Fixed odm_georef normals handling, wrong pdal path for 2.5D meshing step

modules/odm_georef/src/Georef.cpp

@@ -1377,9 +1377,31 @@ void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<S
         file.parse_header(ss);
 
         std::shared_ptr<PlyData> vertices = file.request_properties_from_element("vertex", { "x", "y", "z" });
-        std::shared_ptr<PlyData> normals = file.request_properties_from_element("vertex", { "nx", "ny", "nz" });
-        std::shared_ptr<PlyData> colors = file.request_properties_from_element("vertex", { "diffuse_red", "diffuse_green", "diffuse_blue" });
+        std::shared_ptr<PlyData> normals;
+        std::shared_ptr<PlyData> colors;
         
+        // Not all point clouds have normals and colors
+        // and different naming conventions apply
+        try{
+            normals = file.request_properties_from_element("vertex", { "nx", "ny", "nz" });
+        }catch(const std::exception &){}
+
+        if (!normals){
+            try{
+                normals = file.request_properties_from_element("vertex", { "normal_x", "normal_y", "normal_z" });
+            }catch(const std::exception &){}
+        }
+
+        try{
+            colors = file.request_properties_from_element("vertex", { "diffuse_red", "diffuse_green", "diffuse_blue" });
+        }catch(const std::exception &){}
+
+        if (!colors){
+            try{
+                colors = file.request_properties_from_element("vertex", { "red", "green", "blue" });
+            }catch(const std::exception &){}
+        }
+
         file.read(ss);
         log_ << "Successfully loaded " << vertices->count << " points with corresponding normals from file.\n";
 
@@ -1424,8 +1446,8 @@ void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<S
 
         PlyFile outFile;
         outFile.add_properties_to_element("vertex", { "x", "y", "z" }, Type::FLOAT64, verts.size() * 3, reinterpret_cast<uint8_t*>(verts.data()), Type::INVALID, 0);
-        outFile.add_properties_to_element("vertex", { "nx", "ny", "nz" }, Type::FLOAT32, verts.size() * 3, reinterpret_cast<uint8_t*>(normals->buffer.get()), Type::INVALID, 0);
-        outFile.add_properties_to_element("vertex", { "red", "green", "blue" }, Type::UINT8, verts.size() * 3, reinterpret_cast<uint8_t*>(colors->buffer.get()), Type::INVALID, 0);
+        if (normals) outFile.add_properties_to_element("vertex", { "nx", "ny", "nz" }, Type::FLOAT32, verts.size() * 3, reinterpret_cast<uint8_t*>(normals->buffer.get()), Type::INVALID, 0);
+        if (colors) outFile.add_properties_to_element("vertex", { "red", "green", "blue" }, Type::UINT8, verts.size() * 3, reinterpret_cast<uint8_t*>(colors->buffer.get()), Type::INVALID, 0);
         outFile.get_comments().push_back("generated by OpenDroneMap");
         
         outFile.write(outputStream, false);

scripts/odm_georeferencing.py

@@ -129,8 +129,6 @@ class ODMGeoreferencingCell(ecto.Cell):
                                     'provided a GCP file. ')
                     doPointCloudGeo = False # skip the rest of the georeferencing
 
-                odm_georeferencing_model_ply_geo = os.path.join(tree.odm_georeferencing,
-                                                                tree.odm_georeferencing_model_ply_geo)
                 if doPointCloudGeo:
                     # update images metadata
                     geo_ref = reconstruction.georef