kopia lustrzana https://github.com/OpenDroneMap/ODM
98 wiersze
3.8 KiB
Python
98 wiersze
3.8 KiB
Python
import os, sys, shutil, tempfile, json
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from opendm import system
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from opendm import log
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from opendm import context
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from opendm.system import run
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def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=16, confidence=None, verbose=False):
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"""
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Filters a point cloud
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"""
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if standard_deviation <= 0 or meank <= 0:
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log.ODM_INFO("Skipping point cloud filtering")
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return
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log.ODM_INFO("Filtering point cloud (statistical, meanK {}, standard deviation {})".format(meank, standard_deviation))
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if confidence:
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log.ODM_INFO("Keeping only points with > %s confidence" % confidence)
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if not os.path.exists(input_point_cloud):
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log.ODM_ERROR("{} does not exist, cannot filter point cloud. The program will now exit.".format(input_point_cloud))
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sys.exit(1)
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filter_program = os.path.join(context.odm_modules_path, 'odm_filterpoints')
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if not os.path.exists(filter_program):
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log.ODM_WARNING("{} program not found. Will skip filtering, but this installation should be fixed.")
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shutil.copy(input_point_cloud, output_point_cloud)
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return
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filterArgs = {
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'bin': filter_program,
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'inputFile': input_point_cloud,
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'outputFile': output_point_cloud,
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'sd': standard_deviation,
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'meank': meank,
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'verbose': '-verbose' if verbose else '',
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'confidence': '-confidence %s' % confidence if confidence else '',
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}
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system.run('{bin} -inputFile {inputFile} '
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'-outputFile {outputFile} '
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'-sd {sd} '
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'-meank {meank} {confidence} {verbose} '.format(**filterArgs))
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# Remove input file, swap temp file
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if not os.path.exists(output_point_cloud):
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log.ODM_WARNING("{} not found, filtering has failed.".format(output_point_cloud))
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def get_extent(input_point_cloud):
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fd, json_file = tempfile.mkstemp(suffix='.json')
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os.close(fd)
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# Get point cloud extent
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fallback = False
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# We know PLY files do not have --summary support
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if input_point_cloud.lower().endswith(".ply"):
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fallback = True
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run('pdal info {0} > {1}'.format(input_point_cloud, json_file))
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try:
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if not fallback:
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run('pdal info --summary {0} > {1}'.format(input_point_cloud, json_file))
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except:
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fallback = True
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run('pdal info {0} > {1}'.format(input_point_cloud, json_file))
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bounds = {}
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with open(json_file, 'r') as f:
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result = json.loads(f.read())
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if not fallback:
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summary = result.get('summary')
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if summary is None: raise Exception("Cannot compute summary for %s (summary key missing)" % input_point_cloud)
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bounds = summary.get('bounds')
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else:
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stats = result.get('stats')
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if stats is None: raise Exception("Cannot compute bounds for %s (stats key missing)" % input_point_cloud)
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bbox = stats.get('bbox')
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if bbox is None: raise Exception("Cannot compute bounds for %s (bbox key missing)" % input_point_cloud)
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native = bbox.get('native')
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if native is None: raise Exception("Cannot compute bounds for %s (native key missing)" % input_point_cloud)
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bounds = native.get('bbox')
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if bounds is None: raise Exception("Cannot compute bounds for %s (bounds key missing)" % input_point_cloud)
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if bounds.get('maxx', None) is None or \
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bounds.get('minx', None) is None or \
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bounds.get('maxy', None) is None or \
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bounds.get('miny', None) is None or \
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bounds.get('maxz', None) is None or \
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bounds.get('minz', None) is None:
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raise Exception("Cannot compute bounds for %s (invalid keys) %s" % (input_point_cloud, str(bounds)))
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os.remove(json_file)
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return bounds
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