kopia lustrzana https://github.com/OpenDroneMap/ODM
Fixed GCPs, mesh transform, point cloud transform, rerun-from orthophoto issue
Piero Toffanin
rodzic
bebb2fc981
commit
f03bbe7e9a
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@ -15,7 +15,7 @@ using namespace std;
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std::ostream& operator<<(std::ostream &os, const GeorefSystem &geo)
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{
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return os << geo.system_ << "\n" << static_cast<int>(geo.eastingOffset_) << " " << static_cast<int>(geo.northingOffset_);
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return os << setiosflags(ios::fixed) << setprecision(6) << geo.system_ << "\n" << geo.eastingOffset_ << " " << geo.northingOffset_;
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}
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GeorefGCP::GeorefGCP()
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@ -813,7 +813,7 @@ void Georef::performGeoreferencingWithGCP()
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log_ << "Reading mesh file " << inputObjFilename_ <<"\n";
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log_ << '\n';
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pcl::TextureMesh mesh;
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if (loadObjFile(inputObjFilename_, mesh) == -1)
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if (!loadObjFile(inputObjFilename_, mesh))
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{
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throw GeorefException("Error when reading model from:\n" + inputObjFilename_ + "\n");
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}
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@ -943,7 +943,7 @@ void Georef::performGeoreferencingWithGCP()
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printFinalTransform(transFinal.transform_);
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// The transform used to transform model into the georeferenced system.
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performFinalTransform(transFinal.transform_, mesh, meshCloud);
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performFinalTransform(transFinal.transform_, mesh, meshCloud, true);
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}
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void Georef::createGeoreferencedModelFromGCPData()
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@ -1025,6 +1025,7 @@ void Georef::createGeoreferencedModelFromExifData()
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FindTransform transFinal;
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transFinal.findTransform(cameras_[cam0].getPos(), cameras_[cam1].getPos(), cameras_[cam2].getPos(),
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cameras_[cam0].getReferencedPos(), cameras_[cam1].getReferencedPos(), cameras_[cam2].getReferencedPos());
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log_ << "Final transform:\n";
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log_ << transFinal.transform_ << '\n';
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@ -1040,11 +1041,17 @@ void Georef::createGeoreferencedModelFromExifData()
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pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloud (new pcl::PointCloud<pcl::PointXYZ>);
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pcl::fromPCLPointCloud2 (mesh.cloud, *meshCloud);
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performFinalTransform(transFinal.transform_, mesh, meshCloud);
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performFinalTransform(transFinal.transform_, mesh, meshCloud, true);
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}
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void Georef::createGeoreferencedModelFromSFM()
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{
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// Read coordinate system from coord file generated by extract_utm tool
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// UTM coordinates from OpenSfM transform
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std::ifstream coordStream(inputCoordFilename_.c_str());
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if (!coordStream.good()) throw GeorefException("Failed opening coordinate file " + inputCoordFilename_ + " for reading." + '\n');
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std::getline(coordStream, georefSystem_.system_);
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coordStream.close();
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Mat4 transform;
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// get transform in correct format
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@ -1074,12 +1081,12 @@ void Georef::createGeoreferencedModelFromSFM()
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l4 >> transform.r4c1_ >> transform.r4c2_ >> transform.r4c3_ >> transform.r4c4_;
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}
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transform.r1c2_ = 0.0f;
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transform.r2c1_ = 0.0f;
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georefSystem_.eastingOffset_ = transform.r1c4_;
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georefSystem_.northingOffset_ = transform.r2c4_;
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// load mesh
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printFinalTransform(transform);
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// load mesh
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log_ << '\n';
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log_ << "Reading mesh file...\n";
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pcl::TextureMesh mesh;
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@ -1090,9 +1097,8 @@ void Georef::createGeoreferencedModelFromSFM()
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pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloud (new pcl::PointCloud<pcl::PointXYZ>);
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pcl::fromPCLPointCloud2 (mesh.cloud, *meshCloud);
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performFinalTransform(transform, mesh, meshCloud);
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// performFinalTransform(transFinal, mesh, meshCloud);
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// OpenSfM transform has UTM offsets embedded in the translation
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performFinalTransform(transform, mesh, meshCloud, false);
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}
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void Georef::chooseBestGCPTriplet(size_t &gcp0, size_t &gcp1, size_t &gcp2)
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@ -1291,7 +1297,7 @@ void Georef::printFinalTransform(Mat4 transform)
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}
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void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud)
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void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud, bool addUTM)
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{
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Eigen::Transform<double, 3, Eigen::Affine> transform;
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@ -1310,11 +1316,23 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
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transform(2, 2) = static_cast<double>(transMat.r3c3_);
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transform(3, 2) = static_cast<double>(transMat.r4c3_);
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transform(0, 3) = static_cast<double>(transMat.r1c4_);
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transform(1, 3) = static_cast<double>(transMat.r2c4_);
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double transX = static_cast<double>(transMat.r1c4_);
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double transY = static_cast<double>(transMat.r2c4_);
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transform(0, 3) = static_cast<double>(0.0f);
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transform(1, 3) = static_cast<double>(0.0f);
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transform(2, 3) = static_cast<double>(transMat.r3c4_);
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transform(3, 3) = static_cast<double>(transMat.r4c4_);
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log_ << '\n';
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log_ << "Applying transform to mesh...\n";
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// Move the mesh into position.
