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Merge point clouds working 

Former-commit-id: 940efcded9
pull/1161/head
Piero Toffanin 2019-04-24 17:36:45 -04:00
rodzic 699a429312
commit b0c01d423e
6 zmienionych plików z 123 dodań i 81 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

32
opendm/dem/pdal.py
Wyświetl plik

@ -34,10 +34,10 @@ import os
import json as jsonlib
import tempfile
from opendm import system
from opendm import log
import glob
from datetime import datetime
import uuid
from pipes import quote
""" JSON Functions """
@ -134,7 +134,7 @@ def json_add_readers(json, filenames):
def json_print(json):
""" Pretty print JSON """
print jsonlib.dumps(json, indent=4, separators=(',', ': '))
log.ODM_DEBUG(jsonlib.dumps(json, indent=4, separators=(',', ': ')))
""" Run PDAL commands """
@ -147,7 +147,7 @@ def run_pipeline(json, verbose=False):
# write to temp file
f, jsonfile = tempfile.mkstemp(suffix='.json')
if verbose:
print 'Pipeline file: %s' % jsonfile
log.ODM_INFO('Pipeline file: %s' % jsonfile)
os.write(f, jsonlib.dumps(json))
os.close(f)
@ -157,9 +157,9 @@ def run_pipeline(json, verbose=False):
'-i %s' % jsonfile
]
if verbose:
out = system.run(' '.join(cmd))
system.run(' '.join(cmd))
else:
out = system.run(' '.join(cmd) + ' > /dev/null 2>&1')
system.run(' '.join(cmd) + ' > /dev/null 2>&1')
os.remove(jsonfile)
@ -178,9 +178,23 @@ def run_pdaltranslate_smrf(fin, fout, scalar, slope, threshold, window, verbose=
]
if verbose:
print ' '.join(cmd)
log.ODM_DEBUG(' '.join(cmd))
system.run(' '.join(cmd))
def merge_point_clouds(input_files, output_file, verbose=False):
if len(input_files) == 0:
log.ODM_WARNING("Cannot merge point clouds, no point clouds to merge.")
return
cmd = [
'pdal',
'merge',
' '.join(map(quote, input_files + [output_file])),
]
out = system.run(' '.join(cmd))
if verbose:
print out
log.ODM_DEBUG(' '.join(cmd))
system.run(' '.join(cmd))

27
opendm/osfm.py
Wyświetl plik

@ -141,6 +141,7 @@ def get_submodel_argv(args, submodels_path, submodel_name):
"""
:return the same as argv, but removing references to --split,
setting/replacing --project-path and name
setting/replacing --crop to 0 (never crop on submodels)
"""
argv = sys.argv
@ -148,6 +149,7 @@ def get_submodel_argv(args, submodels_path, submodel_name):
i = 1
project_path_found = False
project_name_added = False
crop_found = True
# TODO: what about GCP paths?
@ -168,6 +170,11 @@ def get_submodel_argv(args, submodels_path, submodel_name):
result.append(submodels_path)
project_path_found = True
i += 2
elif arg == '--crop':
result.append(arg)
result.append('0')
crop_found = True
i += 2
elif arg == '--split':
i += 2
else:
@ -177,8 +184,28 @@ def get_submodel_argv(args, submodels_path, submodel_name):
if not project_path_found:
result.append('--project-path')
result.append(submodel_project_path)
if not crop_found:
result.append('--crop')
result.append('0')
if not project_name_added:
result.append(submodel_name)
return result
def get_submodel_paths(submodels_path, *paths):
"""
:return Existing paths for all submodels
"""
result = []
for f in os.listdir(submodels_path):
if f.startswith('submodel'):
p = os.path.join(submodels_path, f, *paths)
if os.path.exists(p):
result.append(p)
else:
log.ODM_WARNING("Missing %s from submodel %s" % (p, f))
return result

19
opendm/types.py
Wyświetl plik

@ -337,25 +337,6 @@ class ODM_Tree(object):
return io.join_paths(self.root_path, *args)
class SplitMerge(object):
""" docstring for SplitMerge"""
def __init__(self, project_name, progress):
self.project_name = project_name
self.progress = 0
def load_progress(self, sm_file):
with open(sm_file) as f:
prog = int(f.readline())
if prog in range(0, 6):
self.update_progress(prog)
def save_progress(self, sm_file):
with open(sm_file, 'w') as f:
f.write(str(self.progress))
def update_progress(self, progress):
if progress in range(0,6):
self.progress = progress
else:
log.ODM_ERROR("Failed to save progress")
class ODM_Stage:
def __init__(self, name, args, **params):
self.name = name

84
run.py
Wyświetl plik

@ -42,45 +42,47 @@ if __name__ == '__main__':
app = ODMApp(args)
app.execute()
log.ODM_INFO('MMMMMMMMMMMNNNMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMNNNMMMMMMMMMMM')
log.ODM_INFO('MMMMMMdo:..---../sNMMMMMMMMMMMMMMMMMMMMMMMMMMNs/..---..:odMMMMMM')
log.ODM_INFO('MMMMy-.odNMMMMMNy/`/mMMMMMMMMMMMMMMMMMMMMMMm/`/hNMMMMMNdo.-yMMMM')
log.ODM_INFO('MMN/`sMMMMMMMMMNNMm/`yMMMMMMMMMMMMMMMMMMMMy`/mMNNMMMMMMMMNs`/MMM')
log.ODM_INFO('MM/ hMMMMMMMMNs.+MMM/ dMMMMMMMMMMMMMMMMMMh +MMM+.sNMMMMMMMMh +MM')
log.ODM_INFO('MN /MMMMMMNo/./mMMMMN :MMMMMMMMMMMMMMMMMM: NMMMMm/./oNMMMMMM: NM')
log.ODM_INFO('Mm +MMMMMN+ `/MMMMMMM`-MMMMMMMMMMMMMMMMMM-`MMMMMMM:` oNMMMMM+ mM')
log.ODM_INFO('MM..NMMNs./mNMMMMMMMy sMMMMMMMMMMMMMMMMMMo hMMMMMMMNm/.sNMMN`-MM')
log.ODM_INFO('MMd`:mMNomMMMMMMMMMy`:MMMMMMMNmmmmNMMMMMMN:`hMMMMMMMMMdoNMm-`dMM')
log.ODM_INFO('MMMm:.omMMMMMMMMNh/ sdmmho/.`..`-``-/sddh+ /hNMMMMMMMMdo.:mMMM')
log.ODM_INFO('MMMMMd+--/osss+:-:/` ```:- .ym+ hmo``:-` `+:-:ossso/-:+dMMMMM')
log.ODM_INFO('MMMMMMMNmhysosydmNMo /ds`/NMM+ hMMd..dh. sMNmdysosyhmNMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMMs .:-:``hmmN+ yNmds -:.:`-NMMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMN.-mNm- //:::. -:://: +mMd`-NMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM+ dMMN -MMNNN+ yNNNMN :MMMs sMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM`.mmmy /mmmmm/ smmmmm``mmmh :MMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM``:::- ./////. -:::::` :::: -MMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM:`mNNd /NNNNN+ hNNNNN .NNNy +MMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMd`/MMM.`ys+//. -/+oso +MMN.`mMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMMy /o:- `oyhd/ shys+ `-:s-`hMMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMNmdhhhdmNMMM` +d+ sMMM+ hMMN:`hh- sMMNmdhhhdmNMMMMMMMM')
log.ODM_INFO('MMMMMms:::/++//::+ho .+- /dM+ hNh- +/` -h+:://++/::/smMMMMM')
log.ODM_INFO('MMMN+./hmMMMMMMNds- ./oso:.``:. :-``.:os+- -sdNMMMMMMmy:.oNMMM')
log.ODM_INFO('MMm-.hMNhNMMMMMMMMNo`/MMMMMNdhyyyyhhdNMMMM+`oNMMMMMMMMNhNMh.-mMM')
log.ODM_INFO('MM:`mMMN/-sNNMMMMMMMo yMMMMMMMMMMMMMMMMMMy sMMMMMMMNNs-/NMMm`:MM')
log.ODM_INFO('Mm /MMMMMd/.-oMMMMMMN :MMMMMMMMMMMMMMMMMM-`MMMMMMMo-./dMMMMM/ NM')
log.ODM_INFO('Mm /MMMMMMm:-`sNMMMMN :MMMMMMMMMMMMMMMMMM-`MMMMMNs`-/NMMMMMM/ NM')
log.ODM_INFO('MM:`mMMMMMMMMd/-sMMMo yMMMMMMMMMMMMMMMMMMy sMMMs-/dMMMMMMMMd`:MM')
log.ODM_INFO('MMm-.hMMMMMMMMMdhMNo`+MMMMMMMMMMMMMMMMMMMM+`oNMhdMMMMMMMMMh.-mMM')
log.ODM_INFO('MMMNo./hmNMMMMMNms--yMMMMMMMMMMMMMMMMMMMMMMy--smNMMMMMNmy/.oNMMM')
log.ODM_INFO('MMMMMms:-:/+++/:-+hMMMMMMMMMMMMMMMMMMMMMMMMMNh+-:/+++/:-:smMMMMM')
log.ODM_INFO('MMMMMMMMNdhhyhdmMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMmdhyhhmNMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMNNNNNMMMMMMNNNNNNMMMMMMMMNNMMMMMMMNNMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMh/-...-+dMMMm......:+hMMMMs../MMMMMo..sMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMM/ /yhy- sMMm -hhy/ :NMM+ oMMMy /MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMy /MMMMN` NMm /MMMMo +MM: .` yMd``` :MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMM+ sMMMMM: hMm /MMMMd -MM- /s `h.`d- -MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMs +MMMMM. mMm /MMMMy /MM. +M/ yM: `MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMN- smNm/ +MMm :NNdo` .mMM` oMM+/yMM/ MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMNo- `:yMMMm `:sNMMM` sMMMMMMM+ NMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMNmmNMMMMMMMNmmmmNMMMMMMMNNMMMMMMMMMNNMMMMMMMMMMMM')
# Do not show ASCII art for local submodels runs
if not "submodels/submodel_" in args.project_path:
log.ODM_INFO('MMMMMMMMMMMNNNMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMNNNMMMMMMMMMMM')
log.ODM_INFO('MMMMMMdo:..---../sNMMMMMMMMMMMMMMMMMMMMMMMMMMNs/..---..:odMMMMMM')
log.ODM_INFO('MMMMy-.odNMMMMMNy/`/mMMMMMMMMMMMMMMMMMMMMMMm/`/hNMMMMMNdo.-yMMMM')
log.ODM_INFO('MMN/`sMMMMMMMMMNNMm/`yMMMMMMMMMMMMMMMMMMMMy`/mMNNMMMMMMMMNs`/MMM')
log.ODM_INFO('MM/ hMMMMMMMMNs.+MMM/ dMMMMMMMMMMMMMMMMMMh +MMM+.sNMMMMMMMMh +MM')
log.ODM_INFO('MN /MMMMMMNo/./mMMMMN :MMMMMMMMMMMMMMMMMM: NMMMMm/./oNMMMMMM: NM')
log.ODM_INFO('Mm +MMMMMN+ `/MMMMMMM`-MMMMMMMMMMMMMMMMMM-`MMMMMMM:` oNMMMMM+ mM')
log.ODM_INFO('MM..NMMNs./mNMMMMMMMy sMMMMMMMMMMMMMMMMMMo hMMMMMMMNm/.sNMMN`-MM')
log.ODM_INFO('MMd`:mMNomMMMMMMMMMy`:MMMMMMMNmmmmNMMMMMMN:`hMMMMMMMMMdoNMm-`dMM')
log.ODM_INFO('MMMm:.omMMMMMMMMNh/ sdmmho/.`..`-``-/sddh+ /hNMMMMMMMMdo.:mMMM')
log.ODM_INFO('MMMMMd+--/osss+:-:/` ```:- .ym+ hmo``:-` `+:-:ossso/-:+dMMMMM')
log.ODM_INFO('MMMMMMMNmhysosydmNMo /ds`/NMM+ hMMd..dh. sMNmdysosyhmNMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMMs .:-:``hmmN+ yNmds -:.:`-NMMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMN.-mNm- //:::. -:://: +mMd`-NMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM+ dMMN -MMNNN+ yNNNMN :MMMs sMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM`.mmmy /mmmmm/ smmmmm``mmmh :MMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM``:::- ./////. -:::::` :::: -MMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMM:`mNNd /NNNNN+ hNNNNN .NNNy +MMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMd`/MMM.`ys+//. -/+oso +MMN.`mMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMMMMMy /o:- `oyhd/ shys+ `-:s-`hMMMMMMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMNmdhhhdmNMMM` +d+ sMMM+ hMMN:`hh- sMMNmdhhhdmNMMMMMMMM')
log.ODM_INFO('MMMMMms:::/++//::+ho .+- /dM+ hNh- +/` -h+:://++/::/smMMMMM')
log.ODM_INFO('MMMN+./hmMMMMMMNds- ./oso:.``:. :-``.:os+- -sdNMMMMMMmy:.oNMMM')
log.ODM_INFO('MMm-.hMNhNMMMMMMMMNo`/MMMMMNdhyyyyhhdNMMMM+`oNMMMMMMMMNhNMh.-mMM')
log.ODM_INFO('MM:`mMMN/-sNNMMMMMMMo yMMMMMMMMMMMMMMMMMMy sMMMMMMMNNs-/NMMm`:MM')
log.ODM_INFO('Mm /MMMMMd/.-oMMMMMMN :MMMMMMMMMMMMMMMMMM-`MMMMMMMo-./dMMMMM/ NM')
log.ODM_INFO('Mm /MMMMMMm:-`sNMMMMN :MMMMMMMMMMMMMMMMMM-`MMMMMNs`-/NMMMMMM/ NM')
log.ODM_INFO('MM:`mMMMMMMMMd/-sMMMo yMMMMMMMMMMMMMMMMMMy sMMMs-/dMMMMMMMMd`:MM')
log.ODM_INFO('MMm-.hMMMMMMMMMdhMNo`+MMMMMMMMMMMMMMMMMMMM+`oNMhdMMMMMMMMMh.-mMM')
log.ODM_INFO('MMMNo./hmNMMMMMNms--yMMMMMMMMMMMMMMMMMMMMMMy--smNMMMMMNmy/.oNMMM')
log.ODM_INFO('MMMMMms:-:/+++/:-+hMMMMMMMMMMMMMMMMMMMMMMMMMNh+-:/+++/:-:smMMMMM')
log.ODM_INFO('MMMMMMMMNdhhyhdmMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMmdhyhhmNMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMNNNNNMMMMMMNNNNNNMMMMMMMMNNMMMMMMMNNMMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMh/-...-+dMMMm......:+hMMMMs../MMMMMo..sMMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMM/ /yhy- sMMm -hhy/ :NMM+ oMMMy /MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMy /MMMMN` NMm /MMMMo +MM: .` yMd``` :MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMM+ sMMMMM: hMm /MMMMd -MM- /s `h.`d- -MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMs +MMMMM. mMm /MMMMy /MM. +M/ yM: `MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMN- smNm/ +MMm :NNdo` .mMM` oMM+/yMM/ MMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMNo- `:yMMMm `:sNMMM` sMMMMMMM+ NMMMMMMMMMMM')
log.ODM_INFO('MMMMMMMMMMMMMMMNmmNMMMMMMMNmmmmNMMMMMMMNNMMMMMMMMMNNMMMMMMMMMMMM')
log.ODM_INFO('OpenDroneMap app finished - %s' % system.now())

5
scripts/run_opensfm.py
Wyświetl plik

@ -27,13 +27,8 @@ class ODMOpenSfMStage(types.ODM_Stage):
else:
output_file = tree.opensfm_reconstruction
# check if reconstruction was done before
# TODO: more granularity for each step (setup/featurematch/reconstruction/etc.)
osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, rerun=self.rerun())
osfm.feature_matching(tree.opensfm, self.rerun())
osfm.reconstruct(tree.opensfm, self.rerun())
if not io.file_exists(output_file) or self.rerun():

37
scripts/splitmerge.py
Wyświetl plik

@ -4,6 +4,7 @@ from opendm import osfm
from opendm import types
from opendm import io
from opendm import system
from opendm.dem import pdal
from opensfm.large import metadataset
from pipes import quote
@ -52,11 +53,17 @@ class ODMSplitStage(types.ODM_Stage):
for sp in submodel_paths:
log.ODM_INFO("Reconstructing %s" % sp)
#osfm.reconstruct(sp, self.rerun())
osfm.reconstruct(sp, self.rerun())
# Align
log.ODM_INFO("Aligning submodels...")
#osfm.run('align_submodels', tree.opensfm)
alignment_file = io.join_paths(tree.opensfm, 'alignment_done.txt')
if not io.file_exists(alignment_file) or self.rerun():
log.ODM_INFO("Aligning submodels...")
osfm.run('align_submodels', tree.opensfm)
with open(alignment_file, 'w') as fout:
fout.write("Alignment done!\n")
else:
log.ODM_WARNING('Found a alignment matching done progress file in: %s' % alignment_file)
# Dense reconstruction for each submodel
for sp in submodel_paths:
@ -68,15 +75,14 @@ class ODMSplitStage(types.ODM_Stage):
submodel_name = os.path.basename(os.path.abspath(os.path.join(sp, "..")))
log.ODM_INFO("====================")
log.ODM_INFO("========================")
log.ODM_INFO("Processing %s" % submodel_name)
log.ODM_INFO("====================")
log.ODM_INFO("========================")
argv = osfm.get_submodel_argv(args, tree.submodels_path, submodel_name)
# Re-run the ODM toolchain on the submodel
system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())
else:
log.ODM_INFO("Normal dataset, will process all at once.")
@ -87,6 +93,23 @@ class ODMMergeStage(types.ODM_Stage):
reconstruction = outputs['reconstruction']
if outputs['large']:
# Merge point clouds
all_point_clouds = osfm.get_submodel_paths(tree.submodels_path, "odm_georeferencing", "odm_georeferenced_model.laz")
pdal.merge_point_clouds(all_point_clouds, tree.odm_georeferencing_model_laz, args.verbose)
# Merge orthophoto
# TODO: crop ortho if necessary
# Merge DEM
# TODO: crop DEM if necessary
# Stop the pipeline short! We're done.
self.next_stage = None
else:
log.ODM_INFO("Normal dataset, nothing to merge.")