMGeoreferencingCell(ecto.Cell):
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}
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# run UTM extraction binary
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system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ ' \
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'-imageListFile {imgs_list} -outputCoordFile {coords} ' \
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'-logFile {log}'.format(**kwargs))
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system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ '
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'-imageListFile {imgs_list} -outputCoordFile {coords} '
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'-logFile {log}'.format(**kwargs))
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except Exception, e:
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log.ODM_ERROR('Could not generate GCP file from images metadata.' \
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'Consider rerunning with argument --odm_georeferencing-useGcp' \
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' and provide a proper GCP file')
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log.ODM_ERROR('Could not generate GCP file from images metadata.'
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'Consider rerunning with argument --odm_georeferencing-useGcp'
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' and provide a proper GCP file')
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log.ODM_ERROR(e)
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return ecto.QUIT
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@ -113,7 +115,8 @@ class ODMGeoreferencingCell(ecto.Cell):
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geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx)
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# convert ply model to LAS reference system
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geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo)
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geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo,
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tree.odm_georeferencing_pdal)
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# XYZ point cloud output
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log.ODM_INFO("Creating geo-referenced CSV file (XYZ format, can be used with GRASS to create DEM)")
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