kopia lustrzana https://github.com/OpenDroneMap/ODM
LAStools merge in split-merge
Piero Toffanin
rodzic
677370dd50
commit
8a8d51a695
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@ -168,3 +168,16 @@ externalproject_add(dem2points
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BUILD_COMMAND make
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INSTALL_COMMAND ""
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)
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externalproject_add(lastools
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GIT_REPOSITORY https://github.com/LAStools/LAStools.git
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GIT_TAG 2ef44281645999ec7217facec84a5913bbbbe165
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SOURCE_DIR ${SB_SOURCE_DIR}/lastools
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CONFIGURE_COMMAND ""
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CMAKE_COMMAND ""
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CMAKE_GENERATOR ""
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UPDATE_COMMAND ""
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BUILD_IN_SOURCE 1
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BUILD_COMMAND make -C LASlib -j$(nproc) CXXFLAGS='-std=c++11' && make -C src -j$(nproc) CXXFLAGS='-std=c++11' lasmerge
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INSTALL_COMMAND mv ${SB_SOURCE_DIR}/lastools/bin/lasmerge ${SB_INSTALL_DIR}/bin
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)
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@ -1,33 +1,10 @@
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import os
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import json
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import shutil
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from pipes import quote
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from opendm import io
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from opendm import log
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from opendm import system
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from opendm import concurrency
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import math
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def closest_power_of_4(x):
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if x <= 0:
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return 1
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n = 1
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while n < x:
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n *= 4
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return n
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def get_num_points(scan_file):
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if not os.path.exists(scan_file):
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log.ODM_WARNING("%s does not exist, cannot get number of points." % scan_file)
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return 0
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with open(scan_file, "r") as f:
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scan = json.loads(f.read())
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if not 'points' in scan:
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log.ODM_WARNING("Cannot find number of points in point clouds (points key missing from scan.json). Returning 0")
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return 0
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return scan['points']
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def build(input_point_cloud_files, output_path, max_concurrency=8, rerun=False):
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num_files = len(input_point_cloud_files)
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@ -45,29 +22,20 @@ def build(input_point_cloud_files, output_path, max_concurrency=8, rerun=False):
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'threads': max_concurrency,
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'tmpdir': tmpdir,
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'all_inputs': "-i " + " ".join(map(quote, input_point_cloud_files)),
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'outputdir': output_path,
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'scan_file': os.path.join(output_path, "scan.json")
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'outputdir': output_path
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}
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# Run scan to compute number of points
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# Run scan to compute dataset bounds
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system.run('entwine scan --threads {threads} --tmp "{tmpdir}" {all_inputs} -o "{outputdir}"'.format(**kwargs))
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num_points = get_num_points(kwargs['scan_file'])
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scan_json = os.path.join(output_path, "scan.json")
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# TODO: choose subset
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entwine_cmd = "entwine build --threads {threads} --tmp {tmpdir} -i {scan_file} -o {outputdir}".format(**kwargs)
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# Need to split into subsets?
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if num_files > 1:
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subsets = closest_power_of_4(num_files)
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for s in range(1, subsets + 1):
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system.run(entwine_cmd + " --subset %s %s" % (s, subsets))
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# Merge
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system.run("entwine merge --threads {threads} --tmp {tmpdir} -o {outputdir}".format(**kwargs))
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if os.path.exists(scan_json):
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kwargs['input'] = scan_json
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for _ in range(num_files):
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# One at a time
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system.run('entwine build --threads {threads} --tmp "{tmpdir}" -i "{input}" -o "{outputdir}" --run 1'.format(**kwargs))
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else:
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# Single run
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system.run(entwine_cmd)
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log.ODM_WARNING("%s does not exist, no point cloud will be built." % scan_json)
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if os.path.exists(tmpdir):
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@ -3,6 +3,9 @@ from opendm import system
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from opendm import log
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from opendm import context
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from opendm.system import run
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from opendm import entwine
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from opendm import io
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from pipes import quote
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def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=16, confidence=None, verbose=False):
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"""
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@ -92,6 +95,50 @@ def get_extent(input_point_cloud):
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raise Exception("Cannot compute bounds for %s (invalid keys) %s" % (input_point_cloud, str(bounds)))
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os.remove(json_file)
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return bounds
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return bounds
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def merge(input_point_cloud_files, output_file, rerun=False):
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num_files = len(input_point_cloud_files)
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if num_files == 0:
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log.ODM_WARNING("No input point cloud files to process")
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return
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if rerun and io.file_exists(output_file):
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log.ODM_WARNING("Removing previous point cloud: %s" % output_file)
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os.remove(output_file)
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kwargs = {
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'all_inputs': " ".join(map(quote, input_point_cloud_files)),
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'output': output_file
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}
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system.run('lasmerge -i {all_inputs} -o "{output}"'.format(**kwargs))
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def post_point_cloud_steps(args, tree):
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# XYZ point cloud output
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if args.pc_csv:
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log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
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system.run("pdal translate -i \"{}\" "
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"-o \"{}\" "
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"--writers.text.format=csv "
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"--writers.text.order=\"X,Y,Z\" "
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"--writers.text.keep_unspecified=false ".format(
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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_xyz_file))
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# LAS point cloud output
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if args.pc_las:
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log.ODM_INFO("Creating geo-referenced LAS file")
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system.run("pdal translate -i \"{}\" "
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"-o \"{}\" ".format(
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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_model_las))
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# EPT point cloud output
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if args.pc_ept:
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log.ODM_INFO("Creating geo-referenced Entwine Point Tile output")
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entwine.build([tree.odm_georeferencing_model_laz], tree.entwine_pointcloud, max_concurrency=args.max_concurrency, rerun=False)
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@ -9,7 +9,6 @@ from opendm import system
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from opendm import context
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from opendm.cropper import Cropper
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from opendm import point_cloud
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from opendm import entwine
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class ODMGeoreferencingStage(types.ODM_Stage):
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def process(self, args, outputs):
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@ -97,32 +96,7 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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if doPointCloudGeo:
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reconstruction.georef.extract_offsets(odm_georeferencing_model_txt_geo_file)
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# XYZ point cloud output
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if args.pc_csv:
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log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
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system.run("pdal translate -i \"{}\" "
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"-o \"{}\" "
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"--writers.text.format=csv "
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"--writers.text.order=\"X,Y,Z\" "
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"--writers.text.keep_unspecified=false ".format(
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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_xyz_file))
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# LAS point cloud output
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if args.pc_las:
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log.ODM_INFO("Creating geo-referenced LAS file")
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system.run("pdal translate -i \"{}\" "
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"-o \"{}\" ".format(
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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_model_las))
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# EPT point cloud output
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if args.pc_ept:
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log.ODM_INFO("Creating geo-referenced Entwine Point Tile output")
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entwine.build([tree.odm_georeferencing_model_laz], tree.entwine_pointcloud, max_concurrency=args.max_concurrency, rerun=self.rerun())
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point_cloud.post_point_cloud_steps(args, tree)
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if args.crop > 0:
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log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
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@ -13,7 +13,7 @@ from opensfm.large import metadataset
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from opendm.cropper import Cropper
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from opendm.concurrency import get_max_memory
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from opendm.remote import LocalRemoteExecutor
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from opendm import entwine
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from opendm import point_cloud
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from pipes import quote
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class ODMSplitStage(types.ODM_Stage):
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@ -175,26 +175,17 @@ class ODMMergeStage(types.ODM_Stage):
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# Merge point clouds
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if args.merge in ['all', 'pointcloud']:
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if not io.dir_exists(tree.entwine_pointcloud) or self.rerun():
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if not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
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all_point_clouds = get_submodel_paths(tree.submodels_path, "odm_georeferencing", "odm_georeferenced_model.laz")
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try:
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entwine.build(all_point_clouds, tree.entwine_pointcloud, max_concurrency=args.max_concurrency, rerun=self.rerun())
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point_cloud.merge(all_point_clouds, tree.odm_georeferencing_model_laz, rerun=self.rerun())
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point_cloud.post_point_cloud_steps(args, tree)
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except Exception as e:
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log.ODM_WARNING("Could not merge EPT point cloud: %s (skipping)" % str(e))
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else:
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log.ODM_WARNING("Found merged EPT point cloud in %s" % tree.entwine_pointcloud)
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if not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
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if io.dir_exists(tree.entwine_pointcloud):
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try:
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system.run('pdal translate "ept://{}" "{}"'.format(tree.entwine_pointcloud, tree.odm_georeferencing_model_laz))
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except Exception as e:
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log.ODM_WARNING("Cannot export EPT dataset to LAZ: %s" % str(e))
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else:
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log.ODM_WARNING("No EPT point cloud found (%s), skipping LAZ conversion)" % tree.entwine_pointcloud)
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log.ODM_WARNING("Could not merge point cloud: %s (skipping)" % str(e))
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else:
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log.ODM_WARNING("Found merged point cloud in %s" % tree.odm_georeferencing_model_laz)
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self.update_progress(25)
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