kopia lustrzana https://github.com/OpenDroneMap/ODM
Piero Toffanin
rodzic
e774ca794c
commit
2875efea51
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@ -95,17 +95,13 @@ def config():
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choices=processopts,
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help=('Can be one of:' + ' | '.join(processopts)))
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parser.add_argument('--video',
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metavar='<string>',
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help='Path to the video file to process')
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# parser.add_argument('--video',
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# metavar='<string>',
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# help='Path to the video file to process')
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parser.add_argument('--slam-config',
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metavar='<string>',
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help='Path to config file for orb-slam')
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parser.add_argument('--proj',
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metavar='<PROJ4 string>',
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help='Projection used to transform the model into geographic coordinates')
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# parser.add_argument('--slam-config',
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# metavar='<string>',
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# help='Path to config file for orb-slam')
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parser.add_argument('--min-num-features',
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metavar='<integer>',
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@ -6,6 +6,9 @@ from pyproj import CRS
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class GCPFile:
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def __init__(self, gcp_path):
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if not gcp_path:
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raise RuntimeError("gcp_path must be specified")
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self.gcp_path = gcp_path
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self.entries = []
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self.raw_srs = ""
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@ -30,39 +33,64 @@ class GCPFile:
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else:
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log.ODM_WARNING("Malformed GCP line: %s" % line)
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def entries_dict(self):
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def iter_entries(self, allowed_filenames=None):
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for entry in self.entries:
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pe = self.parse_entry(entry)
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if allowed_filenames is None or pe.filename in allowed_filenames:
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yield pe
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def parse_entry(self, entry):
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if entry:
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parts = entry.split()
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x, y, z, px, py, filename = parts[:6]
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extras = " ".join(parts[6:])
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yield {
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'x': x,
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'y': y,
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'z': z,
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'px': px,
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'py': py,
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'filename': filename,
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'extras': extras
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}
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def entry_dict_to_s(self, entry):
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return "{x} {y} {z} {px} {py} {filename} {extras}".format(**entry).rstrip()
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return GCPEntry(float(x), float(y), float(z), int(px), int(py), filename, extras)
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def get_entry(self, n):
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if n < self.entries_count():
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return self.parse_entry(self.entries[n])
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def entries_count(self):
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return len(self.entries)
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def exists(self):
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return self.gcp_path and os.path.exists(self.gcp_path)
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return bool(self.gcp_path and os.path.exists(self.gcp_path))
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def wgs84_utm_zone(self):
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"""
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Finds the UTM zone where the first point of the GCP falls into
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:return utm zone string valid for a coordinates header
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"""
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if len(self.entries) > 0:
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point = list(self.entries_dict())[0]
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if self.entries_count() > 0:
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entry = self.get_entry(0)
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longlat = CRS.from_epsg("4326")
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lat, lon = location.transform(self.srs, longlat, point['x'], point['y'])
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lon, lat = location.transform2(self.srs, longlat, entry.x, entry.y)
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utm_zone, hemisphere = location.get_utm_zone_and_hemisphere_from(lon, lat)
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return "WGS84 UTM %s%s" % (utm_zone, hemisphere)
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def create_utm_copy(self, gcp_file_output, filenames=None):
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"""
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Creates a new GCP file from an existing GCP file
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by optionally including only filenames and reprojecting each point to
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a UTM CRS
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"""
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if os.path.exists(gcp_file_output):
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os.remove(gcp_file_output)
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output = [self.wgs84_utm_zone()]
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target_srs = location.parse_srs_header(output[0])
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transformer = location.transformer(self.srs, target_srs)