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pcl::transformPointCloud(*meshCloud, *meshCloud, transform);
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log_ << ".. mesh transformed.\n";
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// Update the mesh.
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pcl::toPCLPointCloud2 (*meshCloud, mesh.cloud);
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// Iterate over each part of the mesh (one per material), to make texture file paths relative the .mtl file.
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for(size_t t = 0; t < mesh.tex_materials.size(); ++t)
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{
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@ -1338,6 +1356,23 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
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log_ << "Successfully saved model.\n";
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}
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transform(0, 3) = transX;
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transform(1, 3) = transY;
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// GCPs and EXIF modes includes a translation
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// but not UTM offsets. We want our point cloud
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// and odm_georeferencing_model_geo.txt file
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// to include the UTM offset.
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// OpenSfM already has UTM offsets encoded
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// in the translation matrix.
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if (addUTM){
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georefSystem_.eastingOffset_ += transX;
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georefSystem_.northingOffset_ += transY;
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transform(0, 3) = georefSystem_.eastingOffset_;
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transform(1, 3) = georefSystem_.northingOffset_;
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}
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if(georeferencePointCloud_)
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{
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transformPointCloud(inputPointCloudFilename_.c_str(), transform, outputPointCloudFilename_.c_str());
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@ -1429,9 +1464,13 @@ void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<S
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// Transform
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for (unsigned int i = 0; i < verts.size(); i++){
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verts[i].x = static_cast<Scalar> (transform (0, 0) * verts[i].x + transform (0, 1) * verts[i].y + transform (0, 2) * verts[i].z + transform (0, 3));
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verts[i].y = static_cast<Scalar> (transform (1, 0) * verts[i].x + transform (1, 1) * verts[i].y + transform (1, 2) * verts[i].z + transform (1, 3));
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verts[i].z = static_cast<Scalar> (transform (2, 0) * verts[i].x + transform (2, 1) * verts[i].y + transform (2, 2) * verts[i].z + transform (2, 3));
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Scalar x = verts[i].x;
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Scalar y = verts[i].y;
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Scalar z = verts[i].z;
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verts[i].x = static_cast<Scalar> (transform (0, 0) * x + transform (0, 1) * y + transform (0, 2) * z + transform (0, 3));
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verts[i].y = static_cast<Scalar> (transform (1, 0) * x + transform (1, 1) * y + transform (1, 2) * z + transform (1, 3));
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verts[i].z = static_cast<Scalar> (transform (2, 0) * x + transform (2, 1) * y + transform (2, 2) * z + transform (2, 3));
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}
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log_ << '\n';
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@ -1667,7 +1706,7 @@ bool Georef::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
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}
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fs.close();
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return (0);
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return true;
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}
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bool Georef::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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@ -293,7 +293,7 @@ private:
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bool multiMaterial_; /**< True if the mesh has multiple materials. **/
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std::vector<pcl::MTLReader> companions_; /**< Materials (used by loadOBJFile). **/
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void performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud);
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void performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud, bool addUTM);
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template <typename Scalar>
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void transformPointCloud(const char *inputFile, const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform, const char *outputFile);
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@ -348,8 +348,8 @@ class ODM_GeoRef(object):
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with open(_file) as f:
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offsets = f.readlines()[1].split(' ')
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self.utm_east_offset = int(offsets[0])
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self.utm_north_offset = int(offsets[1])
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self.utm_east_offset = float(offsets[0])
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self.utm_north_offset = float(offsets[1])
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def create_gcps(self, _file):
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if not io.file_exists(_file):
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@ -377,6 +377,9 @@ class ODM_GeoRef(object):
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# Create a nested list for the transformation matrix
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with open(_file) as f:
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for line in f:
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# Handle matrix formats that either
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# have leading or trailing brakets or just plain numbers.
