kopia lustrzana https://github.com/OpenDroneMap/ODM
196 wiersze
9.3 KiB
Python
196 wiersze
9.3 KiB
Python
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("dem", 'Generate a dem', False)
|
|
params.declare("sample_radius", "Minimum distance between samples for DEM gen", 3)
|
|
params.declare("gdal_res", "Length of raster cell edges in X/Y units ", 2)
|
|
params.declare("gdal_radius", "Radius about cell center bounding points to use to calculate a cell value", 0.5)
|
|
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)
|
|
|
|
# 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_resize,
|
|
'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)
|
|
|
|
if not io.file_exists(tree.odm_georeferencing_model_obj_geo) or \
|
|
not io.file_exists(tree.odm_georeferencing_model_ply_geo) or rerun_cell:
|
|
|
|
# odm_georeference definitions
|
|
kwargs = {
|
|
'bin': context.odm_modules_path,
|
|
'bundle': tree.opensfm_bundle,
|
|
'imgs': tree.dataset_resize,
|
|
'imgs_list': tree.opensfm_bundle_list,
|
|
'model': tree.odm_textured_model_obj,
|
|
'log': tree.odm_georeferencing_log,
|
|
'coords': tree.odm_georeferencing_coords,
|
|
'pc_geo': tree.odm_georeferencing_model_ply_geo,
|
|
'geo_sys': tree.odm_georeferencing_model_txt_geo,
|
|
'model_geo': tree.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} -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} -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
|
|
|
|
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(tree.odm_georeferencing_model_ply_geo,
|
|
tree.odm_georeferencing_model_las,
|
|
tree.odm_georeferencing_las_json)
|
|
|
|
# If --dem, create a DEM
|
|
if args.dem:
|
|
demcreated = geo_ref.convert_to_dem(tree.odm_georeferencing_model_las,
|
|
tree.odm_georeferencing_dem,
|
|
tree.odm_georeferencing_dem_json,
|
|
self.params.sample_radius,
|
|
self.params.gdal_res,
|
|
self.params.gdal_radius)
|
|
if not demcreated:
|
|
log.ODM_WARNING('Something went wrong. Check the logs in odm_georeferencing.')
|
|
else:
|
|
log.ODM_INFO('DEM created at {0}'.format(tree.odm_georeferencing_dem))
|
|
|
|
# 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(tree.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'
|
|
% tree.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
|