kopia lustrzana https://github.com/OpenDroneMap/ODM
Use OpenSfM GCP stats, keep copy of topocentric rec, export GCPs to GeoJSON
Piero Toffanin
rodzic
0589483b9b
commit
5259491165
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@ -19,7 +19,7 @@ ExternalProject_Add(${_proj_name}
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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GIT_REPOSITORY https://github.com/OpenDroneMap/OpenSfM/
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GIT_TAG 263
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GIT_TAG 264
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#--Update/Patch step----------
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UPDATE_COMMAND git submodule update --init --recursive
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#--Configure step-------------
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2
VERSION
2
VERSION
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@ -1 +1 @@
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2.6.3
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2.6.4
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@ -23,7 +23,7 @@ from opensfm import report
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from opendm.multispectral import get_photos_by_band
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from opendm.gpu import has_gpus
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from opensfm import multiview
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from opensfm.actions.export_geocoords import _get_transformation
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from opensfm.actions.export_geocoords import _transform
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class OSFMContext:
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def __init__(self, opensfm_project_path):
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@ -458,47 +458,33 @@ class OSFMContext:
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"""
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Load ground control point information.
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"""
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ds = DataSet(self.opensfm_project_path)
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gcps = ds.load_ground_control_points()
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if not gcps:
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gcp_stats_file = self.path("stats", "ground_control_points.json")
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if not io.file_exists(gcp_stats_file):
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return []
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reconstructions = ds.load_reconstruction()
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reference = ds.load_reference()
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gcps_stats = {}
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try:
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with open(gcp_stats_file) as f:
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gcps_stats = json.loads(f.read())
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except:
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log.ODM_INFO("Cannot parse %s" % gcp_stats_file)
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if not gcps_stats:
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return []
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ds = DataSet(self.opensfm_project_path)
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reference = ds.load_reference()
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projection = pyproj.Proj(proj4)
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t = _get_transformation(reference, projection, (0, 0))
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A, b = t[:3, :3], t[:3, 3]
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result = []
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for gcp in gcps:
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if not gcp.coordinates.has_value:
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continue
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triangulated = None
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for rec in reconstructions:
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triangulated = multiview.triangulate_gcp(gcp, rec.shots, 1.0, 0.1)
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if triangulated is None:
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continue
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else:
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break
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if triangulated is None:
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continue
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triangulated_topocentric = np.dot(A.T, triangulated)
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coordinates_topocentric = np.array(gcp.coordinates.value)
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coordinates = np.dot(A, coordinates_topocentric) + b
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triangulated = triangulated + b
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for gcp in gcps_stats:
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geocoords = _transform(gcp['coordinates'], reference, projection)
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result.append({
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'id': gcp.id,
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'observations': [obs.shot_id for obs in gcp.observations],
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'triangulated': triangulated,
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'coordinates': coordinates,
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'error': np.abs(triangulated_topocentric - coordinates_topocentric)
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'id': gcp['id'],
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'observations': gcp['observations'],
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'coordinates': geocoords,
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'error': gcp['error']
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})
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return result
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@ -235,6 +235,7 @@ class ODM_Tree(object):
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self.opensfm_reconstruction = os.path.join(self.opensfm, 'reconstruction.json')
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self.opensfm_reconstruction_nvm = os.path.join(self.opensfm, 'undistorted/reconstruction.nvm')
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self.opensfm_geocoords_reconstruction = os.path.join(self.opensfm, 'reconstruction.geocoords.json')
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self.opensfm_topocentric_reconstruction = os.path.join(self.opensfm, 'reconstruction.topocentric.json')
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# OpenMVS
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self.openmvs_model = os.path.join(self.openmvs, 'scene_dense_dense_filtered.ply')
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@ -3,18 +3,22 @@ import struct
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import pipes
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import fiona
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import fiona.crs
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import json
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from collections import OrderedDict
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from pyproj import CRS
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from opendm import io
