kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge c14c683f86 into 465b66a9ae
s.zhong
GitHub
commit
9659bd702b
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@ -0,0 +1,56 @@
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import numpy as np
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from numpy import ndarray
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from typing import Tuple
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from pyproj import Proj
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from opensfm.geo import TopocentricConverter
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def topocentric_to_georef(
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reflat: float,
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reflon: float,
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refalt: float,
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a_srs: str,
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x: ndarray,
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y: ndarray,
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z: ndarray,
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x_offset: float = 0,
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y_offset: float = 0,
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) -> Tuple[ndarray, ndarray, ndarray]:
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reference = TopocentricConverter(reflat, reflon, refalt)
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projection = Proj(a_srs)
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lat, lon, alt = reference.to_lla(x, y, z)
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easting, northing = projection(lon, lat)
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return easting - x_offset, northing - y_offset, alt
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class TopocentricToProj:
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def __init__(self, reflat:float, reflon:float, refalt:float, a_srs:str):
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self.reference = TopocentricConverter(reflat, reflon, refalt)
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self.projection = Proj(a_srs)
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def convert_array(self, arr:ndarray, offset_x:float=0, offset_y:float=0):
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x, y, z = arr['X'], arr['Y'], arr['Z']
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easting, northing, alt = self.convert_points(x, y, z, offset_x, offset_y)
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arr['X'] = easting
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arr['Y'] = northing
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arr['Z'] = alt
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return arr
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def convert_points(self, x:ndarray, y:ndarray, z:ndarray, offset_x:float=0, offset_y:float=0):
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lat, lon, alt = self.reference.to_lla(x, y, z)
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easting, northing = self.projection(lon, lat)
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return easting - offset_x, northing - offset_y, alt
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def convert_obj(self, input_obj:str, output_obj:str, offset_x:float=0, offset_y:float=0):
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with open(input_obj, 'r') as fin:
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with open(output_obj, 'w') as fout:
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lines = fin.readlines()
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for line in lines:
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if line.startswith("v "):
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v = np.fromstring(line.strip()[2:] + " 1", sep=' ', dtype=float)
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vt = self.convert_points(v[0], v[1], v[2], offset_x, offset_y)
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fout.write("v " + " ".join(map(str, list(vt))) + '\n')
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else:
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fout.write(line)
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@ -629,9 +629,12 @@ class OSFMContext:
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return result
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def reference(self):
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ds = DataSet(self.opensfm_project_path)
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return ds.load_reference()
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def name(self):
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return os.path.basename(os.path.abspath(self.path("..")))
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return os.path.basename(os.path.abspath(self.path("..")))
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def get_submodel_argv(args, submodels_path = None, submodel_name = None):
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"""
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@ -361,16 +361,20 @@ class ODM_Tree(object):
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self.openmvs_model = os.path.join(self.openmvs, 'scene_dense_dense_filtered.ply')
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# filter points
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self.filtered_point_cloud_topo = os.path.join(self.odm_filterpoints, "point_cloud_topocentric.ply")
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self.filtered_point_cloud = os.path.join(self.odm_filterpoints, "point_cloud.ply")
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self.filtered_point_cloud_stats = os.path.join(self.odm_filterpoints, "point_cloud_stats.json")
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# odm_meshing
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self.odm_mesh_topo = os.path.join(self.odm_meshing, 'odm_mesh_topocentric.ply')
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self.odm_mesh = os.path.join(self.odm_meshing, 'odm_mesh.ply')
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self.odm_meshing_log = os.path.join(self.odm_meshing, 'odm_meshing_log.txt')
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self.odm_25dmesh_topo = os.path.join(self.odm_meshing, 'odm_25dmesh_topocentric.ply')
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self.odm_25dmesh = os.path.join(self.odm_meshing, 'odm_25dmesh.ply')
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self.odm_25dmeshing_log = os.path.join(self.odm_meshing, 'odm_25dmeshing_log.txt')
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# texturing
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self.odm_textured_model_obj_topo = 'odm_textured_model_topocentric.obj'
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self.odm_textured_model_obj = 'odm_textured_model_geo.obj'
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self.odm_textured_model_glb = 'odm_textured_model_geo.glb'
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@ -33,7 +33,7 @@ class ODMMvsTexStage(types.ODM_Stage):
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if not args.skip_3dmodel and (primary or args.use_3dmesh):
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nonloc.runs += [{
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'out_dir': os.path.join(tree.odm_texturing, subdir),
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'model': tree.odm_mesh,
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'model': tree.odm_mesh_topo,
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'nadir': False,
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'primary': primary,
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'nvm_file': nvm_file,
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@ -43,7 +43,7 @@ class ODMMvsTexStage(types.ODM_Stage):
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if not args.use_3dmesh:
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nonloc.runs += [{
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'out_dir': os.path.join(tree.odm_25dtexturing, subdir),
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'model': tree.odm_25dmesh,
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'model': tree.odm_25dmesh_topo,
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'nadir': True,
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'primary': primary,
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'nvm_file': nvm_file,
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@ -69,9 +69,8 @@ class ODMMvsTexStage(types.ODM_Stage):
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if not io.dir_exists(r['out_dir']):
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system.mkdir_p(r['out_dir'])
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odm_textured_model_obj = os.path.join(r['out_dir'], tree.odm_textured_model_obj)
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odm_textured_model_obj = os.path.join(r['out_dir'], tree.odm_textured_model_obj_topo)
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unaligned_obj = io.related_file_path(odm_textured_model_obj, postfix="_unaligned")
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if not io.file_exists(odm_textured_model_obj) or self.rerun():
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log.ODM_INFO('Writing MVS Textured file in: %s'
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% odm_textured_model_obj)
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@ -91,10 +90,12 @@ class ODMMvsTexStage(types.ODM_Stage):
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if (r['nadir']):
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nadir = '--nadir_mode'
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# mvstex definitions
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# mtl and texture files would be the same between topo and proj geomodel, so create with the final name
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kwargs = {
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'bin': context.mvstex_path,
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'out_dir': os.path.join(r['out_dir'], "odm_textured_model_geo"),
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'out_dir': os.path.join(r['out_dir'], 'odm_textured_model_geo'),
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'model': r['model'],
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'dataTerm': 'gmi',
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'outlierRemovalType': 'gauss_clamping',
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@ -125,6 +126,9 @@ class ODMMvsTexStage(types.ODM_Stage):
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'{nadirMode} '
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'{labelingFile} '
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'{maxTextureSize} '.format(**kwargs))
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# update the obj file name to topo for further conversion
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shutil.move(os.path.join(r['out_dir'], tree.odm_textured_model_obj), odm_textured_model_obj)
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if r['primary'] and (not r['nadir'] or args.skip_3dmodel):
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# GlTF?
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@ -147,7 +151,7 @@ class ODMMvsTexStage(types.ODM_Stage):
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shutil.rmtree(packed_dir)
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try:
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obj_pack(os.path.join(r['out_dir'], tree.odm_textured_model_obj), packed_dir, _info=log.ODM_INFO)
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obj_pack(os.path.join(r['out_dir'], tree.odm_textured_model_obj_topo), packed_dir, _info=log.ODM_INFO)
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# Move packed/* into texturing folder
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system.delete_files(r['out_dir'], (".vec", ))
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@ -19,7 +19,7 @@ class ODMFilterPoints(types.ODM_Stage):
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inputPointCloud = ""
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# check if reconstruction was done before
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if not io.file_exists(tree.filtered_point_cloud) or self.rerun():
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if not io.file_exists(tree.filtered_point_cloud_topo) or self.rerun():
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if args.fast_orthophoto:
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inputPointCloud = os.path.join(tree.opensfm, 'reconstruction.ply')
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else:
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@ -49,14 +49,14 @@ class ODMFilterPoints(types.ODM_Stage):
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else:
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log.ODM_WARNING("Not a georeferenced reconstruction, will ignore --auto-boundary")
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point_cloud.filter(inputPointCloud, tree.filtered_point_cloud, tree.filtered_point_cloud_stats,
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point_cloud.filter(inputPointCloud, tree.filtered_point_cloud_topo, tree.filtered_point_cloud_stats,
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standard_deviation=args.pc_filter,
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sample_radius=args.pc_sample,
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boundary=boundary_offset(outputs.get('boundary'), reconstruction.get_proj_offset()),
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max_concurrency=args.max_concurrency)
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# Quick check
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info = point_cloud.ply_info(tree.filtered_point_cloud)
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info = point_cloud.ply_info(tree.filtered_point_cloud_topo)
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if info["vertex_count"] == 0:
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extra_msg = ''
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if 'boundary' in outputs:
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@ -64,7 +64,7 @@ class ODMFilterPoints(types.ODM_Stage):
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raise system.ExitException("Uh oh! We ended up with an empty point cloud. This means that the reconstruction did not succeed. Have you followed best practices for data acquisition? See https://docs.opendronemap.org/flying/%s" % extra_msg)
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else:
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log.ODM_WARNING('Found a valid point cloud file in: %s' %
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tree.filtered_point_cloud)
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tree.filtered_point_cloud_topo)
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if args.optimize_disk_space and inputPointCloud:
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if os.path.isfile(inputPointCloud):
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@ -9,6 +9,7 @@ import zipfile
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import math
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from collections import OrderedDict
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from pyproj import CRS
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import pdal
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from opendm import io
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from opendm import log
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@ -23,6 +24,7 @@ from opendm.osfm import OSFMContext
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from opendm.boundary import as_polygon, export_to_bounds_files
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from opendm.align import compute_alignment_matrix, transform_point_cloud, transform_obj
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from opendm.utils import np_to_json
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from opendm.georef import TopocentricToProj
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class ODMGeoreferencingStage(types.ODM_Stage):
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def process(self, args, outputs):
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@ -113,19 +115,72 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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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 reconstruction.is_georeferenced():
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# prepare pipeline stage for topocentric to georeferenced conversion
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octx = OSFMContext(tree.opensfm)
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reference = octx.reference()
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converter = TopocentricToProj(reference.lat, reference.lon, reference.alt, reconstruction.georef.proj4())
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if not io.file_exists(tree.filtered_point_cloud) or self.rerun():
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log.ODM_INFO("Georeferecing filtered point cloud")
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if reconstruction.is_georeferenced():
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pipeline = pdal.Reader.ply(tree.filtered_point_cloud_topo).pipeline()
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pipeline.execute()
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arr = pipeline.arrays[0]
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arr = converter.convert_array(
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arr,
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reconstruction.georef.utm_east_offset,
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reconstruction.georef.utm_north_offset
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)
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pipeline = pdal.Writer.ply(
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filename = tree.filtered_point_cloud,
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storage_mode = "little endian",
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).pipeline(arr)
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pipeline.execute()
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else:
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shutil.copy(tree.filtered_point_cloud_topo, tree.filtered_point_cloud)
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def georefernce_textured_model(obj_in, obj_out):
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log.ODM_INFO("Georeferecing textured model %s" % obj_in)
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if not io.file_exists(obj_out) or self.rerun():
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if reconstruction.is_georeferenced():
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converter.convert_obj(
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obj_in,
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obj_out,
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reconstruction.georef.utm_east_offset,
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reconstruction.georef.utm_north_offset
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)
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else:
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shutil.copy(obj_in, obj_out)
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#TODO: maybe parallelize this
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#TODO: gltf export? Should problably move the exporting process after this
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for texturing in [tree.odm_texturing, tree.odm_25dtexturing]:
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if reconstruction.multi_camera:
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primary = get_primary_band_name(reconstruction.multi_camera, args.primary_band)
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for band in reconstruction.multi_camera:
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subdir = "" if band['name'] == primary else band['name'].lower()
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obj_in = os.path.join(texturing, subdir, tree.odm_textured_model_obj_topo)
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obj_out = os.path.join(texturing, subdir, tree.odm_textured_model_obj)
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georefernce_textured_model(obj_in, obj_out)
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else:
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obj_in = os.path.join(texturing, tree.odm_textured_model_obj_topo)
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obj_out = os.path.join(texturing, tree.odm_textured_model_obj)
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transform_textured_model(obj_in, obj_out)
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if not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
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cmd = f'pdal translate -i "{tree.filtered_point_cloud}" -o \"{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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]
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pipeline = pdal.Pipeline()
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pipeline |= pdal.Reader.ply(tree.filtered_point_cloud)
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pipeline |= pdal.Filter.ferry(dimensions="views => UserData")
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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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utmoffset = reconstruction.georef.utm_offset()
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pipeline |= pdal.Filter.transformation(
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matrix=f"1 0 0 {utmoffset[0]} 0 1 0 {utmoffset[1]} 0 0 1 0 0 0 0 1"
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)
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# Establish appropriate las scale for export
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las_scale = 0.001
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@ -148,27 +203,37 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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else:
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log.ODM_INFO("No point_cloud_stats.json found. Using default las scale: %s" % las_scale)
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params += [
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f'--filters.transformation.matrix="1 0 0 {utmoffset[0]} 0 1 0 {utmoffset[1]} 0 0 1 0 0 0 0 1"',
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f'--writers.las.offset_x={reconstruction.georef.utm_east_offset}' ,
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f'--writers.las.offset_y={reconstruction.georef.utm_north_offset}',
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f'--writers.las.scale_x={las_scale}',
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f'--writers.las.scale_y={las_scale}',
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f'--writers.las.scale_z={las_scale}',
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'--writers.las.offset_z=0',
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f'--writers.las.a_srs="{reconstruction.georef.proj4()}"' # HOBU this should maybe be WKT
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]
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las_writer_def = {
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"filename": tree.odm_georeferencing_model_laz,
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"a_srs": reconstruction.georef.proj4(),
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"offset_x": utmoffset[0],
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"offset_y": utmoffset[1],
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"offset_z": 0,
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"scale_x": las_scale,
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"scale_y": las_scale,
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"scale_z": las_scale,
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}
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if reconstruction.has_gcp() and io.file_exists(gcp_geojson_zip_export_file):
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if os.path.getsize(gcp_geojson_zip_export_file) <= 65535:
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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\\\", \\\"record_id\\\": 2, \\\"description\\\": \\\"Ground Control Points (zip)\\\"}"' % gcp_geojson_zip_export_file.replace(os.sep, "/")
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]
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las_writer_def["vlrs"] = json.dumps(
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{
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"filename": gcp_geojson_zip_export_file.replace(os.sep, "/"),
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"user_id": "ODM",
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"record_id": 2,
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"description": "Ground Control Points (zip)"
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}
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)
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else:
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log.ODM_WARNING("Cannot embed GCP info in point cloud, %s is too large" % gcp_geojson_zip_export_file)
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system.run(cmd + ' ' + ' '.join(stages) + ' ' + ' '.join(params))
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pipeline |= pdal.Writer.las(
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**las_writer_def
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)
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pipeline.execute()
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self.update_progress(50)
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@ -202,7 +267,10 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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export_to_bounds_files(outputs['boundary'], reconstruction.get_proj_srs(), bounds_json, bounds_gpkg)
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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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pipeline |= pdal.Writer.las(
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tree.odm_georeferencing_model_laz
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)
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pipeline.execute()
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stats_dir = tree.path("opensfm", "stats", "codem")
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@ -250,7 +318,7 @@ class ODMGeoreferencingStage(types.ODM_Stage):
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except Exception as e:
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log.ODM_WARNING("Cannot transform textured model: %s" % str(e))
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os.rename(unaligned_obj, obj)
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#TODO: seems gltf file is not converted in alignment?
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for texturing in [tree.odm_texturing, tree.odm_25dtexturing]:
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if reconstruction.multi_camera:
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primary = get_primary_band_name(reconstruction.multi_camera, args.primary_band)
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|
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@ -19,11 +19,11 @@ class ODMeshingStage(types.ODM_Stage):
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# Create full 3D model unless --skip-3dmodel is set
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if not args.skip_3dmodel:
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if not io.file_exists(tree.odm_mesh) or self.rerun():
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log.ODM_INFO('Writing ODM Mesh file in: %s' % tree.odm_mesh)
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if not io.file_exists(tree.odm_mesh_topo) or self.rerun():
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log.ODM_INFO('Writing ODM Mesh file in: %s' % tree.odm_mesh_topo)
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mesh.screened_poisson_reconstruction(tree.filtered_point_cloud,
|
||||
tree.odm_mesh,
|
||||
mesh.screened_poisson_reconstruction(tree.filtered_point_cloud_topo,
|
||||
tree.odm_mesh_topo,
|
||||
depth=self.params.get('oct_tree'),
|
||||
samples=self.params.get('samples'),
|
||||
maxVertexCount=self.params.get('max_vertex'),
|
||||
|
|
@ -31,16 +31,16 @@ class ODMeshingStage(types.ODM_Stage):
|
|||
threads=max(1, self.params.get('max_concurrency') - 1)), # poissonrecon can get stuck on some machines if --threads == all cores
|
||||
else:
|
||||
log.ODM_WARNING('Found a valid ODM Mesh file in: %s' %
|
||||
tree.odm_mesh)
|
||||
tree.odm_mesh_topo)
|
||||
|
||||
self.update_progress(50)
