kopia lustrzana https://github.com/OpenDroneMap/ODM
Piero Toffanin
rodzic
718f0a8052
commit
68c606a81c
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@ -11,6 +11,8 @@ add_definitions(-Wall -Wextra)
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# Find pcl at the location specified by PCL_DIR
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find_package(VTK 6.0 REQUIRED)
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find_package(PCL 1.8 HINTS "${PCL_DIR}/share/pcl-1.8" REQUIRED)
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find_package(GDAL REQUIRED)
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include_directories(${GDAL_INCLUDE_DIR})
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# Find OpenCV at the default location
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find_package(OpenCV HINTS "${OPENCV_DIR}" REQUIRED)
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@ -31,4 +33,4 @@ aux_source_directory("./src" SRC_LIST)
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# Add exectuteable
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add_executable(${PROJECT_NAME} ${SRC_LIST})
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target_link_libraries(odm_orthophoto ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS})
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target_link_libraries(odm_orthophoto ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS} ${GDAL_LIBRARY})
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@ -306,6 +306,50 @@ void OdmOrthoPhoto::printHelp()
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log_.setIsPrintingInCout(false);
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}
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void OdmOrthoPhoto::saveTIFF(const std::string &filename, GDALDataType dataType){
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GDALAllRegister();
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GDALDriverH hDriver = GDALGetDriverByName( "GTiff" );
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if (!hDriver){
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std::cerr << "Cannot initialize GeoTIFF driver. Check your GDAL installation." << std::endl;
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exit(1);
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}
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char **papszOptions = NULL;
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GDALDatasetH hDstDS = GDALCreate( hDriver, filename.c_str(), width, height, static_cast<int>(bands.size()), dataType, papszOptions );
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GDALRasterBandH hBand;
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for (size_t i = 0; i < bands.size(); i++){
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hBand = GDALGetRasterBand( hDstDS, static_cast<int>(i) + 1 );
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if (GDALRasterIO( hBand, GF_Write, 0, 0, width, height,
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bands[i], width, height, dataType, 0, 0 ) != CE_None){
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std::cerr << "Cannot write TIFF to " << filename << std::endl;
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exit(1);
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}
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// for (int j = 0; j < height; j++){
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// GDALRasterIO( hBand, GF_Write, 0, j, width, 1,
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// bands[i][j], width, 1, dataType, 0, 0 );
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// }
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}
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GDALClose( hDstDS );
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}
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template <typename T>
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inline T maxRange(){
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return static_cast<T>(pow(2, sizeof(T) * 8) - 1);
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}
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template <typename T>
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void OdmOrthoPhoto::initBands(const cv::Mat &texture){
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// Channels + alpha
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for (int i = 0; i < texture.channels() + 1; i++){
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size_t pixelCount = static_cast<size_t>(width * height);
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T *arr = new T[pixelCount];
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for (size_t j = 0; j < pixelCount; j++){
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arr[j] = i == 4 ? 0 : maxRange<T>(); // Set alpha at 0
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}
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bands.push_back(static_cast<void *>(arr));
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}
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}
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void OdmOrthoPhoto::createOrthoPhoto()
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{
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if(inputFile_.empty())
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@ -333,7 +377,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
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log_ << "\tSpecified -inputGeoRefFile, but no boundary points. The georeference system will be ignored.\n";
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}
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log_ << "Reading mesh file...\n";
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log_ << "Reading mesh file... " << inputFile_ << "\n";
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// The textured mesh.
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pcl::TextureMesh mesh;
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loadObjFile(inputFile_, mesh);
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@ -375,24 +419,24 @@ void OdmOrthoPhoto::createOrthoPhoto()
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log_ << "Ortho photo area : " << xDiff*yDiff << "m2\n";
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// The resolution necessary to fit the area with the given resolution.
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int rowRes = static_cast<int>(std::ceil(resolution_*yDiff));
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int colRes = static_cast<int>(std::ceil(resolution_*xDiff));
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log_ << "Ortho photo resolution, width x height : " << colRes << "x" << rowRes << '\n';
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height = static_cast<int>(std::ceil(resolution_*yDiff));
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width = static_cast<int>(std::ceil(resolution_*xDiff));
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log_ << "Ortho photo resolution, width x height : " << width << "x" << height << '\n';
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// Check size of photo.
