kopia lustrzana https://github.com/OpenDroneMap/ODM
fix georef, add silent flag to dmrecon, add flag for confidence level to scene2pset
Former-commit-id: ca43e539c4
pull/1161/head
Stephen Mather
commit
a51fabd663
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@ -6,7 +6,7 @@ ExternalProject_Add(${_proj_name}
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TMP_DIR ${_SB_BINARY_DIR}/tmp
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}/${_proj_name}
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URL http://www.exiv2.org/builds/exiv2-0.26-trunk.tar.gz
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URL http://www.exiv2.org/builds/exiv2-0.27.0-Source.tar.gz
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${SB_INSTALL_DIR}
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@ -17,4 +17,4 @@ ExternalProject_Add(${_proj_name}
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LOG_DOWNLOAD OFF
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LOG_CONFIGURE OFF
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LOG_BUILD OFF
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)
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)
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@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 2.8)
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set(PROJ4_INCLUDE_DIR "/usr/include/" CACHE "PROJ4_INCLUDE_DIR" "Path to the proj4 inlcude directory")
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find_library(PROJ4_LIBRARY "libproj.so" PATHS "/usr/lib" "/usr/lib/x86_64-linux-gnu")
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find_library(EXIV2_LIBRARY "libexiv2.so.26" PATHS "${PROJECT_SOURCE_DIR}/../../SuperBuild/install/lib")
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find_library(EXIV2_LIBRARY "libexiv2.so.27" PATHS "${PROJECT_SOURCE_DIR}/../../SuperBuild/install/lib")
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include_directories("${PROJECT_SOURCE_DIR}/../../SuperBuild/install/include")
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# Add compiler options.
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@ -26,6 +26,13 @@ set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui)
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include_directories(${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
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include_directories(${EIGEN_ROOT})
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# PDAL and jsoncpp
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find_package(PDAL REQUIRED CONFIG)
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include_directories(${PDAL_INCLUDE_DIRS})
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include_directories("${PROJECT_SOURCE_DIR}/../../SuperBuild/src/pdal/vendor/jsoncpp/dist")
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link_directories(${PDAL_LIBRARY_DIRS})
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add_definitions(${PDAL_DEFINITIONS})
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# Add source directory
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aux_source_directory("./src" SRC_LIST)
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@ -33,4 +40,4 @@ aux_source_directory("./src" SRC_LIST)
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add_executable(${PROJECT_NAME} ${SRC_LIST})
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# Link
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target_link_libraries(${PROJECT_NAME} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${PROJ4_LIBRARY} ${OpenCV_LIBS})
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target_link_libraries(${PROJECT_NAME} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${PROJ4_LIBRARY} ${OpenCV_LIBS} jsoncpp ${PDAL_LIBRARIES})
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@ -13,8 +13,6 @@ using namespace std;
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// This
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#include "Georef.hpp"
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#define IS_BIG_ENDIAN (*(uint16_t *)"\0\xff" < 0x100)
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std::ostream& operator<<(std::ostream &os, const GeorefSystem &geo)
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{
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return os << setiosflags(ios::fixed) << setprecision(7) << geo.system_ << "\n" << geo.eastingOffset_ << " " << geo.northingOffset_;
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@ -413,6 +411,16 @@ void Georef::parseArguments(int argc, char *argv[])
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log_ << "Reading point cloud from: " << inputPointCloudFilename_ << "\n";
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georeferencePointCloud_ = true;
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}
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else if(argument == "-outputPointCloudSrs" && argIndex < argc)
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{
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argIndex++;
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if (argIndex >= argc)
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{
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throw GeorefException("Argument '" + argument + "' expects 1 more input following it, but no more inputs were provided.");
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}
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outputPointCloudSrs_ = std::string(argv[argIndex]);
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log_ << "Using SRS for point cloud: " << outputPointCloudSrs_ << "\n";
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}
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else if(argument == "-gcpFile" && argIndex < argc)
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{
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argIndex++;
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@ -590,10 +598,13 @@ void Georef::printHelp()
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// log_ << "The resized resolution used in bundler.\n\n";
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log_ << "\"-outputFile <path>\" (optional, default <inputFile>_geo)" << "\n";
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log_ << "\"Output obj file that will contain the georeferenced texture mesh.\n\n";
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log_ << "Output obj file that will contain the georeferenced texture mesh.\n\n";
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log_ << "\"-outputPointCloudFile <path>\" (mandatory if georeferencing a point cloud)" << "\n";
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log_ << "\"Output ply file that will contain the georeferenced point cloud.\n\n";
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log_ << "Output las/laz file that will contain the georeferenced point cloud.\n\n";
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log_ << "\"-outputPointCloudSrs <srs>\" (recommended if georeferencing a point cloud)" << "\n";
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log_ << "Output spatial reference system to use for output point cloud.\n\n";
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log_.setIsPrintingInCout(printInCoutPop);
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}
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@ -1406,72 +1417,43 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
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template <typename Scalar>
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void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform, const char *outputFile){
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try{
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pcl::PointCloud<pcl::PointXYZRGBNormal> pointCloud;
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if(pcl::io::loadPLYFile<pcl::PointXYZRGBNormal> (inputFile, pointCloud) == -1) {
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throw GeorefException("Error when reading point cloud:\n" + std::string(inputFile) + "\n");
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}
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else
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{
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log_ << "Successfully loaded " << pointCloud.size() << " points with corresponding normals from file.\n";
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}
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log_ << "Writing transformed point cloud to " << outputFile << "...\n";
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log_ << "Transforming point cloud...\n";
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// We don't use PCL's built-in functions
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// because PCL does not support double coordinates
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// precision
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std::ofstream f (outputFile);
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f << "ply" << std::endl;
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// PDAL pipeline: ply reader --> matrix transform --> las writer.
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if (IS_BIG_ENDIAN){
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f << "format binary_big_endian 1.0" << std::endl;
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pdal::Options inPlyOpts;
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inPlyOpts.add("filename", inputFile);
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pdal::PointTable table;
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pdal::PlyReader plyReader;
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plyReader.setOptions(inPlyOpts);
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pdal::MatrixTransformFilter<Scalar> transformFilter(transform);
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transformFilter.setInput(plyReader);
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pdal::Options outLasOpts;
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outLasOpts.add("filename", outputFile);
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std::string s(outputFile);
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if (s.substr(s.find_last_of(".") + 1) == "laz"){
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outLasOpts.add("compression", "laszip");
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}
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outLasOpts.add("offset_x", georefSystem_.eastingOffset_);
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outLasOpts.add("offset_y", georefSystem_.northingOffset_);
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outLasOpts.add("offset_z", 0);
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if (!outputPointCloudSrs_.empty()){
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outLasOpts.add("a_srs", outputPointCloudSrs_);
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}else{
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f << "format binary_little_endian 1.0" << std::endl;
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log_ << "WARNING! A point cloud will be generated without a SRS, because -outputPointCloudSrs was not specified!\n";
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}
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const char *type = "double";
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if (sizeof(Scalar) == sizeof(float)){
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type = "float";
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}
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f << "element vertex " << pointCloud.size() << std::endl
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<< "property " << type << " x" << std::endl
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<< "property " << type << " y" << std::endl
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<< "property " << type << " z" << std::endl
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<< "property uchar red" << std::endl
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<< "property uchar green" << std::endl
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<< "property uchar blue" << std::endl
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<< "end_header" << std::endl;
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struct PlyPoint{
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Scalar x;
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Scalar y;
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Scalar z;
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uint8_t r;
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uint8_t g;
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uint8_t b;
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} p;
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size_t psize = sizeof(Scalar) * 3 + sizeof(uint8_t) * 3;
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// Transform
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for (unsigned int i = 0; i < pointCloud.size(); i++){
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Scalar x = static_cast<Scalar>(pointCloud[i].x);
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Scalar y = static_cast<Scalar>(pointCloud[i].y);
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Scalar z = static_cast<Scalar>(pointCloud[i].z);
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p.r = pointCloud[i].r;
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p.g = pointCloud[i].g;
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p.b = pointCloud[i].b;
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p.x = static_cast<Scalar> (transform (0, 0) * x + transform (0, 1) * y + transform (0, 2) * z + transform (0, 3));
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p.y = static_cast<Scalar> (transform (1, 0) * x + transform (1, 1) * y + transform (1, 2) * z + transform (1, 3));
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p.z = static_cast<Scalar> (transform (2, 0) * x + transform (2, 1) * y + transform (2, 2) * z + transform (2, 3));
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f.write(reinterpret_cast<char*>(&p), psize);
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// TODO: normals can be computed using the inverse transpose
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// https://paroj.github.io/gltut/Illumination/Tut09%20Normal%20Transformation.html
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}
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f.close();
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pdal::LasWriter lasWriter;
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lasWriter.setOptions(outLasOpts);
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lasWriter.setInput(transformFilter);
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lasWriter.prepare(table);
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lasWriter.execute(table);
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log_ << "Point cloud file saved.\n";
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}
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@ -18,6 +18,9 @@
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// Transformation
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#include "FindTransform.hpp"
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// PDAL matrix transform filter
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#include "MatrixTransformFilter.hpp"
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/*!
