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Classify point cloud before generating derivative outputs #1742

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Jan 25, 2024
Merged

Classify point cloud before generating derivative outputs #1742

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fb85b75
Classify point cloud before generating derivative outputs
pierotofy Jan 23, 2024
9fd3bf3
Improve SRT parser to handle abs_alt altitude reference
pierotofy Jan 23, 2024
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2 changes: 1 addition & 1 deletion VERSION
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
3.3.5
3.4.0
4 changes: 2 additions & 2 deletions opendm/config.py
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Expand Up @@ -60,14 +60,14 @@
'orthophoto_no_tiled': 'odm_orthophoto',
'orthophoto_png': 'odm_orthophoto',
'orthophoto_resolution': 'odm_orthophoto',
'pc_classify': 'odm_dem',
'pc_classify': 'odm_georeferencing',
'pc_copc': 'odm_georeferencing',
'pc_csv': 'odm_georeferencing',
'pc_ept': 'odm_georeferencing',
'pc_filter': 'openmvs',
'pc_las': 'odm_georeferencing',
'pc_quality': 'opensfm',
'pc_rectify': 'odm_dem',
'pc_rectify': 'odm_georeferencing',
'pc_sample': 'odm_filterpoints',
'pc_skip_geometric': 'openmvs',
'primary_band': 'dataset',
Expand Down
28 changes: 28 additions & 0 deletions opendm/point_cloud.py
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Expand Up @@ -9,6 +9,8 @@
from opendm.utils import double_quote
from opendm.boundary import as_polygon, as_geojson
from opendm.dem.pdal import run_pipeline
from opendm.opc import classify
from opendm.dem import commands

def ply_info(input_ply):
if not os.path.exists(input_ply):
Expand Down Expand Up @@ -274,6 +276,32 @@ def merge_ply(input_point_cloud_files, output_file, dims=None):
system.run(' '.join(cmd))

def post_point_cloud_steps(args, tree, rerun=False):
# Classify and rectify before generating derivate files
if args.pc_classify:
pc_classify_marker = os.path.join(tree.odm_georeferencing, 'pc_classify_done.txt')

if not io.file_exists(pc_classify_marker) or rerun:
log.ODM_INFO("Classifying {} using Simple Morphological Filter (1/2)".format(tree.odm_georeferencing_model_laz))
commands.classify(tree.odm_georeferencing_model_laz,
args.smrf_scalar,
args.smrf_slope,
args.smrf_threshold,
args.smrf_window
)

log.ODM_INFO("Classifying {} using OpenPointClass (2/2)".format(tree.odm_georeferencing_model_laz))
classify(tree.odm_georeferencing_model_laz, args.max_concurrency)

with open(pc_classify_marker, 'w') as f:
f.write('Classify: smrf\n')
f.write('Scalar: {}\n'.format(args.smrf_scalar))
f.write('Slope: {}\n'.format(args.smrf_slope))
f.write('Threshold: {}\n'.format(args.smrf_threshold))
f.write('Window: {}\n'.format(args.smrf_window))

if args.pc_rectify:
commands.rectify(tree.odm_georeferencing_model_laz)

# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO("Creating CSV file (XYZ format)")
Expand Down
12 changes: 11 additions & 1 deletion opendm/video/srtparser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,10 @@ def get_gps(self, timestamp):
if not self.gps_data:
for d in self.data:
lat, lon, alt = d.get('latitude'), d.get('longitude'), d.get('altitude')
if alt is None:
alt = 0
tm = d.get('start')

if lat is not None and lon is not None:
if self.ll_to_utm is None:
self.ll_to_utm, self.utm_to_ll = location.utm_transformers_from_ll(lon, lat)
Expand Down Expand Up @@ -127,6 +129,13 @@ def parse(self):
# 00:00:35,000 --> 00:00:36,000
# F/6.3, SS 60, ISO 100, EV 0, RTK (120.083799, 30.213635, 28), HOME (120.084146, 30.214243, 103.55m), D 75.36m, H 76.19m, H.S 0.30m/s, V.S 0.00m/s, F.PRY (-5.3°, 2.1°, 28.3°), G.PRY (-40.0°, 0.0°, 28.2°)