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if(0 >= rowRes*colRes)
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if(0 >= height*width)
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{
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if(0 >= rowRes)
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if(0 >= height)
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{
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log_ << "Warning: ortho photo has zero area, height = " << rowRes << ". Forcing height = 1.\n";
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rowRes = 1;
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log_ << "Warning: ortho photo has zero area, height = " << height << ". Forcing height = 1.\n";
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height = 1;
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}
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if(0 >= colRes)
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if(0 >= width)
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{
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log_ << "Warning: ortho photo has zero area, width = " << colRes << ". Forcing width = 1.\n";
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colRes = 1;
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log_ << "Warning: ortho photo has zero area, width = " << width << ". Forcing width = 1.\n";
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width = 1;
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}
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log_ << "New ortho photo resolution, width x height : " << colRes << "x" << rowRes << '\n';
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log_ << "New ortho photo resolution, width x height : " << width << "x" << height << '\n';
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}
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// Contains the vertices of the mesh.
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@ -493,20 +537,22 @@ void OdmOrthoPhoto::createOrthoPhoto()
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if (textureDepth == -1){
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try{
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textureDepth = texture.depth();
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log_ << "Texture depth is " << textureDepth << "bit\n";
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log_ << "Texture channels: " << texture.channels() << "\n";
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if (textureDepth == CV_8U){
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photo_ = cv::Mat::zeros(rowRes, colRes, CV_8UC4) + cv::Scalar(255, 255, 255, 0);
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log_ << "Texture depth: 8bit\n";
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initBands<uint8_t>(texture);
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}else if (textureDepth == CV_16U){
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photo_ = cv::Mat::zeros(rowRes, colRes, CV_16UC4) + cv::Scalar(65535, 65535, 65535, 0);
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log_ << "Texture depth: 16bit\n";
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initBands<uint16_t>(texture);
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}else{
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std::cerr << "Unsupported bit depth value: " << textureDepth;
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exit(1);
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}
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depth_ = cv::Mat::zeros(rowRes, colRes, CV_32F) - std::numeric_limits<float>::infinity();
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depth_ = cv::Mat::zeros(height, width, CV_32F) - std::numeric_limits<float>::infinity();
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}catch(const cv::Exception &e){
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std::cerr << "Couldn't allocate enough memory to render the orthophoto (" << colRes << "x" << rowRes << " cells = " << ((long long)colRes * (long long)rowRes * 4) << " bytes). Try to increase the --orthophoto-resolution parameter to a larger integer or add more RAM.\n";
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std::cerr << "Couldn't allocate enough memory to render the orthophoto (" << width << "x" << height << " cells = " << ((long long)width * (long long)height * 4) << " bytes). Try to increase the --orthophoto-resolution parameter to a larger integer or add more RAM.\n";
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exit(1);
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}
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}
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@ -531,9 +577,9 @@ void OdmOrthoPhoto::createOrthoPhoto()
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// ... and draw it into the ortho photo.
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if (textureDepth == CV_8U){
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drawTexturedTriangle<unsigned char>(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
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drawTexturedTriangle<uint8_t>(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
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}else if (textureDepth == CV_16U){
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drawTexturedTriangle<unsigned short>(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
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drawTexturedTriangle<uint16_t>(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
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}
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}
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faceOff += faces.size();
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@ -543,7 +589,17 @@ void OdmOrthoPhoto::createOrthoPhoto()
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log_ << '\n';
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log_ << "Writing ortho photo to " << outputFile_ << "\n";
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cv::imwrite(outputFile_, photo_);
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if (textureDepth == CV_8U){
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saveTIFF(outputFile_, GDT_Byte);
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}else if (textureDepth == CV_16U){
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saveTIFF(outputFile_, GDT_UInt16);
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}else{
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std::cerr << "Unsupported bit depth value: " << textureDepth;
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exit(1);
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}
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// cv::imwrite(outputFile_, photo_);
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if (!outputCornerFile_.empty())
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{
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@ -801,7 +857,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
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// Check bounding box overlap.
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int xMin = static_cast<int>(std::min(std::min(v1x, v2x), v3x));
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if(xMin > photo_.cols)
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if(xMin > width)
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{
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return; // Completely outside to the right.
