kopia lustrzana https://github.com/OpenDroneMap/ODM
200 wiersze
10 KiB
Python
200 wiersze
10 KiB
Python
import ecto
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import csv
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import os
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import struct
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from opendm import io
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from opendm import log
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from opendm import types
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from opendm import system
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from opendm import context
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from opendm.cropper import Cropper
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class ODMGeoreferencingCell(ecto.Cell):
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def declare_params(self, params):
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params.declare("gcp_file", 'path to the file containing the ground control '
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'points used for georeferencing.The file needs to '
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'be on the following line format: \neasting '
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'northing height pixelrow pixelcol imagename', 'gcp_list.txt')
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params.declare("use_exif", 'use exif', False)
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params.declare("verbose", 'print additional messages to console', False)
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def declare_io(self, params, inputs, outputs):
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inputs.declare("tree", "Struct with paths", [])
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inputs.declare("args", "The application arguments.", {})
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inputs.declare("reconstruction", "list of ODMReconstructions", [])
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outputs.declare("reconstruction", "list of ODMReconstructions", [])
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def process(self, inputs, outputs):
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# Benchmarking
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start_time = system.now_raw()
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log.ODM_INFO('Running ODM Georeferencing Cell')
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# get inputs
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args = inputs.args
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tree = inputs.tree
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reconstruction = inputs.reconstruction
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gcpfile = tree.odm_georeferencing_gcp
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doPointCloudGeo = True
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transformPointCloud = True
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verbose = '-verbose' if self.params.verbose else ''
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# check if we rerun cell or not
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rerun_cell = (args.rerun is not None and
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args.rerun == 'odm_georeferencing') or \
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(args.rerun_all) or \
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(args.rerun_from is not None and
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'odm_georeferencing' in args.rerun_from)
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runs = [{
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'georeferencing_dir': tree.odm_georeferencing,
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'texturing_dir': tree.odm_texturing,
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'model': os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
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}]
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if args.skip_3dmodel:
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runs = []
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if not args.use_3dmesh:
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runs += [{
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'georeferencing_dir': tree.odm_25dgeoreferencing,
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'texturing_dir': tree.odm_25dtexturing,
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'model': os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj)
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}]
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for r in runs:
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odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
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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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# odm_georeference definitions
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kwargs = {
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'bin': context.odm_modules_path,
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'bundle': tree.opensfm_bundle,
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'imgs': tree.dataset_raw,
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'imgs_list': tree.opensfm_bundle_list,
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'model': r['model'],
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'log': odm_georeferencing_log,
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'input_trans_file': tree.opensfm_transformation,
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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': 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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}
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if args.fast_orthophoto:
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kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply')
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elif args.use_opensfm_dense:
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kwargs['pc'] = tree.opensfm_model
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else:
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kwargs['pc'] = tree.mve_model
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if transformPointCloud:
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kwargs['pc_params'] = '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo}'.format(**kwargs)
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else:
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kwargs['pc_params'] = ''
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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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'{pc_params} {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} -inputCoordFile {coords} '
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'-inputFile {model} -outputFile {model_geo} '
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'{pc_params} {verbose} '
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'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
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elif io.file_exists(tree.odm_georeferencing_coords):
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log.ODM_INFO('Running georeferencing with generated coords file.')
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
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'-inputFile {model} -outputFile {model_geo} '
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'{pc_params} {verbose} '
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'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
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else:
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log.ODM_WARNING('Georeferencing failed. Make sure your '
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'photos have geotags in the EXIF or you have '
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'provided a GCP file. ')
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doPointCloudGeo = False # skip the rest of the georeferencing
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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.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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tree.odm_georeferencing_model_laz,
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tree.odm_georeferencing_las_json)
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reconstruction.georef = geo_ref
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# XYZ point cloud output
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if args.pc_csv:
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log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
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with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
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csvfile_writer = csv.writer(csvfile, delimiter=",")
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with open(odm_georeferencing_model_ply_geo) as f:
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endianess = '<' # little endian
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while True:
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line = f.readline()
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if "binary_big_endian" in line:
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endianess = '>'
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if line.startswith("end_header"):
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break
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fmt = '{}dddBBB'.format(endianess)
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while True:
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chunk = f.read(27) # 3 doubles, 3 uints
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if len(chunk) < 27:
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break
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tokens = struct.unpack(fmt, chunk)
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csv_line = [float(tokens[0]),
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float(tokens[1]),
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tokens[2]]
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csvfile_writer.writerow(csv_line)
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if args.crop > 0:
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log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
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cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
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cropper.create_bounds_shapefile(tree.odm_georeferencing_model_laz, args.crop,
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decimation_step=40 if args.fast_orthophoto or args.use_opensfm_dense else 90,
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outlier_radius=20 if args.fast_orthophoto else 2)
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# Do not execute a second time, since
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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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transformPointCloud = 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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outputs.reconstruction = reconstruction
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if args.time:
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system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
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log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
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return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
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