|
||||
|
||||
# Always generate a 2.5D mesh
|
||||
# unless --use-3dmesh is set.
|
||||
if not args.use_3dmesh:
|
||||
if not io.file_exists(tree.odm_25dmesh) or self.rerun():
|
||||
if not io.file_exists(tree.odm_25dmesh_topo) or self.rerun():
|
||||
|
||||
log.ODM_INFO('Writing ODM 2.5D Mesh file in: %s' % tree.odm_25dmesh)
|
||||
log.ODM_INFO('Writing ODM 2.5D Mesh file in: %s' % tree.odm_25dmesh_topo)
|
||||
|
||||
multiplier = math.pi / 2.0
|
||||
radius_steps = commands.get_dem_radius_steps(tree.filtered_point_cloud_stats, 3, args.orthophoto_resolution, multiplier=multiplier)
|
||||
|
|
@ -51,7 +51,7 @@ class ODMeshingStage(types.ODM_Stage):
|
|||
if args.fast_orthophoto:
|
||||
dsm_resolution *= 8.0
|
||||
|
||||
mesh.create_25dmesh(tree.filtered_point_cloud, tree.odm_25dmesh,
|
||||
mesh.create_25dmesh(tree.filtered_point_cloud_topo, tree.odm_25dmesh_topo,
|
||||
radius_steps,
|
||||
dsm_resolution=dsm_resolution,
|
||||
depth=self.params.get('oct_tree'),
|
||||
|
|
@ -63,5 +63,5 @@ class ODMeshingStage(types.ODM_Stage):
|
|||
max_tiles=None if reconstruction.has_geotagged_photos() else math.ceil(len(reconstruction.photos) / 2))
|
||||
else:
|
||||
log.ODM_WARNING('Found a valid ODM 2.5D Mesh file in: %s' %
|
||||
tree.odm_25dmesh)
|
||||
tree.odm_25dmesh_topo)
|
||||
|
||||
|
|
|
|||
|
|
@ -69,13 +69,13 @@ class ODMOpenSfMStage(types.ODM_Stage):
|
|||
self.update_progress(75)
|
||||
|
||||
# We now switch to a geographic CRS
|
||||
if reconstruction.is_georeferenced() and (not io.file_exists(tree.opensfm_topocentric_reconstruction) or self.rerun()):
|
||||
octx.run('export_geocoords --reconstruction --proj "%s" --offset-x %s --offset-y %s' %
|
||||
(reconstruction.georef.proj4(), reconstruction.georef.utm_east_offset, reconstruction.georef.utm_north_offset))
|
||||
shutil.move(tree.opensfm_reconstruction, tree.opensfm_topocentric_reconstruction)
|
||||
shutil.move(tree.opensfm_geocoords_reconstruction, tree.opensfm_reconstruction)
|
||||
else:
|
||||
log.ODM_WARNING("Will skip exporting %s" % tree.opensfm_geocoords_reconstruction)
|
||||
# if reconstruction.is_georeferenced() and (not io.file_exists(tree.opensfm_topocentric_reconstruction) or self.rerun()):
|
||||
# octx.run('export_geocoords --reconstruction --proj "%s" --offset-x %s --offset-y %s' %
|
||||
# (reconstruction.georef.proj4(), reconstruction.georef.utm_east_offset, reconstruction.georef.utm_north_offset))
|
||||
# shutil.move(tree.opensfm_reconstruction, tree.opensfm_topocentric_reconstruction)
|
||||
# shutil.move(tree.opensfm_geocoords_reconstruction, tree.opensfm_reconstruction)
|
||||
# else:
|
||||
# log.ODM_WARNING("Will skip exporting %s" % tree.opensfm_geocoords_reconstruction)
|
||||
|
||||
self.update_progress(80)
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue