kopia lustrzana https://github.com/OpenDroneMap/ODM
Piero Toffanin
rodzic
c7d29cf795
commit
700cf80ff2
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@ -15,8 +15,8 @@ RUN apt-get update -y
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RUN apt-get install --no-install-recommends -y git cmake python-pip build-essential software-properties-common python-software-properties libgdal-dev gdal-bin libgeotiff-dev \
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libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libflann-dev \
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libproj-dev libxext-dev liblapack-dev libeigen3-dev libvtk6-dev python-networkx libgoogle-glog-dev libsuitesparse-dev libboost-filesystem-dev libboost-iostreams-dev \
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libboost-regex-dev libboost-python-dev libboost-date-time-dev libboost-thread-dev python-pyproj python-empy python-nose python-pyside python-pyexiv2 python-scipy \
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libexiv2-dev liblas-bin python-matplotlib libatlas-base-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev python-gdal
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libboost-regex-dev libboost-python-dev libboost-date-time-dev libboost-thread-dev python-pyproj python-empy python-nose python-pyside python-scipy \
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liblas-bin python-matplotlib libatlas-base-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev python-gdal
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RUN apt-get remove libdc1394-22-dev
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RUN pip install --upgrade pip
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@ -60,7 +60,7 @@ RUN apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
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# Clean Superbuild
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RUN rm -rf /code/SuperBuild/download /code/SuperBuild/src/opencv /code/SuperBuild/src/pcl /code/SuperBuild/src/pdal /code/SuperBuild/src/opengv /code/SuperBuild/src/mvstexturing /code/SuperBuild/src/ceres /code/SuperBuild/build/opencv
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RUN rm -rf /code/SuperBuild/download /code/SuperBuild/src/opencv /code/SuperBuild/src/pcl /code/SuperBuild/src/pdal /code/SuperBuild/src/opengv /code/SuperBuild/src/mvstexturing /code/SuperBuild/src/ceres /code/SuperBuild/build/opencv /code/SuperBuild/src/exiv2lib
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# Entry point
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ENTRYPOINT ["python", "/code/run.py", "code"]
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@ -87,9 +87,7 @@ install() {
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python-pyside
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echo "Installing OpenDroneMap Dependencies"
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apt-get install -y -qq python-pyexiv2 \
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python-scipy \
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libexiv2-dev \
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apt-get install -y -qq python-scipy \
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liblas-bin
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echo "Installing lidar2dems Dependencies"
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@ -13,8 +13,8 @@ RUN apt-get update -y
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RUN apt-get install --no-install-recommends -y git cmake python-pip build-essential software-properties-common python-software-properties libgdal-dev gdal-bin libgeotiff-dev \
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libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libflann-dev \
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libproj-dev libxext-dev liblapack-dev libeigen3-dev libvtk6-dev python-networkx libgoogle-glog-dev libsuitesparse-dev libboost-filesystem-dev libboost-iostreams-dev \
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libboost-regex-dev libboost-python-dev libboost-date-time-dev libboost-thread-dev python-pyproj python-empy python-nose python-pyside python-pyexiv2 python-scipy \
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libexiv2-dev liblas-bin python-matplotlib libatlas-base-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev python-gdal
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libboost-regex-dev libboost-python-dev libboost-date-time-dev libboost-thread-dev python-pyproj python-empy python-nose python-pyside python-scipy \
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liblas-bin python-matplotlib libatlas-base-dev swig2.0 python-wheel libboost-log-dev libjsoncpp-dev python-gdal
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RUN apt-get remove libdc1394-22-dev
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RUN pip install --upgrade pip
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@ -61,7 +61,7 @@ RUN apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
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# Clean Superbuild
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RUN rm -rf /code/SuperBuild/download /code/SuperBuild/src/opencv /code/SuperBuild/src/pcl /code/SuperBuild/src/pdal /code/SuperBuild/src/opengv /code/SuperBuild/src/mvstexturing /code/SuperBuild/src/ceres /code/SuperBuild/build/opencv
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RUN rm -rf /code/SuperBuild/download /code/SuperBuild/src/opencv /code/SuperBuild/src/pcl /code/SuperBuild/src/pdal /code/SuperBuild/src/opengv /code/SuperBuild/src/mvstexturing /code/SuperBuild/src/ceres /code/SuperBuild/build/opencv /code/SuperBuild/src/exiv2lib
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# Entry point
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ENTRYPOINT ["python", "/code/run.py", "code"]
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@ -53,14 +53,6 @@ def benchmark(start, benchmarking_file, process):
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with open(benchmarking_file, 'a') as b:
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b.write('%s runtime: %s seconds\n' % (process, delta))
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def run_and_return(cmdSrc, cmdDest=None):
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"""Run a system command and return the output"""
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process = subprocess.Popen(cmdSrc, stdout=subprocess.PIPE, shell=True)
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stdout, stderr = process.communicate()
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return stdout.decode('ascii')
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def mkdir_p(path):
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"""Make a directory including parent directories.
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"""
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153
opendm/types.py
153
opendm/types.py
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@ -1,5 +1,5 @@
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import cv2
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import pyexiv2
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import exifread
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import re
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from fractions import Fraction
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from opensfm.exif import sensor_string
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@ -9,7 +9,7 @@ import log
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import io
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import system
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import context
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import logging
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class ODM_Photo:
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""" ODMPhoto - a class for ODMPhotos
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@ -33,7 +33,7 @@ class ODM_Photo:
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self.longitude = None
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self.altitude = None
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# parse values from metadata
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self.parse_pyexiv2_values(self.path_file, force_focal, force_ccd)
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self.parse_exif_values(self.path_file, force_focal, force_ccd)
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# compute focal length into pixels
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self.update_focal()
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@ -55,39 +55,30 @@ class ODM_Photo:
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self.focal_length_px = \
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self.height * (self.focal_length / self.ccd_width)
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def parse_pyexiv2_values(self, _path_file, _force_focal, _force_ccd):
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# read image metadata
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metadata = pyexiv2.ImageMetadata(_path_file)
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metadata.read()
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# loop over image tags
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for key in metadata:
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# try/catch tag value due to weird bug in pyexiv2
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# ValueError: invalid literal for int() with base 10: ''
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GPS = 'Exif.GPSInfo.GPS'
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def parse_exif_values(self, _path_file, _force_focal, _force_ccd):
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# Disable exifread log
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logging.getLogger('exifread').setLevel(logging.CRITICAL)
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with open(_path_file, 'rb') as f:
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tags = exifread.process_file(f, details=False)
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try:
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# parse tag names
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if key == 'Exif.Image.Make':
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self.camera_make = metadata[key].value
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elif key == 'Exif.Image.Model':
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self.camera_model = metadata[key].value
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elif key == 'Exif.Photo.FocalLength':
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self.focal_length = float(metadata[key].value)
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elif key == GPS + 'Latitude':
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self.latitude = self.dms_to_decimal(*metadata[key].value +
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[metadata[GPS + 'LatitudeRef'].value])
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elif key == GPS + 'Longitude':
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self.longitude = self.dms_to_decimal(*metadata[key].value +
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[metadata[GPS + 'LongitudeRef'].value])
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elif key == GPS + 'Altitude':
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self.altitude = float(metadata[key].value)
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if metadata[GPS + 'AltitudeRef'] and int(metadata[GPS + 'AltitudeRef'].value) > 0:
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self.altitude *= -1.
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except (pyexiv2.ExifValueError, ValueError) as e:
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pass
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except KeyError as e:
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log.ODM_DEBUG('Tag not set')
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except NotImplementedError as e:
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pass
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if 'Image Make' in tags:
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self.camera_make = tags['Image Make'].values.encode('utf8')
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if 'Image Model' in tags:
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self.camera_model = tags['Image Model'].values.encode('utf8')
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if 'EXIF FocalLength' in tags:
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self.focal_length = self.float_values(tags['EXIF FocalLength'])[0]
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if 'GPS GPSAltitude' in tags:
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self.altitude = self.float_values(tags['GPS GPSAltitude'])[0]
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if 'GPS GPSAltitudeRef' in tags and self.int_values(tags['GPS GPSAltitudeRef'])[0] > 0:
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self.altitude *= -1
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if 'GPS GPSLatitude' in tags and 'GPS GPSLatitudeRef' in tags:
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self.latitude = self.dms_to_decimal(tags['GPS GPSLatitude'], tags['GPS GPSLatitudeRef'])
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if 'GPS GPSLongitude' in tags and 'GPS GPSLongitudeRef' in tags:
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self.longitude = self.dms_to_decimal(tags['GPS GPSLongitude'], tags['GPS GPSLongitudeRef'])
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except IndexError as e:
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log.ODM_WARNING("Cannot read EXIF tags for %s: %s" % (_path_file, e.message))
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if self.camera_make and self.camera_model:
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self.make_model = sensor_string(self.camera_make, self.camera_model)
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log.ODM_WARNING('Could not find ccd_width in file. Use --force-ccd or edit the sensor_data.json '
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'file to manually input ccd width')
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def dms_to_decimal(self, degrees, minutes, seconds, sign=' '):
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def dms_to_decimal(self, dms, sign):
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"""Converts dms coords to decimal degrees"""
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return (-1 if sign[0] in 'SWsw' else 1) * (
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float(degrees) +
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float(minutes) / 60 +
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float(seconds) / 3600
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degrees, minutes, seconds = self.float_values(dms)
