kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge pull request #1623 from pierotofy/class
Automated point classification and other improvementspull/1631/head
Piero Toffanin
GitHub
commit
6a7ab131ca
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@ -177,6 +177,7 @@ set(custom_libs OpenSfM
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FPCFilter
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PyPopsift
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Obj2Tiles
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OpenPointClass
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)
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externalproject_add(mve
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@ -0,0 +1,33 @@
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set(_proj_name openpointclass)
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set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
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ExternalProject_Add(${_proj_name}
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DEPENDS pdal eigen34
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PREFIX ${_SB_BINARY_DIR}
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TMP_DIR ${_SB_BINARY_DIR}/tmp
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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GIT_REPOSITORY https://github.com/uav4geo/OpenPointClass
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GIT_TAG v1.1.3
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-DPDAL_DIR=${SB_INSTALL_DIR}/lib/cmake/PDAL
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-DWITH_GBT=ON
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-DBUILD_PCTRAIN=OFF
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-DEIGEN3_INCLUDE_DIR=${SB_SOURCE_DIR}/eigen34/
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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${WIN32_CMAKE_ARGS}
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#--Build step-----------------
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BINARY_DIR ${_SB_BINARY_DIR}
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#--Install step---------------
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INSTALL_DIR ${SB_INSTALL_DIR}
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#--Output logging-------------
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LOG_DOWNLOAD OFF
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LOG_CONFIGURE OFF
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LOG_BUILD OFF
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)
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@ -1,55 +0,0 @@
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set(_proj_name pcl)
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set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
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ExternalProject_Add(${_proj_name}
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PREFIX ${_SB_BINARY_DIR}
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TMP_DIR ${_SB_BINARY_DIR}/tmp
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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URL https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.11.1.zip
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-DBUILD_features=OFF
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-DBUILD_filters=OFF
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-DBUILD_geometry=OFF
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-DBUILD_keypoints=OFF
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-DBUILD_outofcore=OFF
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-DBUILD_people=OFF
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-DBUILD_recognition=OFF
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-DBUILD_registration=OFF
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-DBUILD_sample_consensus=OFF
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-DBUILD_segmentation=OFF
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-DBUILD_features=OFF
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-DBUILD_surface_on_nurbs=OFF
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-DBUILD_tools=OFF
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-DBUILD_tracking=OFF
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-DBUILD_visualization=OFF
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-DWITH_OPENGL=OFF
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-DWITH_VTK=OFF
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-DWITH_QT=OFF
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-DBUILD_OPENNI=OFF
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-DBUILD_OPENNI2=OFF
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-DWITH_OPENNI=OFF
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-DWITH_OPENNI2=OFF
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-DWITH_FZAPI=OFF
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-DWITH_LIBUSB=OFF
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-DWITH_PCAP=OFF
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-DWITH_PXCAPI=OFF
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DPCL_VERBOSITY_LEVEL=Error
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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-DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON
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${WIN32_CMAKE_ARGS}
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#--Build step-----------------
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BINARY_DIR ${_SB_BINARY_DIR}
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#--Install step---------------
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INSTALL_DIR ${SB_INSTALL_DIR}
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#--Output logging-------------
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LOG_DOWNLOAD OFF
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LOG_CONFIGURE OFF
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LOG_BUILD OFF
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)
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@ -344,7 +344,7 @@ def config(argv=None, parser=None):
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action=StoreTrue,
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nargs=0,
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default=False,
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help='Classify the point cloud outputs using a Simple Morphological Filter. '
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help='Classify the point cloud outputs. '
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'You can control the behavior of this option by tweaking the --dem-* parameters. '
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'Default: '
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'%(default)s')
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@ -16,18 +16,15 @@ def has_popsift_and_can_handle_texsize(width, height):
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compute_major, compute_minor = get_cuda_compute_version(0)
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if compute_major < 3 or (compute_major == 3 and compute_minor < 5):
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# Not supported
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log.ODM_WARNING("CUDA compute platform is not supported (detected: %s.%s but we need at least 3.5)" % (compute_major, compute_minor))
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log.ODM_INFO("CUDA compute platform is not supported (detected: %s.%s but we need at least 3.5)" % (compute_major, compute_minor))
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return False
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except Exception as e:
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log.ODM_WARNING("Cannot use GPU for feature extraction: %s" % str(e))
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log.ODM_INFO("Using CPU for feature extraction: %s" % str(e))
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return False
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try:
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from opensfm import pypopsift
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fits = pypopsift.fits_texture(int(width * 1.02), int(height * 1.02))
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if not fits:
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log.ODM_WARNING("Image size (%sx%spx) would not fit in GPU memory, try lowering --feature-quality. Falling back to CPU" % (width, height))
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return fits
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return pypopsift.fits_texture(int(width * 1.02), int(height * 1.02))
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except (ModuleNotFoundError, ImportError):
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return False
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except Exception as e:
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@ -91,5 +88,4 @@ def has_gpu(args):
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log.ODM_INFO("nvidia-smi detected")
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return True
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else:
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log.ODM_INFO("nvidia-smi not found in PATH, using CPU")
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return False
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@ -0,0 +1,31 @@
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import os
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from opendm.ai import get_model
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from opendm import log
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from opendm.system import run
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from opendm import io
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def classify(point_cloud):
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tmp_output = io.related_file_path(point_cloud, postfix=".classified")
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if os.path.isfile(tmp_output):
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os.remove(tmp_output)
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try:
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model = get_model("openpointclass",
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"https://github.com/uav4geo/OpenPointClass/releases/download/v1.1.3/vehicles-vegetation-buildings.zip",
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"v1.0.0",
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name="model.bin")
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if model is not None:
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run('pcclassify "%s" "%s" "%s" -u -s 2,64' % (point_cloud, tmp_output, model))
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if os.path.isfile(tmp_output):
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os.remove(point_cloud)
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os.rename(tmp_output, point_cloud)
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else:
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log.ODM_WARNING("Cannot classify using OpenPointClass (no output generated)")
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else:
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log.ODM_WARNING("Cannot download/access model from %s" % (model_url))
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except Exception as e:
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log.ODM_WARNING("Cannot classify using OpenPointClass: %s" % str(e))
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@ -330,3 +330,8 @@ class ODMLoadDatasetStage(types.ODM_Stage):
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log.ODM_WARNING("No omega/phi/kappa angles found in input photos (%s), switching sfm-algorithm to incremental" % p.filename)
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args.sfm_algorithm = 'incremental'
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break
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# Rolling shutter cannot be done in non-georeferenced datasets
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if args.rolling_shutter and not reconstruction.is_georeferenced():
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log.ODM_WARNING("Reconstruction is not georeferenced, disabling rolling shutter correction")
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args.rolling_shutter = False
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@ -12,7 +12,7 @@ from opendm.cropper import Cropper
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from opendm import pseudogeo
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from opendm.tiles.tiler import generate_dem_tiles
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from opendm.cogeo import convert_to_cogeo
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from opendm.opc import classify
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class ODMDEMStage(types.ODM_Stage):
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def process(self, args, outputs):
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@ -49,7 +49,7 @@ class ODMDEMStage(types.ODM_Stage):
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pc_classify_marker = os.path.join(odm_dem_root, 'pc_classify_done.txt')
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if not io.file_exists(pc_classify_marker) or self.rerun():
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log.ODM_INFO("Classifying {} using Simple Morphological Filter".format(dem_input))
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log.ODM_INFO("Classifying {} using Simple Morphological Filter (1/2)".format(dem_input))
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commands.classify(dem_input,
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args.smrf_scalar,
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args.smrf_slope,
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@ -57,6 +57,9 @@ class ODMDEMStage(types.ODM_Stage):
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args.smrf_window
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)
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log.ODM_INFO("Classifying {} using OpenPointClass (2/2)".format(dem_input))
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classify(dem_input)
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with open(pc_classify_marker, 'w') as f:
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f.write('Classify: smrf\n')
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f.write('Scalar: {}\n'.format(args.smrf_scalar))
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