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for entry in self.iter_entries(filenames):
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entry.x, entry.y, entry.z = transformer.TransformPoint(entry.x, entry.y, entry.z)
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output.append(str(entry))
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with open(gcp_file_output, 'w') as f:
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f.write('\n'.join(output) + '\n')
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return gcp_file_output
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def make_filtered_copy(self, gcp_file_output, images_dir, min_images=3):
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"""
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Creates a new GCP file from an existing GCP file includes
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@ -81,9 +109,9 @@ class GCPFile:
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output = [self.raw_srs]
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files_found = 0
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for entry in self.entries_dict():
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if entry['filename'] in files:
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output.append(self.entry_dict_to_s(entry))
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for entry in self.iter_entries():
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if entry.filename in files:
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output.append(str(entry))
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files_found += 1
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if files_found >= min_images:
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@ -91,3 +119,19 @@ class GCPFile:
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f.write('\n'.join(output) + '\n')
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return gcp_file_output
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class GCPEntry:
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def __init__(self, x, y, z, px, py, filename, extras=""):
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self.x = x
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self.y = y
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self.z = z
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self.px = px
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self.py = py
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self.filename = filename
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self.extras = extras
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def __str__(self):
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return "{} {} {} {} {} {} {}".format(self.x, self.y, self.z,
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self.px, self.py,
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self.filename,
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self.extras).rstrip()
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@ -1,6 +1,7 @@
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import math
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from opendm import log
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from pyproj import Proj, Transformer, CRS
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from osgeo import osr
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def extract_utm_coords(photos, images_path, output_coords_file):
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"""
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@ -54,10 +55,32 @@ def extract_utm_coords(photos, images_path, output_coords_file):
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for coord in coords:
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f.write("%s %s %s\n" % (coord[0] - dx, coord[1] - dy, coord[2]))
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def transform(from_srs, to_srs, x, y):
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transformer = Transformer.from_crs(from_srs, to_srs)
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return transformer.transform(x, y)
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def transform2(from_srs, to_srs, x, y):
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return transformer(from_srs, to_srs).TransformPoint(x, y, 0)[:2]
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def transform3(from_srs, to_srs, x, y, z):
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return transformer(from_srs, to_srs).TransformPoint(x, y, z)
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def proj_srs_convert(srs):
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"""
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Convert a Proj SRS object to osr SRS object
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"""
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res = osr.SpatialReference()
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epsg = srs.to_epsg()
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if epsg:
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res.ImportFromEPSG(epsg)
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else:
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proj4 = srs.to_proj4()
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res.ImportFromProj4(proj4)
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return res
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def transformer(from_srs, to_srs):
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src = proj_srs_convert(from_srs)
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tgt = proj_srs_convert(to_srs)
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return osr.CoordinateTransformation(src, tgt)
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def get_utm_zone_and_hemisphere_from(lon, lat):
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"""
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Calculate the UTM zone and hemisphere that a longitude/latitude pair falls on
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@ -107,7 +130,7 @@ def parse_srs_header(header):
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'datum': datum
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}
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proj4 = '+proj=utm +zone={zone} +datum={datum} +no_defs=True'
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proj4 = '+proj=utm +zone={zone} +datum={datum} +units=m +no_defs=True'
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if utm_pole == 'S':
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proj4 += ' +south=True'
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@ -58,7 +58,7 @@ class OSFMContext:
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raise Exception("Reconstruction could not be generated")
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def setup(self, args, images_path, photos, gcp_path=None, append_config = [], rerun=False):
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def setup(self, args, images_path, photos, gcp_path=None, append_config = [], rerun=False): #georeferenced=True,
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"""
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Setup a OpenSfM project
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"""
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@ -116,6 +116,10 @@ class OSFMContext:
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else:
