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Merge pull request #261 from OpenDroneMap/xyz-ptcloud 

Xyz ptcloud
pull/263/head
Dakota Benjamin 2016-02-25 15:56:39 -05:00
rodzic 08f0123410 050ba88d81
commit 70675e7b6c
2 zmienionych plików z 70 dodań i 200 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

32
opendm/types.py
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@ -123,7 +123,6 @@ class ODM_GeoRef(object):
log.ODM_ERROR('Unknown pole format %s' % _pole)
return
def convert_to_las(self, _file, pdalXML):
if not self.epsg:
@ -166,12 +165,11 @@ class ODM_GeoRef(object):
pipelineXml += ' </Writer>'
pipelineXml += '</Pipeline>'
with open(pdalXML, 'w') as f:
f.write(pipelineXml)
# call pdal
system.run('{bin}/pdal pipeline -i {xml} --readers.ply.filename={f_in} ' \
system.run('{bin}/pdal pipeline -i {xml} --readers.ply.filename={f_in} '
'--writers.las.filename={f_out}'.format(**kwargs))
def utm_to_latlon(self, _file, _photo, idx):
@ -185,8 +183,8 @@ class ODM_GeoRef(object):
'y': gcp.y + self.utm_north_offset,
'z': gcp.z }
latlon = system.run_and_return('echo {x} {y} | cs2cs +proj=utm ' \
'+datum={datum} +ellps={datum} +zone={zone} +units=m +to ' \
latlon = system.run_and_return('echo {x} {y} | cs2cs +proj=utm '
'+datum={datum} +ellps={datum} +zone={zone} +units=m +to '
'+proj=latlon +ellps={datum}'.format(**kwargs)).split()
# Example: 83d18'16.285"W
@ -292,6 +290,7 @@ class ODM_GeoRef(object):
# update EPSG
self.epsg = self.calculate_EPSG(self.utm_zone, self.utm_pole)
class ODM_Tree(object):
def __init__(self, root_path):
### root path to the project
@ -336,14 +335,6 @@ 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')
@ -358,6 +349,16 @@ 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')
self.odm_georeferencing_pdal = io.join_paths(
self.odm_georeferencing, 'pipeline.xml')
@ -368,8 +369,3 @@ class ODM_Tree(object):
self.odm_orthophoto_log = io.join_paths(self.odm_orthophoto, 'odm_orthophoto_log.txt')
self.odm_orthophoto_tif_log = io.join_paths(self.odm_orthophoto, 'gdal_translate_log.txt')

212
scripts/odm_georeferencing.py
Wyświetl plik

@ -1,4 +1,5 @@
import ecto
import csv
from opendm import io
from opendm import log
@ -6,6 +7,7 @@ from opendm import types
from opendm import system
from opendm import context
class ODMGeoreferencingCell(ecto.Cell):
def declare_params(self, params):
params.declare("gcp_file", 'path to the file containing the ground control '
@ -38,8 +40,9 @@ class ODMGeoreferencingCell(ecto.Cell):
if not self.params.use_gcp and \
not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('Warning: No coordinates file. ' \
'Generating coordinates file in: %s' % tree.odm_georeferencing_coords)
log.ODM_WARNING('Warning: No coordinates file. '
'Generating coordinates file in: %s'
% tree.odm_georeferencing_coords)
try:
# odm_georeference definitions
kwargs = {
@ -51,13 +54,13 @@ class ODMGeoreferencingCell(ecto.Cell):
}
# run UTM extraction binary
system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ ' \
'-imageListFile {imgs_list} -outputCoordFile {coords} ' \
system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ '
'-imageListFile {imgs_list} -outputCoordFile {coords} '
'-logFile {log}'.format(**kwargs))
except Exception, e:
log.ODM_ERROR('Could not generate GCP file from images metadata.' \
'Consider rerunning with argument --odm_georeferencing-useGcp' \
log.ODM_ERROR('Could not generate GCP file from images metadata.'
'Consider rerunning with argument --odm_georeferencing-useGcp'
' and provide a proper GCP file')
log.ODM_ERROR(e)
return ecto.QUIT
@ -69,8 +72,8 @@ 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 +85,9 @@ 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),
@ -93,22 +96,17 @@ 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} ' \
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} ' \
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))
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)
@ -117,153 +115,29 @@ class ODMGeoreferencingCell(ecto.Cell):
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, tree.odm_georeferencing_pdal)
geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_pdal)
# 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)
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()