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Modified odm_georeferencing.py to support direct laz creation 

Former-commit-id: 3c7e7d7c7b
pull/1161/head
Piero Toffanin 2018-12-26 13:34:11 -05:00
rodzic 9346eef114
commit feae6c0620
2 zmienionych plików z 21 dodań i 74 usunięć
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37
opendm/types.py
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@ -242,43 +242,6 @@ class ODM_GeoRef(object):
output = str(deg) + '/1 ' + str(minute) + '/1 ' + str(sec_numerator) + '/' + str(sec_denominator)
return output, latRef
def convert_to_las(self, _file, _file_out, json_file):
if not self.projection.srs:
log.ODM_ERROR('Empty CRS: Could not convert to LAS')
return
kwargs = {'bin': context.pdal_path,
'f_in': _file,
'f_out': _file_out,
'east': self.utm_east_offset,
'north': self.utm_north_offset,
'srs': self.projection.srs,
'json': json_file}
# create pipeline file las.json to write odm_georeferenced_model.laz point cloud
pipeline = '{{' \
' "pipeline":[' \
' "untransformed.ply",' \
' {{' \
' "type":"writers.las",' \
' "a_srs":"{srs}",' \
' "offset_x":"{east}",' \
' "offset_y":"{north}",' \
' "offset_z":"0",' \
' "compression":"laszip",' \
' "filename":"{f_out}"' \
' }}' \
' ]' \
'}}'.format(**kwargs)
with open(json_file, 'w') as f:
f.write(pipeline)
# call pdal
system.run('{bin}/pdal pipeline -i {json} --readers.ply.filename={f_in}'.format(**kwargs))
def extract_offsets(self, _file):
if not io.file_exists(_file):
log.ODM_ERROR('Could not find file %s' % _file)

58
scripts/odm_georeferencing.py
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@ -1,7 +1,7 @@
import ecto
import csv
import os
import struct
import pipes
from opendm import io
from opendm import log
@ -41,6 +41,7 @@ class ODMGeoreferencingCell(ecto.Cell):
doPointCloudGeo = True
transformPointCloud = True
verbose = '-verbose' if self.params.verbose else ''
geo_ref = reconstruction.georef
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
@ -67,13 +68,12 @@ class ODMGeoreferencingCell(ecto.Cell):
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_model_ply_geo = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:
not io.file_exists(tree.odm_georeferencing_model_laz) or rerun_cell:
# odm_georeference definitions
kwargs = {
@ -86,23 +86,27 @@ class ODMGeoreferencingCell(ecto.Cell):
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'pc_geo': odm_georeferencing_model_ply_geo,
'output_pc_file': tree.odm_georeferencing_model_laz,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if args.fast_orthophoto:
kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply')
kwargs['input_pc_file'] = os.path.join(tree.opensfm, 'reconstruction.ply')
elif args.use_opensfm_dense:
kwargs['pc'] = tree.opensfm_model
kwargs['input_pc_file'] = tree.opensfm_model
else:
kwargs['pc'] = tree.smvs_model
kwargs['input_pc_file'] = tree.smvs_model
if transformPointCloud:
kwargs['pc_params'] = '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo}'.format(**kwargs)
kwargs['pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(**kwargs)
if geo_ref.projection.srs:
kwargs['pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(geo_ref.projection.srs)
else:
log.ODM_WARNING('NO SRS: The output point cloud will not have a SRS.')
else:
kwargs['pc_params'] = ''
@ -139,40 +143,20 @@ class ODMGeoreferencingCell(ecto.Cell):
if doPointCloudGeo:
# update images metadata
geo_ref = reconstruction.georef
geo_ref.extract_offsets(odm_georeferencing_model_txt_geo_file)
# convert ply model to LAS reference system
geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_las_json)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
with open(odm_georeferencing_model_ply_geo) as f:
endianess = '<' # little endian
while True:
line = f.readline()
if "binary_big_endian" in line:
endianess = '>'
if line.startswith("end_header"):
break
fmt = '{}dddBBB'.format(endianess)
while True:
chunk = f.read(27) # 3 doubles, 3 uints
if len(chunk) < 27:
break
tokens = struct.unpack(fmt, chunk)
csv_line = [float(tokens[0]),
float(tokens[1]),
tokens[2]]
csvfile_writer.writerow(csv_line)
system.run("pdal translate -i \"{}\" "
"-o \"{}\" "
"--writers.text.format=csv "
"--writers.text.order=\"X,Y,Z\" "
"--writers.text.keep_unspecified=false ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_xyz_file))
if args.crop > 0:
log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")