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config.append("align_method: orientation_prior")
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config.append("align_orientation_prior: vertical")
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# if not georeferenced:
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# config.append("")
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if args.use_hybrid_bundle_adjustment:
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log.ODM_DEBUG("Enabling hybrid bundle adjustment")
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@ -103,7 +103,7 @@ class ODMLoadDatasetStage(types.ODM_Stage):
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reconstruction = types.ODM_Reconstruction(photos)
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if tree.odm_georeferencing_gcp:
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reconstruction.georeference_with_gcp(tree.odm_georeferencing_gcp, tree.odm_georeferencing_coords)
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reconstruction.georeference_with_gcp(tree.odm_georeferencing_gcp, tree.odm_georeferencing_coords, reload_coords=self.rerun())
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else:
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reconstruction.georeference_with_gps(tree.dataset_raw, tree.odm_georeferencing_coords, reload_coords=self.rerun())
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@ -0,0 +1 @@
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output/
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@ -1,3 +0,0 @@
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EPSG:4326
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44.701151842605441 -85.61322729531112 150.5 1331 350 DJI_0002.JPG
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44.701023803183617 -85.612848642726888 151.5 1331 350 DJI_0003.JPG
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@ -0,0 +1,3 @@
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EPSG:4326
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105.03506 -5.23270 20 1331 350 DJI_0002.JPG
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@ -0,0 +1,3 @@
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+proj=longlat +ellps=WGS84 +datum=WGS84 +no_defs
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-85.61322729531112 44.701151842605441 150.5 1331 350 DJI_0002.JPG
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-85.612848642726888 44.701023803183617 151.5 1331 350 DJI_0003.JPG
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@ -0,0 +1,2 @@
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EPSG:2251
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26607594.75468351 -26813.882366498266 563.1987598425 1331 350 DJI_0002.JPG
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@ -1,21 +1,57 @@
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import time
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import unittest
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import os
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import shutil
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from opendm.gcp import GCPFile
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class TestRemote(unittest.TestCase):
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class TestGcp(unittest.TestCase):
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def setUp(self):
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pass
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if os.path.exists("tests/assets/output"):
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shutil.rmtree("tests/assets/output")
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os.makedirs("tests/assets/output")
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# pass
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def test_utm_north(self):
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gcp = GCPFile("tests/assets/gcp_utm_north_valid.txt")
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self.assertTrue(gcp.exists())
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self.assertEqual(gcp.wgs84_utm_zone(), "WGS84 UTM 16N")
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def test_epsg(self):
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gcp = GCPFile("tests/assets/gcp_epsg_valid.txt")
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def test_latlon_south(self):
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gcp = GCPFile("tests/assets/gcp_latlon_south.txt")
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self.assertTrue(gcp.exists())
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self.assertEqual(gcp.wgs84_utm_zone(), "WGS84 UTM 48S")
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def test_latlon(self):
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gcp = GCPFile("tests/assets/gcp_latlon_valid.txt")
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self.assertTrue(gcp.exists())
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self.assertEqual(gcp.wgs84_utm_zone(), "WGS84 UTM 16N")
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def test_utm_conversion(self):
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gcp = GCPFile("tests/assets/gcp_latlon_valid.txt")
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copy = GCPFile(gcp.create_utm_copy("tests/assets/output/gcp_utm.txt"))
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self.assertTrue(copy.exists())
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self.assertEqual(copy.raw_srs, "WGS84 UTM 16N")
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self.assertEqual(copy.get_entry(0).x, 609865.707705)
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self.assertEqual(copy.get_entry(0).y, 4950688.36182)
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def test_utm_conversion_feet(self):
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gcp = GCPFile("tests/assets/gcp_michigan_feet_valid.txt")
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copy = GCPFile(gcp.create_utm_copy("tests/assets/output/gcp_utm_z.txt"))
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self.assertTrue(copy.exists())
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self.assertEqual(copy.raw_srs, "WGS84 UTM 16N")
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self.assertEqual(round(copy.get_entry(0).x, 3), 609925.818)
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self.assertEqual(round(copy.get_entry(0).y, 3), 4950688.772)
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self.assertEqual(round(copy.get_entry(0).z, 3), 171.663)
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def test_filtered_copy(self):
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gcp = GCPFile('tests/assets/gcp_latlon_valid.txt')
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self.assertTrue(gcp.exists())
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self.assertEqual(gcp.entries_count(), 2)
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copy = GCPFile(gcp.make_filtered_copy('tests/assets/output/filtered_copy.txt', 'tests/assets/images', min_images=1))
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self.assertTrue(copy.exists())
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self.assertEqual(copy.entries_count(), 1)
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if __name__ == '__main__':
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unittest.main()
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