OpenDroneMap-ODM/opendm/gcp.py

244 wiersze
9.1 KiB
Python

import glob
import os
from opendm import log
from opendm import location
from pyproj import CRS
class GCPFile:
def __init__(self, gcp_path):
self.gcp_path = gcp_path
self.entries = []
self.raw_srs = ""
self.srs = None
self.read()
def read(self):
if self.exists():
with open(self.gcp_path, 'r') as f:
contents = f.read().strip()
# Strip eventual BOM characters
contents = contents.replace('\ufeff', '')
lines = list(map(str.strip, contents.split('\n')))
if lines:
self.raw_srs = lines[0] # SRS
self.srs = location.parse_srs_header(self.raw_srs)
for line in lines[1:]:
if line != "" and line[0] != "#":
parts = line.split()
if len(parts) >= 6:
self.entries.append(line)
else:
log.ODM_WARNING("Malformed GCP line: %s" % line)
def iter_entries(self):
for entry in self.entries:
yield self.parse_entry(entry)
def check_entries(self):
coords = {}
gcps = {}
errors = 0
for entry in self.iter_entries():
k = entry.coords_key()
coords[k] = coords.get(k, 0) + 1
if k not in gcps:
gcps[k] = []
gcps[k].append(entry)
for k in coords:
if coords[k] < 3:
description = "insufficient" if coords[k] < 2 else "not ideal"
for entry in gcps[k]:
log.ODM_WARNING(str(entry))
log.ODM_WARNING("The number of images where the GCP %s has been tagged are %s" % (k, description))
log.ODM_WARNING("You should tag at least %s more images" % (3 - coords[k]))
log.ODM_WARNING("=====================================")
errors += 1
if len(coords) < 3:
log.ODM_WARNING("Low number of GCPs detected (%s). For best results use at least 5." % (3 - len(coords)))
log.ODM_WARNING("=====================================")
errors += 1
if errors > 0:
log.ODM_WARNING("Some issues detected with GCPs (but we're going to process this anyway)")
def parse_entry(self, entry):
if entry:
parts = entry.split()
x, y, z, px, py, filename = parts[:6]
extras = " ".join(parts[6:])
return GCPEntry(float(x), float(y), float(z), float(px), float(py), filename, extras)
def get_entry(self, n):
if n < self.entries_count():
return self.parse_entry(self.entries[n])
def entries_count(self):
return len(self.entries)
def exists(self):
return bool(self.gcp_path and os.path.exists(self.gcp_path))
def make_resized_copy(self, gcp_file_output, ratio):
"""
Creates a new resized GCP file from an existing GCP file. If one already exists, it will be removed.
:param gcp_file_output output path of new GCP file
:param ratio scale GCP coordinates by this value
:return path to new GCP file
"""
output = [self.raw_srs]
for entry in self.iter_entries():
entry.px *= ratio
entry.py *= ratio
output.append(str(entry))
with open(gcp_file_output, 'w') as f:
f.write('\n'.join(output) + '\n')
return gcp_file_output
def wgs84_utm_zone(self):
"""
Finds the UTM zone where the first point of the GCP falls into
:return utm zone string valid for a coordinates header
"""
if self.entries_count() > 0:
entry = self.get_entry(0)
longlat = CRS.from_epsg("4326")
lon, lat = location.transform2(self.srs, longlat, entry.x, entry.y)
utm_zone, hemisphere = location.get_utm_zone_and_hemisphere_from(lon, lat)
return "WGS84 UTM %s%s" % (utm_zone, hemisphere)
def create_utm_copy(self, gcp_file_output, filenames=None, rejected_entries=None, include_extras=True):
"""
Creates a new GCP file from an existing GCP file
by optionally including only filenames and reprojecting each point to
a UTM CRS. Rejected entries can recorded by passing a list object to
rejected_entries.
"""
if os.path.exists(gcp_file_output):
os.remove(gcp_file_output)
output = [self.wgs84_utm_zone()]
target_srs = location.parse_srs_header(output[0])
transformer = location.transformer(self.srs, target_srs)
for entry in self.iter_entries():
if filenames is None or entry.filename in filenames:
entry.x, entry.y, entry.z = transformer.TransformPoint(entry.x, entry.y, entry.z)
if not include_extras:
entry.extras = ''
output.append(str(entry))
elif isinstance(rejected_entries, list):
rejected_entries.append(entry)
with open(gcp_file_output, 'w') as f:
f.write('\n'.join(output) + '\n')
return gcp_file_output
def make_filtered_copy(self, gcp_file_output, images_dir, min_images=3):
"""
Creates a new GCP file from an existing GCP file includes
only the points that reference images existing in the images_dir directory.
If less than min_images images are referenced, no GCP copy is created.
:return gcp_file_output if successful, None if no output file was created.
"""
if not self.exists() or not os.path.exists(images_dir):
return None
if os.path.exists(gcp_file_output):
os.remove(gcp_file_output)
files = list(map(os.path.basename, glob.glob(os.path.join(images_dir, "*"))))
output = [self.raw_srs]
files_found = 0
for entry in self.iter_entries():
if entry.filename in files:
output.append(str(entry))
files_found += 1
if files_found >= min_images:
with open(gcp_file_output, 'w') as f:
f.write('\n'.join(output) + '\n')
return gcp_file_output
def make_micmac_copy(self, output_dir, precisionxy=1, precisionz=1, utm_zone = None):
"""
Convert this GCP file in a format compatible with MicMac.
:param output_dir directory where to save the two MicMac GCP files. The directory must exist.
:param utm_zone UTM zone to use for output coordinates (UTM string, PROJ4 or EPSG definition).
If one is not specified, the nearest UTM zone will be selected.
:param precisionxy horizontal precision of GCP measurements in meters.
:param precisionz vertical precision of GCP measurements in meters.
"""
if not os.path.isdir(output_dir):
raise IOError("{} does not exist.".format(output_dir))
if not isinstance(precisionxy, float) and not isinstance(precisionxy, int):
raise AssertionError("precisionxy must be a number")
if not isinstance(precisionz, float) and not isinstance(precisionz, int):
raise AssertionError("precisionz must be a number")
gcp_3d_file = os.path.join(output_dir, '3d_gcp.txt')
gcp_2d_file = os.path.join(output_dir, '2d_gcp.txt')
if os.path.exists(gcp_3d_file):
os.remove(gcp_3d_file)
if os.path.exists(gcp_2d_file):
os.remove(gcp_2d_file)
if utm_zone is None:
utm_zone = self.wgs84_utm_zone()
target_srs = location.parse_srs_header(utm_zone)
transformer = location.transformer(self.srs, target_srs)
gcps = {}
for entry in self.iter_entries():
utm_x, utm_y, utm_z = transformer.TransformPoint(entry.x, entry.y, entry.z)
k = "{} {} {}".format(utm_x, utm_y, utm_z)
if not k in gcps:
gcps[k] = [entry]
else:
gcps[k].append(entry)
with open(gcp_3d_file, 'w') as f3:
with open(gcp_2d_file, 'w') as f2:
gcp_n = 1
for k in gcps:
f3.write("GCP{} {} {} {}\n".format(gcp_n, k, precisionxy, precisionz))
for entry in gcps[k]:
f2.write("GCP{} {} {} {}\n".format(gcp_n, entry.filename, entry.px, entry.py))
gcp_n += 1
return (gcp_3d_file, gcp_2d_file)
class GCPEntry:
def __init__(self, x, y, z, px, py, filename, extras=""):
self.x = x
self.y = y
self.z = z
self.px = px
self.py = py
self.filename = filename
self.extras = extras
def coords_key(self):
return "{} {} {}".format(self.x, self.y, self.z)
def __str__(self):
return "{} {} {} {} {} {} {}".format(self.x, self.y, self.z,
self.px, self.py,
self.filename,
self.extras).rstrip()