kopia lustrzana https://github.com/OpenDroneMap/ODM
266 wiersze
14 KiB
Python
266 wiersze
14 KiB
Python
import ecto
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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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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_gcp", 'set to true for enabling GCPs from the file above', False)
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params.declare("img_size", 'image size used in calibration', 2400)
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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("photos", "list of ODMPhoto's", [])
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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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log.ODM_INFO('Running OMD Georeferencing Cell')
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# get inputs
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args = self.inputs.args
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tree = self.inputs.tree
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# define paths and create working directories
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system.mkdir_p(tree.odm_georeferencing)
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# in case a gcp file it's not provided, let's try to generate it using
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# images metadata. Internally calls jhead.
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if not self.params.use_gcp and \
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not io.file_exists(tree.odm_georeferencing_coords):
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log.ODM_WARNING('Warning: No coordinates file. ' \
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'Generating coordinates file in: %s' % tree.odm_georeferencing_coords)
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try:
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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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'imgs': tree.dataset_resize,
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'imgs_list': tree.opensfm_bundle_list,
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'coords': tree.odm_georeferencing_coords,
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'log': tree.odm_georeferencing_utm_log
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}
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# run UTM extraction binary
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system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ ' \
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'-imageListFile {imgs_list} -outputCoordFile {coords} ' \
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'-logFile {log}'.format(**kwargs))
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except Exception, e:
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log.ODM_ERROR('Could not generate GCP file from images metadata.' \
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'Consider rerunning with argument --odm_georeferencing-useGcp' \
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' and provide a proper GCP file')
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log.ODM_ERROR(e)
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return ecto.QUIT
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# check if we rerun cell or not
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rerun_cell = args['rerun'] is not None \
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and args['rerun'] == 'odm_georeferencing'
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if not io.file_exists(tree.odm_textured_model_obj_geo) or \
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not io.file_exists(tree.odm_textured_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_resize,
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'imgs_list': tree.opensfm_bundle_list,
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'model': tree.odm_textured_model_obj,
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'pc': tree.pmvs_model,
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'log': tree.odm_georeferencing_log,
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'coords': tree.odm_georeferencing_coords,
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'pc_geo': tree.odm_textured_model_ply_geo,
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'geo_sys': tree.odm_textured_model_txt_geo,
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'model_geo': tree.odm_textured_model_obj_geo,
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'size': self.params.img_size,
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'gcp': io.join_paths(tree.root_path, self.params.gcp_file),
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}
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if self.params.use_gcp and \
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io.file_exists(tree.odm_georeferencing_coords):
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system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' \
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'-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} ' \
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'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} ' \
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'-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} ' \
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'-outputCoordFile {coords}'.format(**kwargs))
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else:
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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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'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} ' \
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'-logFile {log} -georefFileOutputPath {geo_sys}'.format(**kwargs))
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else:
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log.ODM_WARNING('Found a valid georeferenced model in: %s' \
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% tree.odm_textured_model_ply_geo)
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# update images metadata
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geo_ref = types.ODM_GeoRef()
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geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords)
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for idx, photo in enumerate(self.inputs.photos):
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geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx)
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# convert ply model to LAS reference system
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geo_ref.convert_to_las(tree.odm_textured_model_ply_geo)
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log.ODM_INFO('Running OMD Georeferencing Cell - Finished')
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return ecto.OK if args['end_with'] != 'odm_georeferencing' else ecto.QUIT
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def odm_georeferencing():
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"""Run odm_georeferencing"""
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print "\n - running georeferencing - " + now()
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os.chdir(jobOptions["jobDir"])
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try:
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os.mkdir(jobOptions["jobDir"] + "/odm_georeferencing")
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except:
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pass
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if not args.odm_georeferencing_useGcp:
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run("\"" + BIN_PATH + "/odm_extract_utm\" -imagesPath " + jobOptions["srcDir"] + "/ -imageListFile " \
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+ jobOptions["jobDir"] + "/pmvs/list.rd.txt -outputCoordFile " + jobOptions["jobDir"] \
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+ "/odm_georeferencing/coordFile.txt")
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run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] \
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+ "/pmvs/bundle.rd.out -inputCoordFile " + jobOptions["jobDir"] \
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+ "/odm_georeferencing/coordFile.txt -inputFile " + jobOptions["jobDir"] \
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+ "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] \
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+ "-results/odm_texturing/odm_textured_model_geo.obj -inputPointCloudFile " \
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+ jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] \
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+ "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] \
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+ "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] \
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+ "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
