import ecto import csv import os from opendm import io from opendm import log from opendm import types from opendm import system from opendm import context from opendm.cropper import Cropper class ODMGeoreferencingCell(ecto.Cell): def declare_params(self, params): params.declare("gcp_file", 'path to the file containing the ground control ' 'points used for georeferencing.The file needs to ' 'be on the following line format: \neasting ' 'northing height pixelrow pixelcol imagename', 'gcp_list.txt') params.declare("use_exif", 'use exif', False) params.declare("verbose", 'print additional messages to console', False) def declare_io(self, params, inputs, outputs): inputs.declare("tree", "Struct with paths", []) inputs.declare("args", "The application arguments.", {}) inputs.declare("reconstruction", "list of ODMReconstructions", []) outputs.declare("reconstruction", "list of ODMReconstructions", []) def process(self, inputs, outputs): # Benchmarking start_time = system.now_raw() log.ODM_INFO('Running ODM Georeferencing Cell') # get inputs args = inputs.args tree = inputs.tree reconstruction = inputs.reconstruction gcpfile = tree.odm_georeferencing_gcp doPointCloudGeo = True verbose = '-verbose' if self.params.verbose else '' # define paths and create working directories system.mkdir_p(tree.odm_georeferencing) if args.use_25dmesh: system.mkdir_p(tree.odm_25dgeoreferencing) # check if we rerun cell or not rerun_cell = (args.rerun is not None and args.rerun == 'odm_georeferencing') or \ (args.rerun_all) or \ (args.rerun_from is not None and 'odm_georeferencing' in args.rerun_from) runs = [{ 'georeferencing_dir': tree.odm_georeferencing, 'texturing_dir': tree.odm_texturing, 'model': os.path.join(tree.odm_texturing, tree.odm_textured_model_obj) }] if args.fast_orthophoto: runs = [] if args.use_25dmesh: runs += [{ 'georeferencing_dir': tree.odm_25dgeoreferencing, 'texturing_dir': tree.odm_25dtexturing, 'model': os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj) }] 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) if not io.file_exists(odm_georeferencing_model_obj_geo) or \ not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell: # odm_georeference definitions kwargs = { 'bin': context.odm_modules_path, 'bundle': tree.opensfm_bundle, 'imgs': tree.dataset_raw, 'imgs_list': tree.opensfm_bundle_list, 'model': r['model'], 'log': odm_georeferencing_log, 'input_trans_file': tree.opensfm_transformation, 'transform_file': odm_georeferencing_transform_file, 'coords': tree.odm_georeferencing_coords, 'pc_geo': odm_georeferencing_model_ply_geo, 'geo_sys': os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo), 'model_geo': odm_georeferencing_model_obj_geo, 'gcp': gcpfile, 'verbose': verbose } if not args.use_pmvs: if args.fast_orthophoto: kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply') else: kwargs['pc'] = tree.opensfm_model else: kwargs['pc'] = tree.pmvs_model # Check to see if the GCP file exists #if not self.params.use_exif and (self.params.gcp_file or tree.odm_georeferencing_gcp): # log.ODM_INFO('Found %s' % gcpfile) # try: # system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} ' # '-inputFile {model} -outputFile {model_geo} ' # '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} ' # '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} ' # '-outputCoordFile {coords}'.format(**kwargs)) # except Exception: # log.ODM_EXCEPTION('Georeferencing failed. ') # return ecto.QUIT if io.file_exists(tree.opensfm_transformation): log.ODM_INFO('Running georeferencing with OpenSfM transformation matrix') system.run('{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} ' '-inputFile {model} -outputFile {model_geo} ' '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} ' '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs)) elif io.file_exists(tree.odm_georeferencing_coords): log.ODM_INFO('Running georeferencing with generated coords file.') system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' '-inputFile {model} -outputFile {model_geo} ' '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} ' '-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs)) else: log.ODM_WARNING('Georeferencing failed. Make sure your ' 'photos have geotags in the EXIF or you have ' '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 geo_ref.extract_offsets(tree.odm_georeferencing_coords) geo_ref.parse_transformation_matrix(tree.opensfm_transformation) # convert ply model to LAS reference system geo_ref.convert_to_las(odm_georeferencing_model_ply_geo, tree.odm_georeferencing_model_las, tree.odm_georeferencing_las_json) reconstruction.georef = geo_ref # XYZ point cloud output 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=",") reachedpoints = False with open(odm_georeferencing_model_ply_geo) as f: for lineNumber, line in enumerate(f): if reachedpoints: tokens = line.split(" ") csv_line = [float(tokens[0])+geo_ref.utm_east_offset, float(tokens[1])+geo_ref.utm_north_offset, tokens[2]] csvfile_writer.writerow(csv_line) if line.startswith("end_header"): reachedpoints = True csvfile.close() if args.crop > 0: log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud") cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model') cropper.create_bounds_shapefile(tree.odm_georeferencing_model_las, args.crop) # Do not execute a second time, since # We might be doing georeferencing for # multiple models (3D, 2.5D, ...) doPointCloudGeo = False else: log.ODM_WARNING('Found a valid georeferenced model in: %s' % odm_georeferencing_model_ply_geo) outputs.reconstruction = reconstruction if args.time: system.benchmark(start_time, tree.benchmarking, 'Georeferencing') log.ODM_INFO('Running ODM Georeferencing Cell - Finished') return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT