Fixed DEMs orthophoto misalignment bug

modules/odm_georef/src/Georef.cpp

@@ -1330,8 +1330,8 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
     double transX = static_cast<double>(transMat.r1c4_);
     double transY = static_cast<double>(transMat.r2c4_);
 
-    transform(0, 3) = static_cast<double>(0.0f);
-    transform(1, 3) = static_cast<double>(0.0f);
+    transform(0, 3) = transX;
+    transform(1, 3) = transY;
     transform(2, 3) = static_cast<double>(transMat.r3c4_);
     transform(3, 3) = static_cast<double>(transMat.r4c4_);
 
@@ -1367,20 +1367,14 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
         log_ << "Successfully saved model.\n";
     }
 
-    transform(0, 3) = transX;
-    transform(1, 3) = transY;
-
     // GCPs and EXIF modes includes a translation
     // but not UTM offsets. We want our point cloud
     // and odm_georeferencing_model_geo.txt file 
     // to include the UTM offset.
     // OpenSfM already has UTM offsets
     if (addUTM){
-        georefSystem_.eastingOffset_ += transX;
-        georefSystem_.northingOffset_ += transY;
-
-        transform(0, 3) = georefSystem_.eastingOffset_;
-        transform(1, 3) = georefSystem_.northingOffset_;
+        transform(0, 3) = georefSystem_.eastingOffset_ + transX;
+        transform(1, 3) = georefSystem_.northingOffset_ + transY;
     }
 
     printFinalTransform(transform);

scripts/odm_georeferencing.py

@@ -60,11 +60,15 @@ class ODMGeoreferencingCell(ecto.Cell):
             runs = []
 
         if not args.use_3dmesh:
-            runs += [{
+            # Make sure 2.5D mesh is georeferenced before the 3D mesh
+            # Because it will be used to calculate a transform
+            # for the point cloud. If we use the 3D model transform,
+            # DEMs and orthophoto might not align!
+            runs.insert(0, {
                     'georeferencing_dir': tree.odm_25dgeoreferencing,
                     'texturing_dir': tree.odm_25dtexturing,
                     'model': os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj)
-                }]
+                })
 
         for r in runs:
             odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)

scripts/odm_orthophoto.py

@@ -69,7 +69,8 @@ class ODMOrthoPhotoCell(ecto.Cell):
             # TODO: we should move this to a more central
             # location (perhaps during the dataset initialization)
             if georef and not georef.utm_east_offset:
-                odm_georeferencing_model_txt_geo_file = os.path.join(tree.odm_georeferencing, tree.odm_georeferencing_model_txt_geo)
+                georeferencing_dir = tree.odm_georeferencing if args.use_3dmesh and not args.skip_3dmodel else tree.odm_25dgeoreferencing
+                odm_georeferencing_model_txt_geo_file = os.path.join(georeferencing_dir, tree.odm_georeferencing_model_txt_geo)
 
                 if io.file_exists(odm_georeferencing_model_txt_geo_file):
                     georef.extract_offsets(odm_georeferencing_model_txt_geo_file)