From 8ba2449b6d72e2b85eac816d9b4b4c6d418c4d62 Mon Sep 17 00:00:00 2001 From: Dakota Benjamin Date: Thu, 25 Feb 2016 14:51:03 -0500 Subject: [PATCH] Add xyz point cloud output --- opendm/types.py | 19 +-- scripts/odm_georeferencing.py | 217 +++++++--------------------------- 2 files changed, 55 insertions(+), 181 deletions(-) diff --git a/opendm/types.py b/opendm/types.py index d698b38b..e999cb12 100644 --- a/opendm/types.py +++ b/opendm/types.py @@ -304,14 +304,6 @@ class ODM_Tree(object): self.odm_texturing, 'odm_textured_model.obj') self.odm_textured_model_mtl = io.join_paths( self.odm_texturing, 'odm_textured_model.mtl') - self.odm_textured_model_txt_geo = io.join_paths( - self.odm_texturing, 'odm_textured_model_geo.txt') - self.odm_textured_model_ply_geo = io.join_paths( - self.odm_texturing, 'odm_textured_model_geo.ply') - self.odm_textured_model_obj_geo = io.join_paths( - self.odm_texturing, 'odm_textured_model_geo.obj') - self.odm_textured_model_mtl_geo = io.join_paths( - self.odm_texturing, 'odm_textured_model_geo.mtl') self.odm_texuring_log = io.join_paths( self.odm_texturing, 'odm_texturing_log.txt') @@ -326,6 +318,17 @@ class ODM_Tree(object): self.odm_georeferencing, 'odm_georeferencing_utm_log.txt') self.odm_georeferencing_log = io.join_paths( self.odm_georeferencing, 'odm_georeferencing_log.txt') + self.odm_georeferencing_model_txt_geo = io.join_paths( + self.odm_georeferencing, 'odm_georeferencing_model_geo.txt') + self.odm_georeferencing_model_ply_geo = io.join_paths( + self.odm_georeferencing, 'odm_georeferenced_model.ply') + self.odm_georeferencing_model_obj_geo = io.join_paths( + self.odm_georeferencing, 'odm_textured_model_geo.obj') + self.odm_georeferencing_model_mtl_geo = io.join_paths( + self.odm_georeferencing, 'odm_textured_model_geo.mtl') + self.odm_georeferencing_xyz_file = io.join_paths( + self.odm_georeferencing, 'odm_georeferenced_model.csv' + ) # odm_orthophoto self.odm_orthophoto_file = io.join_paths(self.odm_orthophoto, 'odm_orthophoto.png') diff --git a/scripts/odm_georeferencing.py b/scripts/odm_georeferencing.py index 9a1f2009..1ed86e31 100644 --- a/scripts/odm_georeferencing.py +++ b/scripts/odm_georeferencing.py @@ -1,4 +1,5 @@ import ecto +import csv from opendm import io from opendm import log @@ -69,8 +70,8 @@ class ODMGeoreferencingCell(ecto.Cell): (args['rerun_from'] is not None and 'odm_georeferencing' in args['rerun_from']) - if not io.file_exists(tree.odm_textured_model_obj_geo) or \ - not io.file_exists(tree.odm_textured_model_ply_geo) or rerun_cell: + if not io.file_exists(tree.odm_georeferencing_model_obj_geo) or \ + not io.file_exists(tree.odm_georeferencing_model_ply_geo) or rerun_cell: # odm_georeference definitions kwargs = { @@ -82,9 +83,9 @@ class ODMGeoreferencingCell(ecto.Cell): 'pc': tree.pmvs_model, 'log': tree.odm_georeferencing_log, 'coords': tree.odm_georeferencing_coords, - 'pc_geo': tree.odm_textured_model_ply_geo, - 'geo_sys': tree.odm_textured_model_txt_geo, - 'model_geo': tree.odm_textured_model_obj_geo, + 'pc_geo': tree.odm_georeferencing_model_ply_geo, + 'geo_sys': tree.odm_georeferencing_model_txt_geo, + 'model_geo': tree.odm_georeferencing_model_obj_geo, 'size': self.params.img_size, 'gcp': io.join_paths(tree.root_path, self.params.gcp_file), @@ -93,177 +94,47 @@ class ODMGeoreferencingCell(ecto.Cell): if self.params.use_gcp and \ io.file_exists(tree.odm_georeferencing_coords): - system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' \ - '-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} ' \ - '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} ' \ - '-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} ' \ - '-outputCoordFile {coords}'.format(**kwargs)) + system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' + '-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} ' + '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} ' + '-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} ' + '-outputCoordFile {coords}'.format(**kwargs)) else: - system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' \ - '-inputFile {model} -outputFile {model_geo} ' \ - '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} ' \ - '-logFile {log} -georefFileOutputPath {geo_sys}'.format(**kwargs)) + system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' + '-inputFile {model} -outputFile {model_geo} ' + '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} ' + '-logFile {log} -georefFileOutputPath {geo_sys}'.format(**kwargs)) + + # update images metadata + geo_ref = types.ODM_GeoRef() + geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords) + + for idx, photo in enumerate(self.inputs.photos): + geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx) + + # convert ply model to LAS reference system + geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo) + + # XYZ point cloud output + log.ODM_INFO("Creating geo-referenced CSV file (XYZ format, can be used with GRASS to create DEM)") + with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile: + csvfile_writer = csv.writer(csvfile, delimiter=",") + reachedpoints = False + with open(tree.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() else: - log.ODM_WARNING('Found a valid georeferenced model in: %s' \ - % tree.odm_textured_model_ply_geo) - - - # update images metadata - geo_ref = types.ODM_GeoRef() - geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords) - - for idx, photo in enumerate(self.inputs.photos): - geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx) - - # convert ply model to LAS reference system - geo_ref.convert_to_las(tree.odm_textured_model_ply_geo) - + log.ODM_WARNING('Found a valid georeferenced model in: %s' + % tree.odm_textured_model_ply_geo) log.ODM_INFO('Running OMD Georeferencing Cell - Finished') return ecto.OK if args['end_with'] != 'odm_georeferencing' else ecto.QUIT - - -def odm_georeferencing(): - """Run odm_georeferencing""" - print "\n - running georeferencing - " + now() - - os.chdir(jobOptions["jobDir"]) - try: - os.mkdir(jobOptions["jobDir"] + "/odm_georeferencing") - except: - pass - - if not args.odm_georeferencing_useGcp: - run("\"" + BIN_PATH + "/odm_extract_utm\" -imagesPath " + jobOptions["srcDir"] + "/ -imageListFile " \ - + jobOptions["jobDir"] + "/pmvs/list.rd.txt -outputCoordFile " + jobOptions["jobDir"] \ - + "/odm_georeferencing/coordFile.txt") - - run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] \ - + "/pmvs/bundle.rd.out -inputCoordFile " + jobOptions["jobDir"] \ - + "/odm_georeferencing/coordFile.txt -inputFile " + jobOptions["jobDir"] \ - + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] \ - + "-results/odm_texturing/odm_textured_model_geo.obj -inputPointCloudFile " \ - + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] \ - + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] \ - + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] \ - + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt") - - elif os.path.isfile(jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile): - run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] \ - + "/pmvs/bundle.rd.out -gcpFile " + jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile \ - + " -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + jobOptions["jobDir"] \ - + "/pmvs/list.rd.txt -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -inputFile " \ - + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " \ - + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -outputCoordFile " \ - + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputPointCloudFile " \ - + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] \ - + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] \ - + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] \ - + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt") - else: - print "Warning: No GCP file. Consider rerunning with argument --odm_georeferencing-useGcp false --start-with odm_georeferencing" - print "Skipping orthophoto" - args.end_with = "odm_georeferencing" - - if "csString" not in jobOptions: - parse_coordinate_system() - - if "csString" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions: - images = [] - with open(jobOptions["jobDir"] + "/pmvs/list.rd.txt") as f: - images = f.readlines() - - if len(images) > 0: - with open(jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt") as f: - for lineNumber, line in enumerate(f): - if lineNumber >= 2 and lineNumber - 2 < len(images): - tokens = line.split(' ') - - if len(tokens) >= 3: - x = float(tokens[0]) - y = float(tokens[1]) - z = float(tokens[2]) - filename = images[lineNumber - 2] - - run("echo " + str(x + jobOptions["utmEastOffset"]) + " " \ - + str(y + jobOptions["utmNorthOffset"]) + " " + str(z) \ - + " | cs2cs " + jobOptions["csString"] + " +to +datum=WGS84 +proj=latlong > " \ - + jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt") - - with open(jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt") as latlongFile: - latlongLine = latlongFile.readline() - tokens = latlongLine.split() - if len(tokens) >= 2: - exifGpsInfoWritten = False - - lonString = tokens[0] # Example: 83d18'16.285"W - latString = tokens[1] # Example: 41d2'11.789"N - altString = "" - if len(tokens) > 2: - - altString = tokens[2] # Example: 0.998 - - tokens = re.split("[d '\"]+", lonString) - if len(tokens) >= 4: - lonDeg = tokens[0] - lonMin = tokens[1] - lonSec = tokens[2] - lonSecFrac = fractions.Fraction(lonSec) - lonSecNumerator = str(lonSecFrac._numerator) - lonSecDenominator = str(lonSecFrac._denominator) - lonRef = tokens[3] - - tokens = re.split("[d '\"]+", latString) - if len(tokens) >= 4: - latDeg = tokens[0] - latMin = tokens[1] - latSec = tokens[2] - latSecFrac = fractions.Fraction(latSec) - latSecNumerator = str(latSecFrac._numerator) - latSecDenominator = str(latSecFrac._denominator) - latRef = tokens[3] - - exivCmd = "exiv2 -q" - exivCmd += " -M\"set Exif.GPSInfo.GPSLatitude " + latDeg + "/1 " \ - + latMin + "/1 " + latSecNumerator + "/" + latSecDenominator + "\"" - - exivCmd += " -M\"set Exif.GPSInfo.GPSLatitudeRef " + latRef + "\"" - - exivCmd += " -M\"set Exif.GPSInfo.GPSLongitude " + lonDeg + "/1 " \ - + lonMin + "/1 " + lonSecNumerator + "/" + lonSecDenominator + "\"" - - exivCmd += " -M\"set Exif.GPSInfo.GPSLongitudeRef " + lonRef + "\"" - - altNumerator = arcDenominator = 0 # BUG: arcDenominator is never used - - if altString: - altFrac = fractions.Fraction(altString) - altNumerator = str(altFrac._numerator) - altDenominator = str(altFrac._denominator) - exivCmd += " -M\"set Exif.GPSInfo.GPSAltitude " + altNumerator + "/" + altDenominator + "\"" - exivCmd += " -M\"set Exif.GPSInfo.GPSAltitudeRef 0\"" - - exivCmd += " " + filename - run(exivCmd) - exifGpsInfoWritten = True - - if not exifGpsInfoWritten: - print(" Warning: Failed setting EXIF GPS info for " \ - + filename + " based on " + latlongLine) - - if "epsg" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions: - lasCmd = "\"" + BIN_PATH + "/txt2las\" -i " + jobOptions["jobDir"] + \ - "-results/option-0000_georef.ply -o " + jobOptions["jobDir"] \ - + "-results/pointcloud_georef.laz -skip 30 -parse xyzRGBssss -set_scale 0.01 0.01 0.01 -set_offset " \ - + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -translate_xyz " \ - + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) \ - + " 0 -epsg " + str(jobOptions["epsg"]) - - print(" Creating geo-referenced LAS file (expecting warning)...") - - run(lasCmd) - - - if args['--end-with'] != "odm_georeferencing": - odm_orthophoto() \ No newline at end of file