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elif os.path.isfile(jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile):
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run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] \
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+ "/pmvs/bundle.rd.out -gcpFile " + jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile \
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+ " -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + jobOptions["jobDir"] \
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+ "/pmvs/list.rd.txt -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -inputFile " \
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+ jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " \
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+ jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -outputCoordFile " \
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+ jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputPointCloudFile " \
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+ jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] \
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+ "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] \
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+ "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] \
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+ "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
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else:
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print "Warning: No GCP file. Consider rerunning with argument --odm_georeferencing-useGcp false --start-with odm_georeferencing"
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print "Skipping orthophoto"
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args.end_with = "odm_georeferencing"
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if "csString" not in jobOptions:
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parse_coordinate_system()
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if "csString" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
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images = []
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with open(jobOptions["jobDir"] + "/pmvs/list.rd.txt") as f:
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images = f.readlines()
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if len(images) > 0:
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with open(jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt") as f:
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for lineNumber, line in enumerate(f):
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if lineNumber >= 2 and lineNumber - 2 < len(images):
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tokens = line.split(' ')
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if len(tokens) >= 3:
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x = float(tokens[0])
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y = float(tokens[1])
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z = float(tokens[2])
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filename = images[lineNumber - 2]
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run("echo " + str(x + jobOptions["utmEastOffset"]) + " " \
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+ str(y + jobOptions["utmNorthOffset"]) + " " + str(z) \
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+ " | cs2cs " + jobOptions["csString"] + " +to +datum=WGS84 +proj=latlong > " \
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+ jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt")
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with open(jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt") as latlongFile:
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latlongLine = latlongFile.readline()
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tokens = latlongLine.split()
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if len(tokens) >= 2:
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exifGpsInfoWritten = False
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lonString = tokens[0] # Example: 83d18'16.285"W
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latString = tokens[1] # Example: 41d2'11.789"N
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altString = ""
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if len(tokens) > 2:
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altString = tokens[2] # Example: 0.998
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tokens = re.split("[d '\"]+", lonString)
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if len(tokens) >= 4:
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lonDeg = tokens[0]
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lonMin = tokens[1]
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lonSec = tokens[2]
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lonSecFrac = fractions.Fraction(lonSec)
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lonSecNumerator = str(lonSecFrac._numerator)
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lonSecDenominator = str(lonSecFrac._denominator)
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lonRef = tokens[3]
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tokens = re.split("[d '\"]+", latString)
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if len(tokens) >= 4:
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latDeg = tokens[0]
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latMin = tokens[1]
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latSec = tokens[2]
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latSecFrac = fractions.Fraction(latSec)
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latSecNumerator = str(latSecFrac._numerator)
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latSecDenominator = str(latSecFrac._denominator)
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latRef = tokens[3]
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exivCmd = "exiv2 -q"
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exivCmd += " -M\"set Exif.GPSInfo.GPSLatitude " + latDeg + "/1 " \
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+ latMin + "/1 " + latSecNumerator + "/" + latSecDenominator + "\""
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exivCmd += " -M\"set Exif.GPSInfo.GPSLatitudeRef " + latRef + "\""
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exivCmd += " -M\"set Exif.GPSInfo.GPSLongitude " + lonDeg + "/1 " \
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+ lonMin + "/1 " + lonSecNumerator + "/" + lonSecDenominator + "\""
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exivCmd += " -M\"set Exif.GPSInfo.GPSLongitudeRef " + lonRef + "\""
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altNumerator = arcDenominator = 0 # BUG: arcDenominator is never used
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if altString:
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altFrac = fractions.Fraction(altString)
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altNumerator = str(altFrac._numerator)
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altDenominator = str(altFrac._denominator)
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exivCmd += " -M\"set Exif.GPSInfo.GPSAltitude " + altNumerator + "/" + altDenominator + "\""
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exivCmd += " -M\"set Exif.GPSInfo.GPSAltitudeRef 0\""
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exivCmd += " " + filename
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run(exivCmd)
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exifGpsInfoWritten = True
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if not exifGpsInfoWritten:
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print(" Warning: Failed setting EXIF GPS info for " \
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+ filename + " based on " + latlongLine)
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if "epsg" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
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lasCmd = "\"" + BIN_PATH + "/txt2las\" -i " + jobOptions["jobDir"] + \
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"-results/option-0000_georef.ply -o " + jobOptions["jobDir"] \
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+ "-results/pointcloud_georef.laz -skip 30 -parse xyzRGBssss -set_scale 0.01 0.01 0.01 -set_offset " \
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+ str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -translate_xyz " \
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+ str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) \
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+ " 0 -epsg " + str(jobOptions["epsg"])
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print(" Creating geo-referenced LAS file (expecting warning)...")
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run(lasCmd)
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if args['--end-with'] != "odm_georeferencing":
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odm_orthophoto() |