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line = re.sub(r"[\[\],]", "", line).strip()
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self.transform += [[float(i) for i in line.split()]]
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self.utm_east_offset = self.transform[0][3]
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@ -68,6 +68,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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odm_georeferencing_model_ply_geo = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
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odm_georeferencing_log = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_log)
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odm_georeferencing_transform_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_transform_file)
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odm_georeferencing_model_txt_geo_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
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if not io.file_exists(odm_georeferencing_model_obj_geo) or \
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not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:
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@ -84,7 +85,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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'transform_file': odm_georeferencing_transform_file,
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'coords': tree.odm_georeferencing_coords,
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'pc_geo': odm_georeferencing_model_ply_geo,
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'geo_sys': os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo),
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'geo_sys': odm_georeferencing_model_txt_geo_file,
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'model_geo': odm_georeferencing_model_obj_geo,
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'gcp': gcpfile,
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'verbose': verbose
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@ -100,20 +101,20 @@ class ODMGeoreferencingCell(ecto.Cell):
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# Check to see if the GCP file exists
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#if not self.params.use_exif and (self.params.gcp_file or tree.odm_georeferencing_gcp):
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# log.ODM_INFO('Found %s' % gcpfile)
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# try:
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# system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
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# '-inputFile {model} -outputFile {model_geo} '
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# '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
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# '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
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# '-outputCoordFile {coords}'.format(**kwargs))
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# except Exception:
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# log.ODM_EXCEPTION('Georeferencing failed. ')
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# return ecto.QUIT
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if io.file_exists(tree.opensfm_transformation):
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if not self.params.use_exif and (self.params.gcp_file or tree.odm_georeferencing_gcp):
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log.ODM_INFO('Found %s' % gcpfile)
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try:
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system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
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'-inputFile {model} -outputFile {model_geo} '
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'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
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'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
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'-outputCoordFile {coords}'.format(**kwargs))
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except Exception:
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log.ODM_EXCEPTION('Georeferencing failed. ')
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return ecto.QUIT
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elif io.file_exists(tree.opensfm_transformation) and io.file_exists(tree.odm_georeferencing_coords):
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log.ODM_INFO('Running georeferencing with OpenSfM transformation matrix')
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} '
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
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'-inputFile {model} -outputFile {model_geo} '
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'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
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'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
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@ -132,7 +133,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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if doPointCloudGeo:
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# update images metadata
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geo_ref = reconstruction.georef
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geo_ref.parse_transformation_matrix(tree.opensfm_transformation)
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geo_ref.extract_offsets(odm_georeferencing_model_txt_geo_file)
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# convert ply model to LAS reference system
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geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
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@ -167,7 +168,6 @@ class ODMGeoreferencingCell(ecto.Cell):
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# We might be doing georeferencing for
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# multiple models (3D, 2.5D, ...)
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doPointCloudGeo = False
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else:
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log.ODM_WARNING('Found a valid georeferenced model in: %s'
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% odm_georeferencing_model_ply_geo)
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@ -60,7 +60,25 @@ class ODMOrthoPhotoCell(ecto.Cell):
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}
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# Have geo coordinates?
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if reconstruction.georef: # io.file_exists(tree.odm_georeferencing_coords):
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georef = reconstruction.georef
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# Check if the georef object is initialized
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# (during a --rerun this might not be)
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# TODO: we should move this to a more central
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# location (perhaps during the dataset initialization)
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if georef and not georef.utm_east_offset:
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if args.use_25dmesh:
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odm_georeferencing_model_txt_geo_file = os.path.join(tree.odm_25dtexturing, tree.odm_georeferencing_model_txt_geo)
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else:
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odm_georeferencing_model_txt_geo_file = os.path.join(tree.odm_texturing, tree.odm_georeferencing_model_txt_geo)
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if io.file_exists(odm_georeferencing_model_txt_geo_file):
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georef.extract_offsets(odm_georeferencing_model_txt_geo_file)
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else:
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log.ODM_WARNING('Cannot read UTM offset from {}. An orthophoto will not be generated.'.format(odm_georeferencing_model_txt_geo_file))
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if georef:
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if args.use_25dmesh:
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kwargs['model_geo'] = os.path.join(tree.odm_25dtexturing, tree.odm_georeferencing_model_obj_geo)
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else:
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@ -78,7 +96,6 @@ class ODMOrthoPhotoCell(ecto.Cell):
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# Create georeferenced GeoTiff
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geotiffcreated = False
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georef = reconstruction.georef
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if georef and georef.projection and georef.utm_east_offset and georef.utm_north_offset:
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ulx = uly = lrx = lry = 0.0
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