Skirts, parameter tweaking

opendm/mesh.py

@@ -1,4 +1,6 @@
+from __future__ import absolute_import
 import os, shutil, sys, struct
+from io import BytesIO
 from gippy import GeoImage
 from opendm.dem import commands
 from opendm import system
@@ -17,7 +19,7 @@ def create_25dmesh(inPointCloud, outMesh, dsm_resolution=0.05, depth=8, samples=
     log.ODM_INFO('Created temporary directory: %s' % tmp_directory)
 
     # Always use just two steps
-    radius_steps = [dsm_resolution, dsm_resolution * 3, dsm_resolution * 9]
+    radius_steps = [dsm_resolution / 8.0, dsm_resolution / 4.0, dsm_resolution / 2.0, dsm_resolution]
 
     log.ODM_INFO('Creating DSM for 2.5D mesh')
 
@@ -35,8 +37,8 @@ def create_25dmesh(inPointCloud, outMesh, dsm_resolution=0.05, depth=8, samples=
     mesh = screened_poisson_reconstruction(dsm_points, outMesh, depth=depth, samples=samples, verbose=verbose)
     
     # Cleanup tmp
-    if os.path.exists(tmp_directory):
-        shutil.rmtree(tmp_directory)
+    #if os.path.exists(tmp_directory):
+    #    shutil.rmtree(tmp_directory)
 
     return mesh
 
@@ -45,18 +47,48 @@ def dem_to_points(inGeotiff, outPointCloud):
 
     image = GeoImage.open([inGeotiff], bandnames=['z'], nodata=-9999)
     arr = image['z'].read_raw()
+    resolution = max(abs(image.resolution().x()), abs(image.resolution().y()))
 
     # Median filter
     log.ODM_INFO('Applying median filter...')
 
-    arr = signal.medfilt(arr, 1)
+    arr = signal.medfilt2d(arr, 5)
 
     log.ODM_INFO('Writing points...')
 
+    mem_file = BytesIO()
+
+    xmin, xmax, ymin, ymax = image.extent().x0(), image.extent().x1(), image.extent().y0(), image.extent().y1()
+    ext_width, ext_height = xmax - xmin, ymax - ymin
+    arr_height, arr_width = arr.shape
+    vertex_count = (arr_height - 4) * (arr_width - 4)
+    skirt_points = 0
+
+    skirt_height_threshold = 1 # meter
+    skirt_increments = resolution
+
+    for x in range(2, arr_width - 2):
+        for y in range(2, arr_height - 2):
+            z = arr[y][x]
+            tx = xmin + (float(x) / float(arr_width)) * ext_width
+            ty = ymax - (float(y) / float(arr_height)) * ext_height
+            mem_file.write(struct.pack('ffffff', tx, ty, z, 0, 0, 1))
+            
+            # Skirting
+            for (nx, ny) in ((y + 1, x), (y - 1, x), (y, x + 1), (y, x - 1)):
+                current_z = z
+                neighbor_z = arr[nx][ny]
+                if current_z - neighbor_z > skirt_height_threshold:
+                    stop_at_z = neighbor_z + skirt_increments
+                    while current_z > stop_at_z:
+                        current_z -= skirt_increments
+                        mem_file.write(struct.pack('ffffff', tx, ty, current_z, 0, 0, 1))
+                        skirt_points += 1
+
     with open(outPointCloud, "wb") as f:
         f.write("ply\n")
         f.write("format binary_%s_endian 1.0\n" % sys.byteorder) 
-        f.write("element vertex %s\n" % arr.size)
+        f.write("element vertex %s\n" % (vertex_count + skirt_points))
         f.write("property float x\n")
         f.write("property float y\n")
         f.write("property float z\n")
@@ -64,18 +96,11 @@ def dem_to_points(inGeotiff, outPointCloud):
         f.write("property float ny\n")
         f.write("property float nz\n")
         f.write("end_header\n")
+        f.write(mem_file.getvalue())
 
-        xmin, xmax, ymin, ymax = image.extent().x0(), image.extent().x1(), image.extent().y0(), image.extent().y1()
-        ext_width, ext_height = xmax - xmin, ymax - ymin
-        arr_height, arr_width = arr.shape
-
-        for x in range(arr_width):
-            for y in range(arr_height):
-                tx = xmin + (float(x) / float(arr_width)) * ext_width
-                ty = ymax - (float(y) / float(arr_height)) * ext_height
-                f.write(struct.pack('ffffff', tx, ty, arr[y][x], 0, 0, 1))
-                #f.write('%s %s %s\n' % (tx, ty, z))
+    mem_file.close()
 
+    log.ODM_INFO("Points count: %s (%s samples, %s skirts)", vertex_count + skirt_points, vertex_count, skirt_points)
     log.ODM_INFO('Wrote points to: %s' % outPointCloud)
 
     return outPointCloud
@@ -96,7 +121,7 @@ def screened_poisson_reconstruction(inPointCloud, outMesh, depth = 8, samples =
     system.run('{bin} --in {infile} '
              '--out {outfile} '
              '--depth {depth} '
-             '--normals --linearFit '
+             '--linearFit '
              '{verbose}'.format(**kwargs))
 
     return outMesh