Merge pull request #260 from smathermather/pdal-adds

Add PDAL to ODM for point cloud stuff

Former-commit-id: 6c485b915b

SuperBuild/CMakeLists.txt

@@ -102,7 +102,8 @@ set(custom_libs OpenGV
 				CMVS
 				Catkin
 				Ecto
-				LAStools)
+				LAStools
+				PDAL)
 
 foreach(lib ${custom_libs})
 	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})

SuperBuild/cmake/External-PDAL.cmake

@@ -0,0 +1,29 @@
+set(_proj_name pdal)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/PDAL/PDAL/archive/d242c6704aafe85fd49fda11adae63d07ce11b76.zip 
+  URL_MD5           14a7319e1f8483808eb93732cfa6511a
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -BUILD_PGPOINTCLOUD_TESTS=ON
+    -BUILD_PLUGIN_PCL=ON
+    -BUILD_PLUGIN_PGPOINTCLOUD=ON
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)

opendm/context.py

@@ -25,6 +25,7 @@ pmvs2_path = os.path.join(superbuild_path, "install/bin/pmvs2")
 
 # define txt2las path
 txt2las_path = os.path.join(superbuild_path, 'src/las-tools/bin')
+pdal_path = os.path.join(superbuild_path, 'build/pdal/bin')
 
 # define odm modules path
 odm_modules_path = os.path.join(root_path, "build/bin")

opendm/types.py

@@ -124,24 +124,55 @@ class ODM_GeoRef(object):
             return
 
 
-    def convert_to_las(self, _file):
+    def convert_to_las(self, _file, pdalXML):
 
         if not self.epsg:
             log.ODM_ERROR('Empty EPSG: Could not convert to LAS')
             return
 
-        kwargs = { 'bin': context.txt2las_path,
+        kwargs = { 'bin': context.pdal_path,
                    'f_in': _file,
-                   'f_out': _file + '.laz',
+                   'f_out': _file + '.las',
                    'east': self.utm_east_offset,
                    'north': self.utm_north_offset,
-                   'epsg': self.epsg }
+                   'epsg': self.epsg,
+                   'xml': pdalXML}
 
         # call txt2las
-        system.run('{bin}/txt2las -i {f_in} -o {f_out} -skip 30 -parse xyzRGBssss ' \
+        #system.run('{bin}/txt2las -i {f_in} -o {f_out} -skip 30 -parse xyzRGBssss ' \
-                   '-set_scale 0.01 0.01 0.01 -set_offset {east} {north} 0 '  \
+        #           '-set_scale 0.01 0.01 0.01 -set_offset {east} {north} 0 '  \
-                   '-translate_xyz 0 -epsg {epsg}'.format(**kwargs))
+        #           '-translate_xyz 0 -epsg {epsg}'.format(**kwargs))
+        #           
+        # create pipeline file transform.xml to enable transformation
+        pipelineXml  = '<?xml version=\"1.0\" encoding=\"utf-8\"?>'
+        pipelineXml += '<Pipeline version=\"1.0\">'
+        pipelineXml += '  <Writer type=\"writers.las\">'
+        pipelineXml += '    <Option name=\"filename\">'
+        pipelineXml += '      transformed.las'
+        pipelineXml += '    </Option>'
+        pipelineXml += '    <Filter type=\"filters.transformation\">'
+        pipelineXml += '      <Option name=\"matrix\">'
+        pipelineXml += '        1  0  0  {east}'.format(**kwargs)
+        pipelineXml += '        0  1  0  {north}'.format(**kwargs)
+        pipelineXml += '        0  0  1  0'
+        pipelineXml += '        0  0  0  1'
+        pipelineXml += '      </Option>'
+        pipelineXml += '      <Reader type=\"readers.ply\">'
+        pipelineXml += '        <Option name=\"filename\">'
+        pipelineXml += '          untransformed.ply'
+        pipelineXml += '        </Option>'
+        pipelineXml += '      </Reader>'
+        pipelineXml += '    </Filter>'
+        pipelineXml += '  </Writer>'
+        pipelineXml += '</Pipeline>'
 
+        
+        with open(pdalXML, 'w') as f:
+            f.write(pipelineXml)
+
+        # call pdal 
+        system.run('{bin}/pdal pipeline -i {xml} --readers.ply.filename={f_in} ' \
+                   '--writers.las.filename={f_out}'.format(**kwargs))
 
     def utm_to_latlon(self, _file, _photo, idx):
 
@@ -279,6 +310,7 @@ class ODM_Tree(object):
         self.odm_texturing = io.join_paths(self.root_path, 'odm_texturing')
         self.odm_georeferencing = io.join_paths(self.root_path, 'odm_georeferencing')
         self.odm_orthophoto = io.join_paths(self.root_path, 'odm_orthophoto')
+        self.odm_pdal = io.join_paths(self.root_path, 'pdal')
 
         ### important files paths
         
@@ -326,6 +358,8 @@ class ODM_Tree(object):
             self.odm_georeferencing, 'odm_georeferencing_utm_log.txt')
         self.odm_georeferencing_log = io.join_paths(
             self.odm_georeferencing, 'odm_georeferencing_log.txt')
+        self.odm_georeferencing_pdal = io.join_paths(
+            self.odm_georeferencing, 'pipeline.xml')
 
         # odm_orthophoto
         self.odm_orthophoto_file = io.join_paths(self.odm_orthophoto, 'odm_orthophoto.png')
@@ -338,5 +372,4 @@ class ODM_Tree(object):
 
 
 
-
         

scripts/odm_georeferencing.py

@@ -117,7 +117,7 @@ class ODMGeoreferencingCell(ecto.Cell):
             geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx)
 
         # convert ply model to LAS reference system
-        geo_ref.convert_to_las(tree.odm_textured_model_ply_geo)
+        geo_ref.convert_to_las(tree.odm_textured_model_ply_geo, tree.odm_georeferencing_pdal)
 
 
         log.ODM_INFO('Running OMD Georeferencing Cell - Finished')
@@ -266,4 +266,4 @@ def odm_georeferencing():
  
 
     if args['--end-with'] != "odm_georeferencing":
-        odm_orthophoto()
+        odm_orthophoto()