kopia lustrzana https://github.com/OpenDroneMap/ODM
72 wiersze
3.6 KiB
Python
72 wiersze
3.6 KiB
Python
import os
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from opendm import log
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from opendm import io
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from opendm import system
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from opendm import context
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from opendm import point_cloud
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from opendm import types
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from opendm import gsd
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from opendm.boundary import boundary_offset, compute_boundary_from_shots
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class ODMFilterPoints(types.ODM_Stage):
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def process(self, args, outputs):
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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if not os.path.exists(tree.odm_filterpoints): system.mkdir_p(tree.odm_filterpoints)
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inputPointCloud = ""
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# check if reconstruction was done before
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if not io.file_exists(tree.filtered_point_cloud) or self.rerun():
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if args.fast_orthophoto:
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inputPointCloud = os.path.join(tree.opensfm, 'reconstruction.ply')
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else:
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inputPointCloud = tree.openmvs_model
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# Check if we need to compute boundary
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if args.auto_boundary:
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if reconstruction.is_georeferenced():
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if not 'boundary' in outputs:
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boundary_distance = None
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if args.auto_boundary_distance > 0:
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boundary_distance = args.auto_boundary_distance
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else:
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avg_gsd = gsd.opensfm_reconstruction_average_gsd(tree.opensfm_reconstruction)
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if avg_gsd is not None:
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boundary_distance = avg_gsd * 20 # 20 is arbitrary
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if boundary_distance is not None:
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outputs['boundary'] = compute_boundary_from_shots(tree.opensfm_reconstruction, boundary_distance, reconstruction.get_proj_offset())
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if outputs['boundary'] is None:
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log.ODM_WARNING("Cannot compute boundary from camera shots")
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else:
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log.ODM_WARNING("Cannot compute boundary (GSD cannot be estimated)")
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else:
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log.ODM_WARNING("--auto-boundary set but so is --boundary, will use --boundary")
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else:
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log.ODM_WARNING("Not a georeferenced reconstruction, will ignore --auto-boundary")
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point_cloud.filter(inputPointCloud, tree.filtered_point_cloud,
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standard_deviation=args.pc_filter,
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sample_radius=args.pc_sample,
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boundary=boundary_offset(outputs.get('boundary'), reconstruction.get_proj_offset()),
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max_concurrency=args.max_concurrency)
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# Quick check
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info = point_cloud.ply_info(tree.filtered_point_cloud)
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if info["vertex_count"] == 0:
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extra_msg = ''
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if 'boundary' in outputs:
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extra_msg = '. Also, since you used a boundary setting, make sure that the boundary polygon you specified covers the reconstruction area correctly.'
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raise system.ExitException("Uh oh! We ended up with an empty point cloud. This means that the reconstruction did not succeed. Have you followed best practices for data acquisition? See https://docs.opendronemap.org/flying/%s" % extra_msg)
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else:
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log.ODM_WARNING('Found a valid point cloud file in: %s' %
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tree.filtered_point_cloud)
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if args.optimize_disk_space and inputPointCloud:
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if os.path.isfile(inputPointCloud):
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os.remove(inputPointCloud)
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