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}
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@ -811,7 +867,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
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return; // Completely outside to the left.
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}
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int yMin = static_cast<int>(std::min(std::min(v1y, v2y), v3y));
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if(yMin > photo_.rows)
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if(yMin > height)
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{
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return; // Completely outside to the top.
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}
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@ -915,7 +971,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
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// The first pixel row for the bottom part of the triangle.
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int rqStart = std::max(static_cast<int>(std::floor(topR+0.5f)), 0);
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// The last pixel row for the top part of the triangle.
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int rqEnd = std::min(static_cast<int>(std::floor(midR+0.5f)), photo_.rows);
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int rqEnd = std::min(static_cast<int>(std::floor(midR+0.5f)), height);
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// Traverse along row from top to middle.
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for(int rq = rqStart; rq < rqEnd; ++rq)
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@ -927,7 +983,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
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// The first pixel column for the current row.
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int cqStart = std::max(static_cast<int>(std::floor(0.5f+std::min(ctm, ctb))), 0);
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// The last pixel column for the current row.
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int cqEnd = std::min(static_cast<int>(std::floor(0.5f+std::max(ctm, ctb))), photo_.cols);
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int cqEnd = std::min(static_cast<int>(std::floor(0.5f+std::max(ctm, ctb))), width);
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for(int cq = cqStart; cq < cqEnd; ++cq)
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{
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@ -973,7 +1029,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
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// The first pixel row for the bottom part of the triangle.
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int rqStart = std::max(static_cast<int>(std::floor(midR+0.5f)), 0);
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// The last pixel row for the bottom part of the triangle.
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int rqEnd = std::min(static_cast<int>(std::floor(botR+0.5f)), photo_.rows);
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int rqEnd = std::min(static_cast<int>(std::floor(botR+0.5f)), height);
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// Traverse along row from middle to bottom.
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for(int rq = rqStart; rq < rqEnd; ++rq)
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@ -985,7 +1041,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
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// The first pixel column for the current row.
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int cqStart = std::max(static_cast<int>(std::floor(0.5f+std::min(cmb, ctb))), 0);
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// The last pixel column for the current row.
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int cqEnd = std::min(static_cast<int>(std::floor(0.5f+std::max(cmb, ctb))), photo_.cols);
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int cqEnd = std::min(static_cast<int>(std::floor(0.5f+std::max(cmb, ctb))), width);
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for(int cq = cqStart; cq < cqEnd; ++cq)
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{
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@ -1071,10 +1127,11 @@ void OdmOrthoPhoto::renderPixel(int row, int col, float s, float t, const cv::Ma
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b += static_cast<float>(bl[0]) * dr * dt;
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b += static_cast<float>(br[0]) * dl * dt;
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photo_.at<cv::Vec<T, 4> >(row,col) = cv::Vec<T, 4>(static_cast<T>(b),
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static_cast<T>(g),
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static_cast<T>(r),
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static_cast<T>(255)); // Alpha should always be in the 255 range
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size_t idx = static_cast<size_t>(row * width + col);
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static_cast<T *>(bands[0])[idx] = static_cast<T>(r);
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static_cast<T *>(bands[1])[idx] = static_cast<T>(g);
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static_cast<T *>(bands[2])[idx] = static_cast<T>(b);
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static_cast<T *>(bands[3])[idx] = static_cast<T>(255); // Alpha should always be in the 255 range
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}
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void OdmOrthoPhoto::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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@ -20,6 +20,10 @@
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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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@ -76,6 +80,7 @@ public:
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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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/*!
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* \brief parseArguments Parses command line arguments.
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@ -123,6 +128,10 @@ private:
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* @return
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*/
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Eigen::Transform<float, 3, Eigen::Affine> readTransform(std::string transformFile_) const;
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template <typename T>
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void initBands(const cv::Mat &texture);
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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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@ -222,7 +231,8 @@ private:
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Eigen::Vector2f boundaryPoint3_; /**< The third boundary point for the ortho photo, in local coordinates. */
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Eigen::Vector2f boundaryPoint4_; /**< The fourth boundary point for the ortho photo, in local coordinates. */
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cv::Mat photo_; /**< The ortho photo as an OpenCV matrix, CV_8UC3. */
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std::vector<void *> bands;
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cv::Mat depth_; /**< The depth of the ortho photo as an OpenCV matrix, CV_32F. */
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bool multiMaterial_; /**< True if the mesh has multiple materials. **/
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@ -82,11 +82,15 @@ def compute_mask_raster(input_raster, vector_mask, output_raster, blend_distance
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out_image, out_transform = mask(rast, shapes, nodata=0)
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if blend_distance > 0:
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alpha_band = out_image[3]
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dist_t = ndimage.distance_transform_edt(alpha_band)
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dist_t[dist_t <= blend_distance] /= blend_distance
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dist_t[dist_t > blend_distance] = 1
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np.multiply(alpha_band, dist_t, out=alpha_band, casting="unsafe")
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if out_image.shape[0] >= 4:
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# rast_mask = rast.dataset_mask()
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rast_mask = out_image[-1]
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dist_t = ndimage.distance_transform_edt(rast_mask)
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dist_t[dist_t <= blend_distance] /= blend_distance
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dist_t[dist_t > blend_distance] = 1
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np.multiply(rast_mask, dist_t, out=rast_mask, casting="unsafe")
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else:
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log.ODM_WARNING("%s does not have an alpha band, cannot blend cutline!" % input_raster)
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with rasterio.open(output_raster, 'w', **rast.profile) as dst:
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dst.write(out_image)
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@ -93,6 +93,54 @@ class ODM_Reconstruction(object):
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self.photos = photos
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self.georef = None
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self.gcp = None
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self.multi_camera = self.detect_multi_camera()
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def detect_multi_camera(self):
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"""
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Looks at the reconstruction photos and determines if this
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is a single or multi-camera setup.
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"""
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supported_ext_re = r"\.(" + "|".join([e[1:] for e in context.supported_extensions]) + ")$"
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# Match filename_1.tif, filename_2.tif, filename_3.tif, ...
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#
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multi_camera_patterns = {
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'MicaSense RedEdge-M': r'^IMG_\d+_(?P<band>\d{1})',
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'Parrot Sequoia': r'^IMG_\d+_\d+_\d+_(?P<band>[A-Z]{3})',
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}
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for cam, regex in multi_camera_patterns.items():
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pattern = re.compile(regex + supported_ext_re, re.IGNORECASE)
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mc = {}
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for p in self.photos:
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matches = re.match(pattern, p.filename)
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if matches:
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band = matches.group("band")
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if not band in mc:
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mc[band] = []
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mc[band].append(p)
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# We support between 2 and 6 bands
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# If we matched more or less bands, we probably just
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# found filename patterns that do not match a multi-camera setup
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bands_count = len(mc)
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if bands_count >= 2 and bands_count <= 6:
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# Validate that all bands have the same number of images,
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# otherwise this is not a multi-camera setup
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img_per_band = len(mc[band])
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valid = True
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for band in mc:
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if len(mc[band]) != img_per_band:
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log.ODM_WARNING("This might be a multi-camera setup, but band \"%s\" (identified from \"%s\") has only %s images (instead of %s), perhaps images are missing or are corrupted." % (band, mc[band][0].filename, len(mc[band]), img_per_band))
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valid = False
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break
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if valid:
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return mc
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return None
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def is_georeferenced(self):
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return self.georef is not None
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@ -97,7 +97,7 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
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system.run('gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
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'{vars} '
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'-b 1 -b 2 -b 3 -mask 4 '
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# '-b 1 -b 2 -b 3 -mask 4 '
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'-a_srs \"{proj}\" '
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'--config GDAL_CACHEMAX {max_memory}% '
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'--config GDAL_TIFF_INTERNAL_MASK YES '
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|||
|
|
@ -35,10 +35,11 @@ class TestRemote(unittest.TestCase):
|
|||
self.queue_num = queue_num
|
||||
self.uuid = 'xxxxx-xxxxx-xxxxx-xxxxx-xxxx' + str(queue_num)
|
||||
|
||||
def info(self):
|
||||
def info(self, with_output=None):
|
||||
class StatusMock:
|
||||
status = TaskStatus.RUNNING if self.running else TaskStatus.QUEUED
|
||||
processing_time = 1
|
||||
output = "test output"
|
||||
return StatusMock()
|
||||
|
||||
def remove(self):
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue