From a80de54e922cbe606f3670c8a6c7d30eaa8d5b3c Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Sun, 3 Jun 2018 21:01:04 -0400
Subject: [PATCH] Fixed CSV export, added pc-csv flag

---
 opendm/config.py              |  5 +++++
 scripts/odm_georeferencing.py | 30 +++++++++++++++++++-----------
 scripts/run_opensfm.py        |  7 -------
 3 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/opendm/config.py b/opendm/config.py
index 52a1f5df..15d0e367 100644
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -334,6 +334,11 @@ def config():
             'Default: '
             '%(default)s')
 
+    parser.add_argument('--pc-csv',
+                        action='store_true',
+                        default=False,
+                        help='Export the georeferenced point cloud in CSV format. Default:  %(default)s')
+
     parser.add_argument('--texturing-data-term',
                         metavar='<string>',
                         default='gmi',
diff --git a/scripts/odm_georeferencing.py b/scripts/odm_georeferencing.py
index 0c7263bc..42f8b0a4 100644
--- a/scripts/odm_georeferencing.py
+++ b/scripts/odm_georeferencing.py
@@ -1,6 +1,7 @@
 import ecto
 import csv
 import os
+import struct
 
 from opendm import io
 from opendm import log
@@ -143,21 +144,28 @@ class ODMGeoreferencingCell(ecto.Cell):
                     reconstruction.georef = geo_ref
 
                     # XYZ point cloud output
-                    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=",")
-                        reachedpoints = False
-                        with open(odm_georeferencing_model_ply_geo) as f:
-                            for lineNumber, line in enumerate(f):
-                                if reachedpoints:
-                                    tokens = line.split(" ")
+                    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
+
+                                while True:
+                                    chunk = f.read(27) # 3 doubles, 3 uints
+                                    if len(chunk) < 27:
+                                        break
+                                    tokens = struct.unpack('<dddBBB', chunk)
                                     csv_line = [float(tokens[0]),
                                                 float(tokens[1]),
                                                 tokens[2]]
                                     csvfile_writer.writerow(csv_line)
-                                if line.startswith("end_header"):
-                                    reachedpoints = True
-                    csvfile.close()
 
                     if args.crop > 0:
                         log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
diff --git a/scripts/run_opensfm.py b/scripts/run_opensfm.py
index af31d572..2f02a101 100644
--- a/scripts/run_opensfm.py
+++ b/scripts/run_opensfm.py
@@ -136,13 +136,6 @@ class ODMOpenSfMCell(ecto.Cell):
                 log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
                                 tree.opensfm_reconstruction)
 
-            if not io.file_exists(tree.opensfm_reconstruction_meshed) or rerun_cell:
-                system.run('PYTHONPATH=%s %s/bin/opensfm mesh %s' %
-                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
-            else:
-                log.ODM_WARNING('Found a valid OpenSfM meshed reconstruction file in: %s' %
-                                tree.opensfm_reconstruction_meshed)
-
             if not args.use_pmvs:
                 if not io.file_exists(tree.opensfm_reconstruction_nvm) or rerun_cell:
                     system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm %s' %