kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge pull request #286 from dakotabenjamin/fix-gcpref
Allow use of GCPs, allow EPSG codes, use gdaltranslate for georeferencing
Former-commit-id: eb72df31cc
pull/1161/head
Dakota Benjamin
commit
94c27efa82
125
opendm/types.py
125
opendm/types.py
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@ -137,6 +137,24 @@ class ODM_GeoRef(object):
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log.ODM_ERROR('Unknown pole format %s' % _pole)
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return
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def coord_to_fractions(self, coord, refs):
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deg_dec = abs(float(coord))
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deg = int(deg_dec)
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minute_dec = (deg_dec-deg)*60
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minute = int(minute_dec)
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sec_dec = (minute_dec-minute)*60
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sec_dec = round(sec_dec,3)
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sec_denominator = 1000
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sec_numerator = int(sec_dec*sec_denominator)
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if float(coord) >= 0:
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latRef = refs[0]
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else:
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latRef = refs[1]
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output = str(deg) + '/1 ' + str(minute) + '/1 ' + str(sec_numerator) + '/' + str(sec_denominator)
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return output, latRef
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def convert_to_las(self, _file, pdalXML):
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if not self.epsg:
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@ -190,16 +208,15 @@ class ODM_GeoRef(object):
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gcp = self.gcps[idx]
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kwargs = {'datum': self.datum,
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'zone': self.utm_zone,
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kwargs = {'epsg': self.epsg,
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'file': _file,
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'x': gcp.x + self.utm_east_offset,
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'y': gcp.y + self.utm_north_offset,
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'z': gcp.z}
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latlon = system.run_and_return('echo {x} {y} | cs2cs +proj=utm '
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'+datum={datum} +ellps={datum} +zone={zone} +units=m +to '
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'+proj=latlon +ellps={datum}'.format(**kwargs)).split()
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latlon = system.run_and_return('echo {x} {y} {z} '.format(**kwargs),
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'gdaltransform -s_srs \"EPSG:{epsg}\" '
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'-t_srs \"EPSG:4326\"'.format(**kwargs)).split()
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# Example: 83d18'16.285"W
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# Example: 41d2'11.789"N
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@ -213,28 +230,8 @@ class ODM_GeoRef(object):
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else:
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log.ODM_ERROR('Something went wrong %s' % latlon)
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tokens = re.split("[d '\"]+", lon_str)
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if len(tokens) >= 4:
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lon_deg, lon_min, lon_sec = tokens[:3]
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lon_sec_frac = Fraction(lon_sec)
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lon_sec_numerator = str(lon_sec_frac._numerator)
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lon_sec_denominator = str(lon_sec_frac._denominator)
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lon_ref = tokens[3]
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tokens = re.split("[d '\"]+", lat_str)
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if len(tokens) >= 4:
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lat_deg, lat_min, lat_sec = tokens[:3]
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lat_sec_frac = Fraction(lat_sec)
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lat_sec_numerator = str(lat_sec_frac._numerator)
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lat_sec_denominator = str(lat_sec_frac._denominator)
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lat_ref = tokens[3]
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alt_numerator = arc_denominator = 0 # BUG: arc_denominator is never used
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if alt_str:
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alt_frac = Fraction(alt_str)
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alt_numerator = alt_frac._numerator
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alt_denominator = alt_frac._denominator
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lat_frac = self.coord_to_fractions(latlon[1], ['N', 'S'])
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lon_frac = self.coord_to_fractions(latlon[0], ['E', 'W'])
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# read image metadata
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metadata = pyexiv2.ImageMetadata(_photo.path_file)
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@ -244,31 +241,41 @@ class ODM_GeoRef(object):
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# GPS latitude
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key = 'Exif.GPSInfo.GPSLatitude'
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value = [Fraction(int(lat_deg), 1), Fraction(int(lat_min), 1), \
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Fraction(int(lat_sec_numerator), int(lat_sec_denominator))]
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metadata[key] = pyexiv2.ExifTag(key, value)
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value = lat_frac[0].split(' ')
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log.ODM_DEBUG('lat_frac: %s %s %s' % (value[0], value[1], value[2]))
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metadata[key] = pyexiv2.ExifTag(key,
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[Fraction(value[0]),
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Fraction(value[1]),
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Fraction(value[2])])
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key = 'Exif.GPSInfo.GPSLatitudeRef'
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value = '%s' % lat_ref
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value = lat_frac[1]
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metadata[key] = pyexiv2.ExifTag(key, value)
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# GPS longitude
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key = 'Exif.GPSInfo.GPSLongitude'
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value = [Fraction(int(lon_deg), 1), Fraction(int(lon_min), 1), \
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Fraction(int(lon_sec_numerator), int(lon_sec_denominator))]
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metadata[key] = pyexiv2.ExifTag(key, value)
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value = lon_frac[0].split(' ')
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metadata[key] = pyexiv2.ExifTag(key,
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[Fraction(value[0]),
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Fraction(value[1]),
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Fraction(value[2])])
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key = 'Exif.GPSInfo.GPSLongitudeRef'
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value = '%s' % lon_ref
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value = lon_frac[1]
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metadata[key] = pyexiv2.ExifTag(key, value)
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# GPS altitude
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altitude = abs(int(float(latlon[2])*100))
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key = 'Exif.GPSInfo.GPSAltitude'
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value = Fraction(int(gcp.z), 1)
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value = Fraction(altitude, 1)
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metadata[key] = pyexiv2.ExifTag(key, value)
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if latlon[2] >= 0:
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altref = '0'
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else:
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altref = '1'
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key = 'Exif.GPSInfo.GPSAltitudeRef'
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metadata[key] = pyexiv2.ExifTag(key, '0')
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metadata[key] = pyexiv2.ExifTag(key, altref)
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# write values
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metadata.write()
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@ -284,25 +291,41 @@ class ODM_GeoRef(object):
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# extract reference system and utm zone from first line.
