kopia lustrzana https://github.com/OpenDroneMap/ODM
Add postprocess stage, embed GCP info in point clouds, rasters
Piero Toffanin
rodzic
335802b563
commit
92d868e33e
2
VERSION
2
VERSION
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@ -1 +1 @@
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2.5.8
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2.5.9
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@ -11,7 +11,7 @@ import sys
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# parse arguments
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processopts = ['dataset', 'split', 'merge', 'opensfm', 'openmvs', 'odm_filterpoints',
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'odm_meshing', 'mvs_texturing', 'odm_georeferencing',
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'odm_dem', 'odm_orthophoto', 'odm_report']
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'odm_dem', 'odm_orthophoto', 'odm_report', 'odm_postprocess']
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with open(os.path.join(context.root_path, 'VERSION')) as version_file:
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__version__ = version_file.read().strip()
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@ -95,7 +95,7 @@ def config(argv=None, parser=None):
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parser.add_argument('--end-with', '-e',
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metavar='<string>',
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action=StoreValue,
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default='odm_report',
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default='odm_postprocess',
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choices=processopts,
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help='End processing at this stage. Can be one of: %(choices)s. Default: %(default)s')
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@ -488,9 +488,11 @@ class OSFMContext:
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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 = np.array(gcp.coordinates.value)
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coordinates = np.dot(A, coordinates) + b
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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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result.append({
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@ -498,7 +500,7 @@ class OSFMContext:
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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 - coordinates)
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'error': np.abs(triangulated_topocentric - coordinates_topocentric)
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})
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return result
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@ -359,6 +359,13 @@ class ODM_Stage:
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progressbc.send_update(self.previous_stages_progress() +
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(self.delta_progress() / 100.0) * float(progress))
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def last_stage(self):
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if self.next_stage:
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return self.next_stage.last_stage()
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else:
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return self
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def process(self, args, outputs):
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raise NotImplementedError
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@ -18,6 +18,8 @@ from stages.odm_filterpoints import ODMFilterPoints
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from stages.splitmerge import ODMSplitStage, ODMMergeStage
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from stages.odm_report import ODMReport
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from stages.odm_postprocess import ODMPostProcess
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class ODMApp:
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def __init__(self, args):
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@ -61,7 +63,9 @@ class ODMApp:
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max_concurrency=args.max_concurrency,
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verbose=args.verbose)
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orthophoto = ODMOrthoPhotoStage('odm_orthophoto', args, progress=98.0)
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report = ODMReport('odm_report', args, progress=100.0)
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report = ODMReport('odm_report', args, progress=99.0)
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postprocess = ODMPostProcess('odm_postprocess', args, progress=100.0)
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# Normal pipeline
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self.first_stage = dataset
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@ -82,7 +86,8 @@ class ODMApp:
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.connect(georeferencing) \
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.connect(dem) \
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.connect(orthophoto) \
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.connect(report)
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.connect(report) \
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.connect(postprocess)
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def execute(self):
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try:
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@ -12,70 +12,20 @@ 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.osfm import OSFMContext
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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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reconstruction = outputs['reconstruction']
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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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# params = [
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# '--filters.ferry.dimensions="views => UserData"',
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# '--writers.las.compression="lazip"',
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# ]
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# if reconstruction.is_georeferenced():
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# log.ODM_INFO("Georeferencing point cloud")
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# stages.append("transformation")
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# params += [
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# '--filters.transformation.matrix="1 0 0 %s 0 1 0 %s 0 0 1 0 0 0 0 1"' % reconstruction.georef.utm_offset(),
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# '--writers.las.offset_x=%s' % reconstruction.georef.utm_east_offset,
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# '--writers.las.offset_y=%s' % reconstruction.georef.utm_north_offset,
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# '--writers.las.offset_z=0',
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# '--writers.las.a_srs="%s"' % reconstruction.georef.proj4()
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# ]
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# system.run(cmd + ' ' + ' '.join(stages) + ' ' + ' '.join(params))
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# self.update_progress(50)
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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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# cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
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# if args.fast_orthophoto:
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# decimation_step = 10
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# else:
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# decimation_step = 40
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# # More aggressive decimation for large datasets
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# if not args.fast_orthophoto:
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# decimation_step *= int(len(reconstruction.photos) / 1000) + 1
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# decimation_step = min(decimation_step, 95)
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# try:
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# cropper.create_bounds_gpkg(tree.odm_georeferencing_model_laz, args.crop,
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# decimation_step=decimation_step)
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# except:
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# log.ODM_WARNING("Cannot calculate crop bounds! We will skip cropping")
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# args.crop = 0
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# else:
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# log.ODM_INFO("Converting point cloud (non-georeferenced)")
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# system.run(cmd + ' ' + ' '.join(stages) + ' ' + ' '.join(params))
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# point_cloud.post_point_cloud_steps(args, tree, self.rerun())
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# else:
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# log.ODM_WARNING('Found a valid georeferenced model in: %s'
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# % tree.odm_georeferencing_model_laz)
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# Export GCP information if available
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gcp_export_file = tree.path("odm_georeferencing", "ground_control_points.gpkg")
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if (reconstruction.has_gcp() and not io.file_exists(gcp_export_file)) or self.rerun():
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gcp_gml_export_file = tree.path("odm_georeferencing", "ground_control_points.gml")
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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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gcps = octx.ground_control_points(reconstruction.georef.proj4())
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@ -117,9 +67,75 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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('error_z', gcp['error'][2]),
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])
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})
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# Write GML
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try:
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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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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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params = [
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'--filters.ferry.dimensions="views => UserData"',
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'--writers.las.compression="lazip"',
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]
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if reconstruction.is_georeferenced():
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log.ODM_INFO("Georeferencing point cloud")
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stages.append("transformation")
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params += [
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'--filters.transformation.matrix="1 0 0 %s 0 1 0 %s 0 0 1 0 0 0 0 1"' % reconstruction.georef.utm_offset(),
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'--writers.las.offset_x=%s' % reconstruction.georef.utm_east_offset,
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'--writers.las.offset_y=%s' % reconstruction.georef.utm_north_offset,
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'--writers.las.offset_z=0',
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'--writers.las.a_srs="%s"' % reconstruction.georef.proj4()
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]
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if reconstruction.has_gcp() and io.file_exists(gcp_gml_export_file):
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log.ODM_INFO("Embedding GCP info in point cloud")
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params += [
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'--writers.las.vlrs="{\\\"filename\\\": \\\"%s\\\", \\\"user_id\\\": \\\"ODM_GCP\\\", \\\"description\\\": \\\"Ground Control Points (GML)\\\"}"' % gcp_gml_export_file
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]
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system.run(cmd + ' ' + ' '.join(stages) + ' ' + ' '.join(params))
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self.update_progress(50)
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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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cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
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if args.fast_orthophoto:
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decimation_step = 10
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else:
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decimation_step = 40
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# More aggressive decimation for large datasets
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if not args.fast_orthophoto:
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decimation_step *= int(len(reconstruction.photos) / 1000) + 1
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decimation_step = min(decimation_step, 95)
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try:
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cropper.create_bounds_gpkg(tree.odm_georeferencing_model_laz, args.crop,
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decimation_step=decimation_step)
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except:
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log.ODM_WARNING("Cannot calculate crop bounds! We will skip cropping")
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args.crop = 0
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else:
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log.ODM_INFO("Converting point cloud (non-georeferenced)")
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system.run(cmd + ' ' + ' '.join(stages) + ' ' + ' '.join(params))
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point_cloud.post_point_cloud_steps(args, tree, self.rerun())
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else:
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log.ODM_WARNING('Found a valid georeferenced model in: %s'
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% tree.odm_georeferencing_model_laz)
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if args.optimize_disk_space and io.file_exists(tree.odm_georeferencing_model_laz) and io.file_exists(tree.filtered_point_cloud):
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os.remove(tree.filtered_point_cloud)
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@ -0,0 +1,49 @@
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import os
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from osgeo import gdal
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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.utils import copy_paths, get_processing_results_paths
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class ODMPostProcess(types.ODM_Stage):
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def process(self, args, outputs):
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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log.ODM_INFO("Post Processing")
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if not outputs['large']:
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# TODO: support for split-merge?
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# Embed GCP info in 2D results via
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# XML metadata fields
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gcp_gml_export_file = tree.path("odm_georeferencing", "ground_control_points.gml")
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if reconstruction.has_gcp() and io.file_exists(gcp_gml_export_file):
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skip_embed_gcp = False
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with open(gcp_gml_export_file) as f:
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gcp_xml = f.read()
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for product in [tree.odm_orthophoto_tif,
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tree.path("odm_dem", "dsm.tif"),
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tree.path("odm_dem", "dtm.tif")]:
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if os.path.isfile(product):
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ds = gdal.Open(product)
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if ds is not None:
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if ds.GetMetadata('xml:GROUND_CONTROL_POINTS') is None or self.rerun():
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ds.SetMetadata(gcp_xml, 'xml:GROUND_CONTROL_POINTS')
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ds = None
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log.ODM_INFO("Wrote xml:GROUND_CONTROL_POINTS metadata to %s" % product)
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else:
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skip_embed_gcp = True
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log.ODM_WARNING("Already embedded ground control point information.")
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break
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else:
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log.ODM_WARNING("Cannot open %s for writing, skipping GCP embedding" % product)
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if args.copy_to:
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try:
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copy_paths([os.path.join(args.project_path, p) for p in get_processing_results_paths()], args.copy_to, self.rerun())
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except Exception as e:
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log.ODM_WARNING("Cannot copy to %s: %s" % (args.copy_to, str(e)))
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@ -14,7 +14,7 @@ from opendm.point_cloud import export_info_json
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from opendm.cropper import Cropper
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from opendm.orthophoto import get_orthophoto_vars, get_max_memory, generate_png
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from opendm.tiles.tiler import generate_colored_hillshade
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from opendm.utils import get_raster_stats, copy_paths, get_processing_results_paths
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from opendm.utils import get_raster_stats
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def hms(seconds):
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h = seconds // 3600
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@ -196,10 +196,3 @@ class ODMReport(types.ODM_Stage):
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log.ODM_WARNING("Cannot generate overlap diagram, point cloud stats missing")
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octx.export_report(os.path.join(tree.odm_report, "report.pdf"), odm_stats, self.rerun())
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# TODO: does this warrant a new stage?
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if args.copy_to:
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try:
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copy_paths([os.path.join(args.project_path, p) for p in get_processing_results_paths()], args.copy_to, self.rerun())
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except Exception as e:
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log.ODM_WARNING("Cannot copy to %s: %s" % (args.copy_to, str(e)))
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@ -55,6 +55,18 @@ class ODMOpenSfMStage(types.ODM_Stage):
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cleanup_disk_space()
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return
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# Stats are computed in the local CRS (before geoprojection)
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if not args.skip_report:
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# TODO: this will fail to compute proper statistics if
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# the pipeline is run with --skip-report and is subsequently
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# rerun without --skip-report a --rerun-* parameter (due to the reconstruction.json file)
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# being replaced below. It's an isolated use case.
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octx.export_stats(self.rerun())
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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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@ -67,12 +79,6 @@ class ODMOpenSfMStage(types.ODM_Stage):
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else:
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log.ODM_WARNING("Will skip exporting %s" % tree.opensfm_geocoords_reconstruction)
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self.update_progress(75)
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# Stats are computed in the geographic CRS
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if not args.skip_report:
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octx.export_stats(self.rerun())
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self.update_progress(80)
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updated_config_flag_file = octx.path('updated_config.txt')
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@ -367,8 +367,9 @@ class ODMMergeStage(types.ODM_Stage):
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else:
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log.ODM_WARNING("Found merged shots.geojson in %s" % tree.odm_report)
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# Stop the pipeline short! We're done.
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self.next_stage = None
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# Stop the pipeline short by skipping to the postprocess stage.
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# Afterwards, we're done.
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self.next_stage = self.last_stage()
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else:
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log.ODM_INFO("Normal dataset, nothing to merge.")
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self.progress = 0.0
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