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from opendm import log
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from opendm import types
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from opendm import system
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from opendm import context
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from opendm import location
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from opendm.cropper import Cropper
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from opendm import point_cloud
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from opendm.multispectral import get_primary_band_name
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from opendm.osfm import OSFMContext
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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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@ -24,6 +28,7 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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gcp_export_file = tree.path("odm_georeferencing", "ground_control_points.gpkg")
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gcp_gml_export_file = tree.path("odm_georeferencing", "ground_control_points.gml")
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gcp_geojson_export_file = tree.path("odm_georeferencing", "ground_control_points.geojson")
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if reconstruction.has_gcp() and (not io.file_exists(gcp_export_file) or self.rerun()):
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octx = OSFMContext(tree.opensfm)
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@ -36,9 +41,6 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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('id', 'str'),
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('observations_count', 'int'),
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('observations_list', 'str'),
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('triangulated_x', 'float'),
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('triangulated_y', 'float'),
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('triangulated_z', 'float'),
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('error_x', 'float'),
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('error_y', 'float'),
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('error_z', 'float'),
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@ -58,10 +60,7 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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'properties': OrderedDict([
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('id', gcp['id']),
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('observations_count', len(gcp['observations'])),
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('observations_list', ",".join(gcp['observations'])),
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('triangulated_x', gcp['triangulated'][0]),
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('triangulated_y', gcp['triangulated'][1]),
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('triangulated_z', gcp['triangulated'][2]),
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('observations_list', ",".join([obs['shot_id'] for obs in gcp['observations']])),
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('error_x', gcp['error'][0]),
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('error_y', gcp['error'][1]),
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('error_z', gcp['error'][2]),
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@ -73,10 +72,35 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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system.run('ogr2ogr -of GML "{}" "{}"'.format(gcp_gml_export_file, gcp_export_file))
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except Exception as e:
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log.ODM_WARNING("Cannot generate ground control points GML file: %s" % str(e))
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# Write GeoJSON
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geojson = {
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'type': 'FeatureCollection',
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'features': []
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}
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from_srs = CRS.from_proj4(reconstruction.georef.proj4())
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to_srs = CRS.from_epsg(4326)
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transformer = location.transformer(from_srs, to_srs)
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for gcp in gcps:
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properties = gcp.copy()
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del properties['coordinates']
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geojson['features'].append({
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'geometry': {
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'type': 'Point',
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'coordinates': transformer.TransformPoint(*gcp['coordinates']),
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},
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'properties': properties
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})
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with open(gcp_geojson_export_file, 'w') as f:
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f.write(json.dumps(geojson, indent=4))
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else:
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log.ODM_WARNING("GCPs could not be loaded for writing to %s" % gcp_export_file)
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if not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
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cmd = ('pdal translate -i "%s" -o \"%s\"' % (tree.filtered_point_cloud, tree.odm_georeferencing_model_laz))
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stages = ["ferry"]
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@ -68,14 +68,11 @@ class ODMOpenSfMStage(types.ODM_Stage):
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self.update_progress(75)
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# We now switch to a geographic CRS
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geocoords_flag_file = octx.path("exported_geocoords.txt")
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if reconstruction.is_georeferenced() and (not io.file_exists(geocoords_flag_file) or self.rerun()):
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if reconstruction.is_georeferenced() and (not io.file_exists(tree.opensfm_topocentric_reconstruction) or self.rerun()):
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octx.run('export_geocoords --reconstruction --proj "%s" --offset-x %s --offset-y %s' %
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(reconstruction.georef.proj4(), reconstruction.georef.utm_east_offset, reconstruction.georef.utm_north_offset))
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# Destructive
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shutil.move(tree.opensfm_reconstruction, tree.opensfm_topocentric_reconstruction)
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shutil.move(tree.opensfm_geocoords_reconstruction, tree.opensfm_reconstruction)
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octx.touch(geocoords_flag_file)
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else:
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log.ODM_WARNING("Will skip exporting %s" % tree.opensfm_geocoords_reconstruction)
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