kopia lustrzana https://github.com/OpenDroneMap/ODM
Moved odm_orthophoto to separate repo, removed build, modules folders
Piero Toffanin
rodzic
5e98c8bbc1
commit
22373321b4
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@ -147,6 +147,14 @@ externalproject_add(dem2points
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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)
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externalproject_add(odm_orthophoto
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GIT_REPOSITORY https://github.com/OpenDroneMap/odm_orthophoto.git
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GIT_TAG main
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PREFIX ${SB_BINARY_DIR}/odm_orthophoto
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SOURCE_DIR ${SB_SOURCE_DIR}/odm_orthophoto
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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)
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externalproject_add(lastools
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GIT_REPOSITORY https://github.com/LAStools/LAStools.git
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GIT_TAG 2ef44281645999ec7217facec84a5913bbbbe165
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@ -143,11 +143,6 @@ install() {
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mkdir -p build && cd build
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cmake .. && make -j$processes
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echo "Compiling build"
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cd ${RUNPATH}
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mkdir -p build && cd build
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cmake .. && make -j$processes
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echo "Configuration Finished"
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}
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@ -191,6 +186,8 @@ clean() {
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${RUNPATH}/SuperBuild/build/dem2points \
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${RUNPATH}/SuperBuild/src/openmvs \
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${RUNPATH}/SuperBuild/build/openmvs \
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${RUNPATH}/SuperBuild/src/odm_orthophoto \
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${RUNPATH}/SuperBuild/build/odm_orthophoto \
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${RUNPATH}/SuperBuild/src/vcg
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# find in /code and delete static libraries and intermediate object files
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@ -1,7 +0,0 @@
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if (NOT CMAKE_BUILD_TYPE)
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message(STATUS "No build type selected, default to Release")
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set(CMAKE_BUILD_TYPE "Release")
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endif()
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# Add ODM sub-modules
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add_subdirectory(odm_orthophoto)
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@ -1,42 +0,0 @@
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project(odm_orthophoto)
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cmake_minimum_required(VERSION 2.8)
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# Set pcl dir to the input spedified with option -DPCL_DIR="path"
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set(PCL_DIR "PCL_DIR-NOTFOUND" CACHE "PCL_DIR" "Path to the pcl installation directory")
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set(OPENCV_DIR "OPENCV_DIR-NOTFOUND" CACHE "OPENCV_DIR" "Path to the OPENCV installation directory")
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# Add compiler options.
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add_definitions(-Wall -Wextra)
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# Find pcl at the location specified by PCL_DIR
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find_package(PCL 1.8 HINTS "${PCL_DIR}/share/pcl-1.8" REQUIRED)
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find_package(GDAL REQUIRED)
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# PCL should already link to Boost, but for some reason it doesn't...
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find_package(Boost COMPONENTS filesystem REQUIRED)
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include_directories(${GDAL_INCLUDE_DIR})
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# Find OpenCV at the default location
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find_package(OpenCV HINTS "${OPENCV_DIR}" REQUIRED)
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# Only link with required opencv modules.
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set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui)
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# Add the PCL, Eigen and OpenCV include dirs.
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# Necessary since the PCL_INCLUDE_DIR variable set by find_package is broken.)
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include_directories(${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
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include_directories(${EIGEN_ROOT})
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include_directories(${OpenCV_INCLUDE_DIRS})
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#library_directories(${OpenCV_LIBRARY_DIRS})
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# Add source directory
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aux_source_directory("./src" SRC_LIST)
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# Add exectuteable
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add_executable(${PROJECT_NAME} ${SRC_LIST})
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set_target_properties(${PROJECT_NAME} PROPERTIES
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CXX_STANDARD 11
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)
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target_link_libraries(odm_orthophoto ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS} ${GDAL_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
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@ -1,29 +0,0 @@
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#include "Logger.hpp"
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Logger::Logger(bool isPrintingInCout) : isPrintingInCout_(isPrintingInCout)
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{
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}
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Logger::~Logger()
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{
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}
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void Logger::print(std::string filePath)
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{
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std::ofstream file(filePath.c_str(), std::ios::binary);
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file << logStream_.str();
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file.close();
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}
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bool Logger::isPrintingInCout() const
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{
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return isPrintingInCout_;
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}
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void Logger::setIsPrintingInCout(bool isPrintingInCout)
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{
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isPrintingInCout_ = isPrintingInCout;
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}
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@ -1,68 +0,0 @@
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#pragma once
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// STL
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#include <string>
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#include <sstream>
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#include <fstream>
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#include <iostream>
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/*!