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# We will assume the following format:
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# 'WGS84 UTM 17N'
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line = f.readline().split(' ')
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self.datum = line[0]
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self.utm_pole = line[2][len(line) - 1]
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self.utm_zone = int(line[2][:len(line) - 1])
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# extract east and west offsets from second line.
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# We will assume the following format:
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# '440143 4588391'
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line = f.readline().split(' ')
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self.utm_east_offset = int(line[0])
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self.utm_north_offset = int(line[1])
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line = f.readline()
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log.ODM_DEBUG('Line: %s' % line)
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ref = line.split(' ')
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# match_wgs_utm = re.search('WGS84 UTM (\d{1,2})(N|S)', line, re.I)
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if ref[0] == 'WGS84' and ref[1] == 'UTM': # match_wgs_utm:
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self.datum = ref[0]
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self.utm_pole = ref[2][len(ref) - 1]
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self.utm_zone = int(ref[2][:len(ref) - 1])
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# extract east and west offsets from second line.
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# We will assume the following format:
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# '440143 4588391'
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# update EPSG
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self.epsg = self.calculate_EPSG(self.utm_zone, self.utm_pole)
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# If the first line looks like "EPSG:n" or "epsg:n"
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elif ref[0].split(':')[0].lower() == 'epsg':
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self.epsg = line.split(':')[1]
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else:
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log.ODM_ERROR('Could not parse coordinates. Bad CRS supplied: %s' % line)
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return
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offsets = f.readline().split(' ')
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self.utm_east_offset = int(offsets[0])
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self.utm_north_offset = int(offsets[1])
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# parse coordinates
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lines = f.readlines()
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for l in lines:
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x, y, z = l.split(' ')[:3]
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xyz = l.split(' ')
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if len(xyz) == 3:
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x, y, z = xyz[:3]
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elif len(xyz) == 2:
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x, y = xyz[:2]
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z = 0
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self.gcps.append(ODM_GCPoint(float(x), float(y), float(z)))
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# update EPSG
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self.epsg = self.calculate_EPSG(self.utm_zone, self.utm_pole)
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class ODM_Tree(object):
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def __init__(self, root_path):
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@ -33,6 +33,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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# get inputs
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args = self.inputs.args
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tree = self.inputs.tree
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gcpfile = io.join_paths(tree.root_path, self.params.gcp_file)
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# define paths and create working directories
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system.mkdir_p(tree.odm_georeferencing)
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@ -49,7 +50,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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# odm_georeference definitions
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kwargs = {
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'bin': context.odm_modules_path,
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'imgs': tree.dataset_resize,
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'imgs': tree.dataset_raw,
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'imgs_list': tree.opensfm_bundle_list,
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'coords': tree.odm_georeferencing_coords,
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'log': tree.odm_georeferencing_utm_log
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@ -81,7 +82,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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kwargs = {
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'bin': context.odm_modules_path,
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'bundle': tree.opensfm_bundle,
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'imgs': tree.dataset_resize,
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'imgs': tree.dataset_raw,
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'imgs_list': tree.opensfm_bundle_list,
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'model': tree.odm_textured_model_obj,
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'pc': tree.pmvs_model,
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@ -91,14 +92,14 @@ class ODMGeoreferencingCell(ecto.Cell):
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'geo_sys': tree.odm_georeferencing_model_txt_geo,
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'model_geo': tree.odm_georeferencing_model_obj_geo,
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'size': self.params.img_size,
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'gcp': io.join_paths(tree.root_path, self.params.gcp_file),
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'gcp': gcpfile,
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}
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if self.params.use_gcp and \
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io.file_exists(tree.odm_georeferencing_coords):
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io.file_exists(gcpfile):
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
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system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
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'-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} '
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'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} '
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'-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
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