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return (-1 if sign.values[0] in 'SWsw' else 1) * (
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degrees +
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minutes / 60 +
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seconds / 3600
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)
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def float_values(self, tag):
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return map(lambda v: float(v.num) / float(v.den), tag.values)
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def int_values(self, tag):
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return map(int, tag.values)
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# TODO: finish this class
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class ODM_Reconstruction(object):
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@ -277,81 +275,6 @@ class ODM_GeoRef(object):
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# call pdal
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system.run('{bin}/pdal pipeline -i {json} --readers.ply.filename={f_in}'.format(**kwargs))
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def utm_to_latlon(self, _file, _photo, idx):
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gcp = self.gcps[idx]
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kwargs = {'proj': self.projection,
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'file': _file,
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'x': gcp.x + self.utm_east_offset,
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'y': gcp.y + self.utm_north_offset,
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'z': gcp.z}
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latlon = system.run_and_return('echo {x} {y} {z} '.format(**kwargs),
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'gdaltransform -s_srs \"{proj}\" '
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'-t_srs \"EPSG:4326\"'.format(**kwargs)).split()
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# Example: 83d18'16.285"W
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# Example: 41d2'11.789"N
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# Example: 0.998
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if len(latlon) == 3:
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lon_str, lat_str, alt_str = latlon
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elif len(latlon) == 2:
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lon_str, lat_str = latlon
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alt_str = ''
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else:
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log.ODM_ERROR('Something went wrong %s' % latlon)
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lat_frac = self.coord_to_fractions(latlon[1], ['N', 'S'])
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lon_frac = self.coord_to_fractions(latlon[0], ['E', 'W'])
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# read image metadata
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metadata = pyexiv2.ImageMetadata(_photo.path_file)
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metadata.read()
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# #set values
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#
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# # GPS latitude
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# key = 'Exif.GPSInfo.GPSLatitude'
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# value = lat_frac[0].split(' ')
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# log.ODM_DEBUG('lat_frac: %s %s %s' % (value[0], value[1], value[2]))
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# metadata[key] = pyexiv2.ExifTag(key,
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# [Fraction(value[0]),
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# Fraction(value[1]),
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# Fraction(value[2])])
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#
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# key = 'Exif.GPSInfo.GPSLatitudeRef'
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# value = lat_frac[1]
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# metadata[key] = pyexiv2.ExifTag(key, value)
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#
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# # GPS longitude
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# key = 'Exif.GPSInfo.GPSLongitude'
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# value = lon_frac[0].split(' ')
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# metadata[key] = pyexiv2.ExifTag(key,
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# [Fraction(value[0]),
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# Fraction(value[1]),
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# Fraction(value[2])])
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#
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# key = 'Exif.GPSInfo.GPSLongitudeRef'
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# value = lon_frac[1]
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# metadata[key] = pyexiv2.ExifTag(key, value)
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#
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# # GPS altitude
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# altitude = abs(int(float(latlon[2]) * 100))
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# key = 'Exif.GPSInfo.GPSAltitude'
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# value = Fraction(altitude, 1)
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# metadata[key] = pyexiv2.ExifTag(key, value)
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#
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# if latlon[2] >= 0:
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# altref = '0'
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# else:
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# altref = '1'
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# key = 'Exif.GPSInfo.GPSAltitudeRef'
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# metadata[key] = pyexiv2.ExifTag(key, altref)
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#
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# # write values
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# metadata.write()
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def extract_offsets(self, _file):
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if not io.file_exists(_file):
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@ -98,14 +98,13 @@ class ODMLoadDatasetCell(ecto.Cell):
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}
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# run UTM extraction binary
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extract_utm = system.run_and_return('{bin}/odm_extract_utm -imagesPath {imgs}/ '
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'-imageListFile {imgs_list} -outputCoordFile {coords} {verbose} '
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'-logFile {log}'.format(**kwargs))
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if extract_utm != '':
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try:
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system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ '
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'-imageListFile {imgs_list} -outputCoordFile {coords} {verbose} '
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'-logFile {log}'.format(**kwargs))
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except:
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log.ODM_WARNING('Could not generate coordinates file. '
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'Ignore if there is a GCP file. Error: %s'
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% extract_utm)
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'Ignore if there is a GCP file')
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outputs.reconstruction = types.ODM_Reconstruction(photos, coords_file=tree.odm_georeferencing_coords)
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else:
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