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* \brief The Logger class is used to store program messages in a log file.
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* \details By using the << operator while printInCout is set, the class writes both to
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* cout and to file, if the flag is not set, output is written to file only.
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*/
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class Logger
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{
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public:
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/*!
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* \brief Logger Contains functionality for printing and displaying log information.
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* \param printInCout Flag toggling if operator << also writes to cout.
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*/
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Logger(bool isPrintingInCout = true);
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/*!
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* \brief Destructor.
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*/
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~Logger();
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/*!
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* \brief print Prints the contents of the log to file.
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* \param filePath Path specifying where to write the log.
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*/
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void print(std::string filePath);
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/*!
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* \brief isPrintingInCout Check if console printing flag is set.
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* \return Console printing flag.
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*/
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bool isPrintingInCout() const;
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/*!
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* \brief setIsPrintingInCout Set console printing flag.
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* \param isPrintingInCout Value, if true, messages added to the log are also printed in cout.
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*/
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void setIsPrintingInCout(bool isPrintingInCout);
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/*!
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* Operator for printing messages to log and in the standard output stream if desired.
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*/
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template<class T>
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friend Logger& operator<< (Logger &log, T t)
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{
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// If console printing is enabled.
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if (log.isPrintingInCout_)
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{
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std::cout << t;
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std::cout.flush();
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}
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// Write to log.
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log.logStream_ << t;
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return log;
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}
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private:
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bool isPrintingInCout_; /*!< If flag is set, log is printed in cout and written to the log. */
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std::stringstream logStream_; /*!< Stream for storing the log. */
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};
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Plik diff jest za duży
Load Diff
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@ -1,207 +0,0 @@
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#pragma once
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// C++
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#include <limits.h>
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#include <istream>
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#include <ostream>
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// PCL
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#include <pcl/io/obj_io.h>
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#include <pcl/common/transforms.h>
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// OpenCV
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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// PCL
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#include <pcl/common/eigen.h>
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#include <pcl/common/common.h>
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// OpenCV
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#include <opencv2/core/core.hpp>
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// GDAL
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#include "gdal_priv.h"
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#include "cpl_conv.h" // for CPLMalloc()
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// Logger
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#include "Logger.hpp"
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struct Bounds{
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float xMin;
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float xMax;
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float yMin;
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float yMax;
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Bounds() : xMin(0), xMax(0), yMin(0), yMax(0) {}
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Bounds(float xMin, float xMax, float yMin, float yMax) :
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xMin(xMin), xMax(xMax), yMin(yMin), yMax(yMax){}
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Bounds(const Bounds &b) {
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xMin = b.xMin;
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xMax = b.xMax;
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yMin = b.yMin;
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yMax = b.yMax;
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}
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};
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/*!
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* \brief The OdmOrthoPhoto class is used to create an orthographic photo over a given area.
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* The class reads an oriented textured mesh from an OBJ-file.
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* The class uses file read from pcl.
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* The class uses image read and write from opencv.
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*/
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class OdmOrthoPhoto
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{
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public:
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OdmOrthoPhoto();
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~OdmOrthoPhoto();
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/*!
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* \brief run Runs the ortho photo functionality using the provided input arguments.
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* For a list of accepted arguments, pleas see the main page documentation or
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* call the program with parameter "-help".
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* \param argc Application argument count.
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* \param argv Argument values.
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* \return 0 if successful.
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*/
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int run(int argc, char* argv[]);
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private:
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int width, height;
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void parseArguments(int argc, char* argv[]);
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void printHelp();
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void createOrthoPhoto();
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/*!
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* \brief Compute the boundary points so that the entire model fits inside the photo.
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*
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* \param mesh The model which decides the boundary.
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*/
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Bounds computeBoundsForModel(const pcl::TextureMesh &mesh);
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/*!
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* \brief Creates a transformation which aligns the area for the orthophoto.
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*/
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Eigen::Transform<float, 3, Eigen::Affine> getROITransform(float xMin, float yMin) const;
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template <typename T>
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void initBands(int count);
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template <typename T>
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void initAlphaBand();
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template <typename T>
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void finalizeAlphaBand();
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void saveTIFF(const std::string &filename, GDALDataType dataType);
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/*!
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* \brief Renders a triangle into the ortho photo.
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*
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* Pixel center defined as middle of pixel for triangle rasterisation, and in lower left corner for texture look-up.
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*
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* \param texture The texture of the polygon.
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* \param polygon The polygon as athree indices relative meshCloud.
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* \param meshCloud Contains all vertices.
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* \param uvs Contains the texture coordinates for the active material.
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* \param faceIndex The index of the face.
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*/
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template <typename T>
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void drawTexturedTriangle(const cv::Mat &texture, const pcl::Vertices &polygon, const pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud, const std::vector<Eigen::Vector2f> &uvs, size_t faceIndex);
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/*!
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* \brief Sets the color of a pixel in the photo.
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*
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* \param row The row index of the pixel.
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* \param col The column index of the pixel.
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* \param s The u texture-coordinate, multiplied with the number of columns in the texture.
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* \param t The v texture-coordinate, multiplied with the number of rows in the texture.
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* \param texture The texture from which to get the color.
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**/
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template <typename T>
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void renderPixel(int row, int col, float u, float v, const cv::Mat &texture);
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/*!
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* \brief Calculates the barycentric coordinates of a point in a triangle.
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*
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* \param v1 The first triangle vertex.
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* \param v2 The second triangle vertex.
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* \param v3 The third triangle vertex.
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* \param x The x coordinate of the point.
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* \param y The y coordinate of the point.
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* \param l1 The first vertex weight.
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* \param l2 The second vertex weight.
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* \param l3 The third vertex weight.
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*/
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void getBarycentricCoordinates(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const;
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/*!
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* \brief Check if a given polygon is a sliver polygon.
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*
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* \param v1 The first vertex of the polygon.
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* \param v2 The second vertex of the polygon.
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* \param v3 The third vertex of the polygon.
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*/
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bool isSliverPolygon(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3) const;
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/*!
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* \brief Check if the model is suitable for ortho photo generation.
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*
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* \param mesh The model.
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* \return True if the model is ok for generating ortho photo.
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*/
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bool isModelOk(const pcl::TextureMesh &mesh);
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/*!
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* \brief Loads a model from an .obj file (replacement for the pcl obj loader).
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*
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* \param inputFile Path to the .obj file.
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* \param mesh The model.
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* \return True if model was loaded successfully.
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*/
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bool loadObjFile(std::string inputFile, pcl::TextureMesh &mesh, std::vector<pcl::MTLReader> &companions);
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/*!
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* \brief Function is compied straight from the function in the pcl::io module.