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* \brief The GeorefSystem struct is used to store information about a georeference system.
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*/
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@ -275,7 +278,8 @@ private:
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std::string outputObjFilename_; /**< The path to the output mesh obj file. **/
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std::string inputPointCloudFilename_; /**< The path to the input point cloud file. **/
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std::string outputPointCloudFilename_; /**< The path to the output point cloud file. **/
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std::string georefFilename_; /**< The path to the output offset file. **/
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std::string georefFilename_; /**< The path to the output offset file. **/
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std::string outputPointCloudSrs_; /**< The spatial reference system of the point cloud file to be written. Can be an EPSG string (e.g. “EPSG:26910”) or a WKT string. **/
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bool georeferencePointCloud_;
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bool exportCoordinateFile_;
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@ -0,0 +1,2 @@
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#include "MatrixTransformFilter.hpp"
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@ -0,0 +1,38 @@
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#pragma once
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#include <pcl/common/eigen.h>
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#include <pdal/PointTable.hpp>
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#include <pdal/PointView.hpp>
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#include <pdal/io/PlyReader.hpp>
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#include <pdal/io/LasWriter.hpp>
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#include <pdal/Options.hpp>
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#include <pdal/Filter.hpp>
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namespace pdal{
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template <typename Scalar>
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class MatrixTransformFilter : public Filter{
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Eigen::Transform<Scalar, 3, Eigen::Affine> transform;
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public:
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MatrixTransformFilter(const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform)
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: transform(transform){};
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std::string getName() const { return "MatrixTransformFilter"; }
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virtual void filter(PointView &view)
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{
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for (PointId id = 0; id < view.size(); ++id)
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{
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Scalar x = view.getFieldAs<Scalar>(Dimension::Id::X, id);
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Scalar y = view.getFieldAs<Scalar>(Dimension::Id::Y, id);
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Scalar z = view.getFieldAs<Scalar>(Dimension::Id::Z, id);
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view.setField(pdal::Dimension::Id::X, id, transform (0, 0) * x + transform (0, 1) * y + transform (0, 2) * z + transform (0, 3));
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view.setField(pdal::Dimension::Id::Y, id, transform (1, 0) * x + transform (1, 1) * y + transform (1, 2) * z + transform (1, 3));
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view.setField(pdal::Dimension::Id::Z, id, transform (2, 0) * x + transform (2, 1) * y + transform (2, 2) * z + transform (2, 3));
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}
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}
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// TODO: implement streaming mode
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};
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}
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@ -25,8 +25,8 @@ orb_slam2_path = os.path.join(superbuild_path, "src/orb_slam2")
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# define mve join_paths
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makescene_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'makescene', 'makescene') #TODO: don't install in source
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mve_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'dmrecon', 'dmrecon')
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mve_path_pc = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'scene2pset', 'scene2pset -F2')
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mve_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'dmrecon', 'dmrecon --progress=silent')
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mve_path_pc = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'scene2pset', 'scene2pset -F2 --with-conf')
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poisson_recon_path = os.path.join(superbuild_path, 'src', 'PoissonRecon', 'Bin', 'Linux', 'PoissonRecon')
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dem2mesh_path = os.path.join(superbuild_path, 'src', 'dem2mesh', 'dem2mesh')
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@ -242,43 +242,6 @@ class ODM_GeoRef(object):
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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, _file_out, json_file):
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if not self.projection.srs:
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log.ODM_ERROR('Empty CRS: Could not convert to LAS')
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return
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kwargs = {'bin': context.pdal_path,
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'f_in': _file,
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'f_out': _file_out,
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'east': self.utm_east_offset,
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'north': self.utm_north_offset,
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'srs': self.projection.srs,
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'json': json_file}
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# create pipeline file las.json to write odm_georeferenced_model.laz point cloud
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pipeline = '{{' \
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' "pipeline":[' \
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' "untransformed.ply",' \
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' {{' \
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' "type":"writers.las",' \
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' "a_srs":"{srs}",' \
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' "offset_x":"{east}",' \
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' "offset_y":"{north}",' \
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' "offset_z":"0",' \
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' "compression":"laszip",' \
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' "filename":"{f_out}"' \
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' }}' \
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' ]' \
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'}}'.format(**kwargs)
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with open(json_file, 'w') as f:
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f.write(pipeline)
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# call pdal
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system.run('{bin}/pdal pipeline -i {json} --readers.ply.filename={f_in}'.format(**kwargs))
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def extract_offsets(self, _file):
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if not io.file_exists(_file):
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log.ODM_ERROR('Could not find file %s' % _file)
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@ -398,7 +361,6 @@ class ODM_Tree(object):
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self.odm_georeferencing_transform_file = 'odm_georeferencing_transform.txt'
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self.odm_georeferencing_proj = 'proj.txt'
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self.odm_georeferencing_model_txt_geo = 'odm_georeferencing_model_geo.txt'
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self.odm_georeferencing_model_ply_geo = 'odm_georeferenced_model.ply'
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self.odm_georeferencing_model_obj_geo = 'odm_textured_model_geo.obj'
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self.odm_georeferencing_xyz_file = io.join_paths(
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self.odm_georeferencing, 'odm_georeferenced_model.csv')
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@ -1,7 +1,7 @@
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import ecto
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import csv
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import os
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import struct
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import pipes
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from opendm import io
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from opendm import log
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@ -41,6 +41,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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doPointCloudGeo = True
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transformPointCloud = True
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verbose = '-verbose' if self.params.verbose else ''
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geo_ref = reconstruction.georef
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# check if we rerun cell or not
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rerun_cell = (args.rerun is not None and
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@ -67,13 +68,12 @@ class ODMGeoreferencingCell(ecto.Cell):
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for r in runs:
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odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
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odm_georeferencing_model_ply_geo = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
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odm_georeferencing_log = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_log)
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odm_georeferencing_transform_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_transform_file)
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odm_georeferencing_model_txt_geo_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
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if not io.file_exists(odm_georeferencing_model_obj_geo) or \
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not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:
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not io.file_exists(tree.odm_georeferencing_model_laz) or rerun_cell:
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# odm_georeference definitions
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kwargs = {
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@ -86,26 +86,30 @@ class ODMGeoreferencingCell(ecto.Cell):
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'input_trans_file': tree.opensfm_transformation,
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'transform_file': odm_georeferencing_transform_file,
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'coords': tree.odm_georeferencing_coords,
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'pc_geo': odm_georeferencing_model_ply_geo,
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'output_pc_file': tree.odm_georeferencing_model_laz,
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'geo_sys': odm_georeferencing_model_txt_geo_file,
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'model_geo': odm_georeferencing_model_obj_geo,
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'gcp': gcpfile,
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'verbose': verbose
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}
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if args.fast_orthophoto:
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kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply')
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kwargs['input_pc_file'] = os.path.join(tree.opensfm, 'reconstruction.ply')
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elif args.use_opensfm_dense:
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kwargs['pc'] = tree.opensfm_model
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||||
kwargs['input_pc_file'] = tree.opensfm_model
|
||||
else:
|
||||
kwargs['pc'] = tree.mve_model
|
||||
kwargs['input_pc_file'] = tree.mve_model
|
||||
|
||||
if transformPointCloud:
|
||||
kwargs['pc_params'] = '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo}'.format(**kwargs)
|
||||
kwargs['pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(**kwargs)
|
||||
|
||||
if geo_ref.projection.srs:
|
||||
kwargs['pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(geo_ref.projection.srs)
|
||||
else:
|
||||
log.ODM_WARNING('NO SRS: The output point cloud will not have a SRS.')
|
||||
else:
|
||||
kwargs['pc_params'] = ''
|
||||
|
||||
|
||||
# Check to see if the GCP file exists
|
||||
|
||||
if not self.params.use_exif and (self.params.gcp_file or tree.odm_georeferencing_gcp):
|
||||
|
|
@ -139,46 +143,33 @@ class ODMGeoreferencingCell(ecto.Cell):
|
|||
|
||||
if doPointCloudGeo:
|
||||
# update images metadata
|
||||
geo_ref = reconstruction.georef
|
||||
geo_ref.extract_offsets(odm_georeferencing_model_txt_geo_file)
|
||||
|
||||
# convert ply model to LAS reference system
|
||||
geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
|
||||
tree.odm_georeferencing_model_laz,
|
||||
tree.odm_georeferencing_las_json)
|
||||
|
||||
reconstruction.georef = geo_ref
|
||||
|
||||
# XYZ point cloud output
|
||||
if args.pc_csv:
|
||||
log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
|
||||
with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
|
||||
csvfile_writer = csv.writer(csvfile, delimiter=",")
|
||||
with open(odm_georeferencing_model_ply_geo) as f:
|
||||
endianess = '<' # little endian
|
||||
while True:
|
||||
line = f.readline()
|
||||
if "binary_big_endian" in line:
|
||||
endianess = '>'
|
||||
if line.startswith("end_header"):
|
||||
break
|
||||
|
||||
fmt = '{}dddBBB'.format(endianess)
|
||||
while True:
|
||||
chunk = f.read(27) # 3 doubles, 3 uints
|
||||
if len(chunk) < 27:
|
||||
break
|
||||
tokens = struct.unpack(fmt, chunk)
|
||||
csv_line = [float(tokens[0]),
|
||||
float(tokens[1]),
|
||||
tokens[2]]
|
||||
csvfile_writer.writerow(csv_line)
|
||||
|
||||
system.run("pdal translate -i \"{}\" "
|
||||
"-o \"{}\" "
|
||||
"--writers.text.format=csv "
|
||||
"--writers.text.order=\"X,Y,Z\" "
|
||||
"--writers.text.keep_unspecified=false ".format(
|
||||
tree.odm_georeferencing_model_laz,
|
||||
tree.odm_georeferencing_xyz_file))
|
||||
|
||||
if args.crop > 0:
|
||||
log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
|
||||
cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
|
||||
|
||||
decimation_step = 40 if args.fast_orthophoto or args.use_opensfm_dense else 90
|
||||
|
||||
# More aggressive decimation for large datasets
|
||||
if not args.fast_orthophoto:
|
||||
decimation_step *= int(len(reconstruction.photos) / 1000) + 1
|
||||
|
||||
cropper.create_bounds_shapefile(tree.odm_georeferencing_model_laz, args.crop,
|
||||
decimation_step=40 if args.fast_orthophoto or args.use_opensfm_dense else 90,
|
||||
decimation_step=decimation_step,
|
||||
outlier_radius=20 if args.fast_orthophoto else 2)
|
||||
|
||||
# Do not execute a second time, since
|
||||
|
|
@ -188,7 +179,7 @@ class ODMGeoreferencingCell(ecto.Cell):
|
|||
transformPointCloud = False
|
||||
else:
|
||||
log.ODM_WARNING('Found a valid georeferenced model in: %s'
|
||||
% odm_georeferencing_model_ply_geo)
|
||||
% tree.odm_georeferencing_model_laz)
|
||||
|
||||
outputs.reconstruction = reconstruction
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue