kopia lustrzana https://github.com/OpenDroneMap/ODM
Working on write_cloud
HeDo
rodzic
08b2755c6c
commit
c5f67024d1
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@ -1,12 +1,12 @@
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# TODO: Move to pylas when project migrates to python3
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import time
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import laspy
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import pdal
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import numpy as np
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from opendm import log
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from ..point_cloud import PointCloud
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import pdb
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import json
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def read_cloud(point_cloud_path):
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@ -34,30 +34,29 @@ def read_cloud(point_cloud_path):
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# Create PointCloud object
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cloud = PointCloud.with_dimensions(x, y, z, classification, red, green, blue)
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# Print what is inside pipeline.metadata
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#log.ODM_INFO("pipeline.metadata: %s" % str(pipeline.metadata))
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log.ODM_INFO("OK")
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# Return the result
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return pipeline.metadata, cloud
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return pipeline.metadata["metadata"]["readers.las"], cloud
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def safe_add_metadata(pipeline, metadata, key, sourcekey=None):
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k = key if sourcekey is None else sourcekey
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if k in metadata:
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pipeline["pipeline"][0][key] = metadata[k]
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def write_cloud(metadata, point_cloud, output_point_cloud_path, write_extra_dimensions=False):
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# Adapt points to scale and offset
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x, y = np.hsplit(point_cloud.xy, 2)
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z = point_cloud.z
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# Set color
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red, green, blue = np.hsplit(point_cloud.rgb, 3)
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# Set classification
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classification = point_cloud.classification.astype(np.uint8)
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# Print array dimensions
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x = x.ravel()
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y = y.ravel()
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classification = classification.ravel()
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red = red.astype(np.uint8).ravel()
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green = green.astype(np.uint8).ravel()
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blue = blue.astype(np.uint8).ravel()
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arrays = np.zeros(len(x),
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dtype=[('X', '<f8'),
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('Y', '<f8'),
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@ -75,31 +74,70 @@ def write_cloud(metadata, point_cloud, output_point_cloud_path, write_extra_dime
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('Red', '<u2'),
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('Green', '<u2'),
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('Blue', '<u2')])
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arrays['X'] = x
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arrays['Y'] = y
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arrays['Z'] = z
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arrays['Classification'] = classification
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arrays['Red'] = red
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arrays['Green'] = green
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arrays['Blue'] = blue
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arrays['X'] = x.ravel()
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arrays['Y'] = y.ravel()
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arrays['Z'] = point_cloud.z
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arrays['Classification'] = point_cloud.classification.astype(np.uint8).ravel()
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arrays['Red'] = red.astype(np.uint8).ravel()
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arrays['Green'] = green.astype(np.uint8).ravel()
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arrays['Blue'] = blue.astype(np.uint8).ravel()
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#test_data = np.array(
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# [(x, y, z) for x, y, z in zip(x_vals, y_vals, z_vals)],
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# dtype=[("X", float), ("Y", float), ("Z", float)],
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# )
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#log.ODM_INFO("Write extra dimensions: %s" % write_extra_dimensions)
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log.ODM_INFO("arrays: %s" % str(arrays.shape))
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log.ODM_INFO("arrays: %s" % arrays)
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log.ODM_INFO("arrays: %s" % arrays[0])
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log.ODM_INFO("Write extra dimensions: %s" % write_extra_dimensions)
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writer_pipeline = {
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"pipeline": [
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{
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"type": "writers.las",
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"filename": output_point_cloud_path,
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"compression": "laszip"
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}
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]
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}
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# Create PDAL pipeline to write point cloud
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#pipeline = pdal.Pipeline('[{"type": "writers.las","filename": "%s","compression": "laszip", "extra_dims": %s}]' %
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# (output_point_cloud_path, str(write_extra_dimensions).lower()), arrays=[arrays])
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safe_add_metadata(writer_pipeline, metadata, "scale_x")
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safe_add_metadata(writer_pipeline, metadata, "scale_y")
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safe_add_metadata(writer_pipeline, metadata, "scale_z")
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safe_add_metadata(writer_pipeline, metadata, "offset_x")
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safe_add_metadata(writer_pipeline, metadata, "offset_y")
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safe_add_metadata(writer_pipeline, metadata, "offset_z")
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safe_add_metadata(writer_pipeline, metadata, "a_srs", "spatialreference")
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safe_add_metadata(writer_pipeline, metadata, "dataformat_id")
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safe_add_metadata(writer_pipeline, metadata, "system_id")
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safe_add_metadata(writer_pipeline, metadata, "software_id")
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safe_add_metadata(writer_pipeline, metadata, "creation_doy")
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safe_add_metadata(writer_pipeline, metadata, "creation_year")
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safe_add_metadata(writer_pipeline, metadata, "minor_version")
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safe_add_metadata(writer_pipeline, metadata, "major_version")
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safe_add_metadata(writer_pipeline, metadata, "file_source_id")
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safe_add_metadata(writer_pipeline, metadata, "global_encoding")
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pipeline = pdal.Pipeline('[{"type": "writers.las","filename": "%s","compression": "laszip"}]' % output_point_cloud_path, arrays=[arrays])
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#pdb.set_trace()
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log.ODM_INFO("Dest path: %s" % output_point_cloud_path)
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if write_extra_dimensions:
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writer_pipeline["pipeline"][0]["extra_dims"] = "all"
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# The metadata object contains the VLRs as fields called "vlr_N" where N is the index of the VLR
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# We have to copy them over to the writer pipeline as a list of dictionaries in the "vlrs" field
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writer_pipeline["pipeline"][0]["vlrs"] = []
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i = 0
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while True:
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vlr_field = "vlr_%d" % i
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if vlr_field in metadata:
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vlr = metadata[vlr_field]
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writer_pipeline["pipeline"][0]["vlrs"].append({
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"record_id": vlr["record_id"],
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"user_id": vlr["user_id"],
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"description": vlr["description"],
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"data": vlr["data"]
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})
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i += 1
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else:
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break
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#log.ODM_INFO("writer_pipeline: %s" % str(writer_pipeline))
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pipeline = pdal.Pipeline(json.dumps(writer_pipeline), arrays=[arrays])
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# Write point cloud with PDAL
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pipeline.execute()
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