# DJI Unknown Model #1
# 1
# 00:00:00,000 --> 00:00:00,033
# <font size="28">SrtCnt : 1, DiffTime : 33ms
# 2024-01-18 10:23:26.397
# [iso : 150] [shutter : 1/5000.0] [fnum : 170] [ev : 0] [ct : 5023] [color_md : default] [focal_len : 240] [dzoom_ratio: 10000, delta:0],[latitude: -22.724555] [longitude: -47.602414] [rel_alt: 0.300 abs_alt: 549.679] </font>

with open(self.filename, 'r') as f:

iso = None
Expand Down Expand Up @@ -211,4 +220,5 @@ def parse(self):
("altitude: ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
("GPS \([\d\.\-]+,? [\d\.\-]+,? ([\d\.\-]+)\)", lambda v: float(v) if v != 0 else None),
("RTK \([-+]?\d+\.\d+, [-+]?\d+\.\d+, (-?\d+)\)", lambda v: float(v) if v != 0 else None),
("abs_alt: ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
], line)
29 changes: 1 addition & 28 deletions stages/odm_dem.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
from opendm import pseudogeo
from opendm.tiles.tiler import generate_dem_tiles
from opendm.cogeo import convert_to_cogeo
from opendm.opc import classify

class ODMDEMStage(types.ODM_Stage):
def process(self, args, outputs):
Expand All @@ -35,7 +34,6 @@ def process(self, args, outputs):
ignore_resolution=ignore_resolution and args.ignore_gsd,
has_gcp=reconstruction.has_gcp())

log.ODM_INFO('Classify: ' + str(args.pc_classify))
log.ODM_INFO('Create DSM: ' + str(args.dsm))
log.ODM_INFO('Create DTM: ' + str(args.dtm))
log.ODM_INFO('DEM input file {0} found: {1}'.format(dem_input, str(pc_model_found)))
Expand All @@ -45,34 +43,9 @@ def process(self, args, outputs):
if not io.dir_exists(odm_dem_root):
system.mkdir_p(odm_dem_root)

if args.pc_classify and pc_model_found:
pc_classify_marker = os.path.join(odm_dem_root, 'pc_classify_done.txt')

if not io.file_exists(pc_classify_marker) or self.rerun():
log.ODM_INFO("Classifying {} using Simple Morphological Filter (1/2)".format(dem_input))
commands.classify(dem_input,
args.smrf_scalar,
args.smrf_slope,
args.smrf_threshold,
args.smrf_window
)

log.ODM_INFO("Classifying {} using OpenPointClass (2/2)".format(dem_input))
classify(dem_input, args.max_concurrency)

with open(pc_classify_marker, 'w') as f:
f.write('Classify: smrf\n')
f.write('Scalar: {}\n'.format(args.smrf_scalar))
f.write('Slope: {}\n'.format(args.smrf_slope))
f.write('Threshold: {}\n'.format(args.smrf_threshold))
f.write('Window: {}\n'.format(args.smrf_window))

progress = 20
self.update_progress(progress)

if args.pc_rectify:
commands.rectify(dem_input)

# Do we need to process anything here?
if (args.dsm or args.dtm) and pc_model_found:
dsm_output_filename = os.path.join(odm_dem_root, 'dsm.tif')
Expand Down Expand Up @@ -120,7 +93,7 @@ def process(self, args, outputs):
if args.cog:
convert_to_cogeo(dem_geotiff_path, max_workers=args.max_concurrency)

progress += 30
progress += 40
self.update_progress(progress)
else:
log.ODM_WARNING('Found existing outputs in: %s' % odm_dem_root)
Expand Down
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