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*/
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bool readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
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Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
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int &file_version, int &data_type, unsigned int &data_idx,
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const int offset,
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std::vector<pcl::MTLReader> &companions);
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Logger log_; /**< Logging object. */
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std::vector<std::string> inputFiles;
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std::string outputFile_; /**< Path to the destination file. */
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std::string outputCornerFile_; /**< Path to the output corner file. */
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std::string logFile_; /**< Path to the log file. */
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std::string bandsOrder;
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float resolution_; /**< The number of pixels per meter in the ortho photo. */
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std::vector<void *> bands;
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std::vector<GDALColorInterp> colorInterps;
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std::vector<std::string> bandDescriptions;
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void *alphaBand; // Keep alpha band separate
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int currentBandIndex;
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cv::Mat depth_; /**< The depth of the ortho photo as an OpenCV matrix, CV_32F. */
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};
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/*!
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* \brief The OdmOrthoPhoto class
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*/
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class OdmOrthoPhotoException : public std::exception
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{
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public:
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OdmOrthoPhotoException() : message("Error in OdmOrthoPhoto") {}
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OdmOrthoPhotoException(std::string msgInit) : message("Error in OdmOrthoPhoto:\n" + msgInit) {}
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~OdmOrthoPhotoException() throw() {}
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virtual const char* what() const throw() {return message.c_str(); }
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private:
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std::string message; /**< The error message **/
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};
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@ -1,8 +0,0 @@
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// Ortho photo generator.
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#include "OdmOrthoPhoto.hpp"
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int main(int argc, char* argv[])
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{
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OdmOrthoPhoto orthoPhotoGenerator;
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return orthoPhotoGenerator.run(argc, argv);
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}
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@ -44,6 +44,7 @@ pdal_path = os.path.join(superbuild_path, 'build/pdal/bin')
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odm_modules_path = os.path.join(root_path, "build/bin")
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odm_modules_src_path = os.path.join(root_path, "modules")
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odm_orthophoto_path = os.path.join(superbuild_bin_path, "odm_orthophoto")
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settings_path = os.path.join(root_path, 'settings.yaml')
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# Define supported image extensions
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|
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@ -184,20 +184,14 @@ parts:
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cmake -G Ninja ..
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cmake --build . --parallel 1
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# Build the main ODM project
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cd $SNAPCRAFT_PART_BUILD
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mkdir -p build
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cd build
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cmake -G Ninja ..
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cmake --build . --parallel $SNAPCRAFT_PARALLEL_BUILD_COUNT
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rsync -av --exclude .git \
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$SNAPCRAFT_PART_BUILD/ $SNAPCRAFT_PART_INSTALL/odm/
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chmod -R u=rwX,go=rX $PYTHONUSERBASE/lib/python*
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stage:
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# strip the temporary build files and sources
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- -odm/SuperBuild/build/opencv
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- -odm/SuperBuild/build/openmvs
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- -odm/SuperBuild/build/openmvs
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- -odm/SuperBuild/build/odm_orthophoto
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- -odm/SuperBuild/download
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- -odm/SuperBuild/src/ceres
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- -odm/SuperBuild/src/untwine
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@ -215,6 +209,7 @@ parts:
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- -odm/SuperBuild/src/vcg
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- -odm/SuperBuild/src/dem2mesh
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- -odm/SuperBuild/src/dem2points
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- -odm/SuperBuild/src/odm_orthophoto
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prime:
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# remove any static-libraries
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- -**/*.a
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|
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@ -38,7 +38,7 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
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# odm_orthophoto definitions
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kwargs = {
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'bin': context.odm_modules_path,
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'odm_ortho_bin': context.odm_orthophoto_path,
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'log': tree.odm_orthophoto_log,
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'ortho': tree.odm_orthophoto_render,
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'corners': tree.odm_orthophoto_corners,
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@ -70,7 +70,7 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
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kwargs['models'] = ','.join(map(quote, models))
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# run odm_orthophoto
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||||
system.run('{bin}/odm_orthophoto -inputFiles {models} '
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system.run('{odm_ortho_bin} -inputFiles {models} '
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'-logFile {log} -outputFile {ortho} -resolution {res} {verbose} '
|
||||
'-outputCornerFile {corners} {bands}'.format(**kwargs))
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue