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 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("img_size", 'image size used in calibration', 2400) 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("photos", "list of ODMPhoto's", []) inputs.declare("reconstruction", "list of ODMReconstructions", []) outputs.declare("reconstruction", "list of ODMReconstructions", []) def process(self, inputs, outputs): # find a file in the root directory def find(file, dir): for root, dirs, files in os.walk(dir): return '/'.join((root, file)) if file in files else None # Benchmarking start_time = system.now_raw() log.ODM_INFO('Running ODM Georeferencing Cell') # get inputs args = self.inputs.args tree = self.inputs.tree gcpfile = io.join_paths(tree.root_path, self.params.gcp_file) \ if self.params.gcp_file else find('gcp_list.txt', tree.root_path) geocreated = 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) # in case a gcp file it's not provided, let's try to generate it using # images metadata. Internally calls jhead. log.ODM_DEBUG(self.params.gcp_file) if not self.params.gcp_file: # and \ # not io.file_exists(tree.odm_georeferencing_coords): log.ODM_WARNING('No coordinates file. ' 'Generating coordinates file: %s' % tree.odm_georeferencing_coords) # odm_georeference definitions kwargs = { 'bin': context.odm_modules_path, 'imgs': tree.dataset_raw, 'imgs_list': tree.opensfm_bundle_list, 'coords': tree.odm_georeferencing_coords, 'log': tree.odm_georeferencing_utm_log, 'verbose': verbose } # run UTM extraction binary extract_utm = system.run_and_return('{bin}/odm_extract_utm -imagesPath {imgs}/ ' '-imageListFile {imgs_list} -outputCoordFile {coords} {verbose} ' '-logFile {log}'.format(**kwargs)) if extract_utm != '': log.ODM_WARNING('Could not generate coordinates file. ' 'Ignore if there is a GCP file. Error: %s' % extract_utm) # 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.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, '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, 'size': self.params.img_size, 'gcp': gcpfile, 'verbose': verbose } if not args.use_pmvs: 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 find('gcp_list.txt', tree.root_path)): log.ODM_INFO('Found %s' % gcpfile) try: system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} ' '-bundleResizedTo {size} -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 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. ') geocreated = 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 geocreated: # update images metadata geo_ref = types.ODM_GeoRef() geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords) for idx, photo in enumerate(self.inputs.photos): geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx) # 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) # 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() else: log.ODM_WARNING('Found a valid georeferenced model in: %s' % odm_georeferencing_model_ply_geo) 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