def conversionIsFinished(self, startFrame, stopFrame, verbose=False):
'''Return true if this run is present and conversion has finished running on it'''
logger = logging.getLogger(__name__)
# Make sure that there is a camera file for input image file.
# - This could be a more expansive check.
cameraFolder = self.getCameraFolder()
imageList = self.getImageList()
for imageFile in imageList:
camFile = os.path.join(
cameraFolder, icebridge_common.getCameraFileName(imageFile))
# Check only within range
# TODO: Actually we need the cameras to go a bit beyond
frame = icebridge_common.getFrameNumberFromFilename(camFile)
if frame < startFrame or frame >= stopFrame:
continue
if not os.path.exists(camFile):
if verbose:
logger.error('Missing file ' + camFile)
return False
# Do a simple check of the converted lidar files
prependFolder = True
lidarFolder = self.getLidarFolder()
convLidarFile = icebridge_common.getConvertedLidarIndexFile(
lidarFolder)
(lidarDict, dummyUrlDict) = icebridge_common.readIndexFile(
convLidarFile, prependFolder)
pairedLidarFolder = icebridge_common.getPairedLidarFolder(lidarFolder)
pairedLidarFile = icebridge_common.getPairedIndexFile(
pairedLidarFolder)
(pairedLidarDict, dummyUrlDict) = icebridge_common.readIndexFile(
pairedLidarFile, prependFolder)
numLidar = len(lidarDict.values())
numPairedLidar = len(pairedLidarDict.values())
if numLidar != (numPairedLidar + 1):
logger.error('Not enough paired lidar files found')
return False
# Make sure the lidar files are not empty
success = True
for f in lidarDict.values() + pairedLidarDict.values():
if not asp_file_utils.fileIsNonZero(f):
logger.error('lidar file ' + f + ' is empty!')
os.system('rm -f ' + f) # Remove bad files
success = False
return success
def conversionIsFinished(self, startFrame, stopFrame, verbose=False):
'''Return true if this run is present and conversion has finished running on it'''
logger = logging.getLogger(__name__)
# Make sure that there is a camera file for input image file.
# - This could be a more expansive check.
cameraFolder = self.getCameraFolder()
imageList = self.getImageList()
for imageFile in imageList:
camFile = os.path.join(cameraFolder,
icebridge_common.getCameraFileName(imageFile))
# Check only within range
# TODO: Actually we need the cameras to go a bit beyond
frame = icebridge_common.getFrameNumberFromFilename(camFile)
if frame < startFrame or frame >= stopFrame:
continue
if not os.path.exists(camFile):
if verbose:
logger.error('Missing file ' + camFile)
return False
# Do a simple check of the converted lidar files
prependFolder = True
lidarFolder = self.getLidarFolder()
convLidarFile = icebridge_common.getConvertedLidarIndexFile(lidarFolder)
(lidarDict, dummyUrlDict) = icebridge_common.readIndexFile(convLidarFile,
prependFolder)
pairedLidarFolder = icebridge_common.getPairedLidarFolder(lidarFolder)
pairedLidarFile = icebridge_common.getPairedIndexFile(pairedLidarFolder)
(pairedLidarDict, dummyUrlDict) = icebridge_common.readIndexFile(pairedLidarFile,
prependFolder)
numLidar = len(lidarDict.values())
numPairedLidar = len(pairedLidarDict.values())
if numLidar != (numPairedLidar+1):
logger.error('Not enough paired lidar files found')
return False
# Make sure the lidar files are not empty
success = True
for f in lidarDict.values() + pairedLidarDict.values():
if not asp_file_utils.fileIsNonZero(f):
logger.error('lidar file ' + f + ' is empty!')
os.system('rm -f ' + f) # Remove bad files
success = False
return success
if not os.path.exists(orthoFolder):
logger.error('Ortho folder ' + orthoFolder + ' does not exist!')
return -1
# Find the nav file
# - There should only be one or two nav files per flight.
fileList = os.listdir(navFolder)
fileList = [x for x in fileList if '.out' in x]
if len(fileList) == 0:
logger.error('No nav files in: ' + navFolder)
return -1
navPath = os.path.join(navFolder, fileList[0])
parsedNavPath = navPath.replace('.out', '.txt')
if not asp_file_utils.fileIsNonZero(navPath):
logger.error('Nav file ' + navPath + ' is invalid!')
return -1
# Create the output file only if it is empty or does not exist
isNonEmpty = asp_file_utils.fileIsNonZero(parsedNavPath)
if not isNonEmpty:
# Initialize the output file as being empty
logger.info("Create empty file: " + parsedNavPath)
open(parsedNavPath, 'w').close()
# Append to the output parsed nav file
for fileName in fileList:
# Convert the nav file from binary to text
navPath = os.path.join(navFolder, fileName)
return -1
# Find the nav file
# - There should only be one or two nav files per flight.
fileList = os.listdir(navFolder)
fileList = [x for x in fileList if '.out' in x]
if len(fileList) > 1:
logger.error('TODO: Support double nav files!')
return -1
navPath = os.path.join(navFolder, fileList[0])
# Convert the nav file from binary to text
parsedNavPath = navPath.replace('.out', '.txt')
cmd = 'sbet2txt.pl -q ' + navPath + ' > ' + parsedNavPath
logger.info(cmd)
if not asp_file_utils.fileIsNonZero(parsedNavPath):
os.system(cmd)
# Find a camera file to use.
# - nav2cam does not support per-frame intrinsic data, so just feed
# it any random camera file and let ortho2pinhole insert the
# correct instrinsic data.
fileList = os.listdir(calFolder)
fileList = [x for x in fileList if (('.tsai' in x) and ('~' not in x))]
if not fileList:
logger.error('Unable to find any camera files in ' + calFolder)
return -1
cameraPath = os.path.join(calFolder, fileList[0])
# Get the ortho list
orthoFiles = icebridge_common.getTifs(orthoFolder)
def main(argsIn):
# Command line parsing
try:
usage = "usage: camera_models_from_nav.py <image_folder> <ortho_folder> <cal_folder> <nav_folder> <output_folder> [options]"
parser = optparse.OptionParser(usage=usage)
parser.add_option('--start-frame',
dest='startFrame',
default=-1,
type='int',
help='The frame number to start processing with.')
parser.add_option('--stop-frame',
dest='stopFrame',
default=999999,
type='int',
help='The frame number to finish processing with.')
parser.add_option("--input-calibration-camera",
dest="inputCalCamera",
default="",
help="Use this input calibrated camera.")
parser.add_option(
'--camera-mounting',
dest='cameraMounting',
default=0,
type='int',
help=
'0=right-forwards, 1=left-forwards, 2=top-forwards, 3=bottom-forwards.'
)
(options, args) = parser.parse_args(argsIn)
if len(args) < 5:
print('Error: Missing arguments.')
print(usage)
return -1
imageFolder = os.path.abspath(args[0])
orthoFolder = os.path.abspath(args[1])
calFolder = os.path.abspath(args[2])
navFolder = os.path.abspath(args[3])
outputFolder = os.path.abspath(args[4])
except optparse.OptionError as msg:
raise Usage(msg)
runDir = os.path.dirname(orthoFolder)
os.system("mkdir -p " + runDir)
logLevel = logging.INFO # Make this an option??
logger = icebridge_common.setUpLogger(runDir, logLevel,
'camera_models_from_nav_log')
if not os.path.exists(orthoFolder):
logger.error('Ortho folder ' + orthoFolder + ' does not exist!')
return -1
# Find the nav file
# - There should only be one or two nav files per flight.
fileList = os.listdir(navFolder)
fileList = [x for x in fileList if '.out' in x]
if len(fileList) == 0:
logger.error('No nav files in: ' + navFolder)
return -1
navPath = os.path.join(navFolder, fileList[0])
parsedNavPath = navPath.replace('.out', '.txt')
if not asp_file_utils.fileIsNonZero(navPath):
logger.error('Nav file ' + navPath + ' is invalid!')
return -1
# Create the output file only if it is empty or does not exist
isNonEmpty = asp_file_utils.fileIsNonZero(parsedNavPath)
if not isNonEmpty:
# Initialize the output file as being empty
logger.info("Create empty file: " + parsedNavPath)
open(parsedNavPath, 'w').close()
# Append to the output parsed nav file
for fileName in fileList:
# Convert the nav file from binary to text
navPath = os.path.join(navFolder, fileName)
with open(navPath, 'r') as f:
try:
text = f.readline()
if 'HTML' in text:
# Sometimes the server is down, and instead of the binary nav file
# we are given an html file with an error message.
logger.info("Have invalid nav file: " + navPath)
return -1 # Die in this case!
except UnicodeDecodeError as e:
# Got a binary file, that means likely we are good
pass
cmd = asp_system_utils.which(
'sbet2txt.pl') + ' -q ' + navPath + ' >> ' + parsedNavPath
logger.info(cmd)
if not isNonEmpty:
os.system(cmd)
cameraPath = options.inputCalCamera
if cameraPath == "":
# No input camera file provided, look one up. It does not matter much,
# as later ortho2pinhole will insert the correct intrinsics.
goodFile = False
fileList = os.listdir(calFolder)
fileList = [x for x in fileList if (('.tsai' in x) and ('~' not in x))]
if not fileList:
logger.error('Unable to find any camera files in ' + calFolder)
return -1
for fileName in fileList:
cameraPath = os.path.join(calFolder, fileName)
# Check if this path is valid
with open(cameraPath, 'r') as f:
for line in f:
if 'fu' in line:
goodFile = True
break
if goodFile:
break
# Get the ortho list
orthoFiles = icebridge_common.getTifs(orthoFolder)
logger.info('Found ' + str(len(orthoFiles)) + ' ortho files.')
# Look up the frame numbers for each ortho file
infoDict = {}
for ortho in orthoFiles:
if ('gray' in ortho) or ('sub' in ortho):
continue
frame = icebridge_common.getFrameNumberFromFilename(ortho)
if frame < options.startFrame or frame > options.stopFrame:
continue
infoDict[frame] = [ortho, '']
# Get the image file list
try:
imageFiles = icebridge_common.getTifs(imageFolder)
except Exception as e:
raise Exception(
"Cannot continue with nav generation, will resume later when images are created. This is not a fatal error. "
+ str(e))
logger.info('Found ' + str(len(imageFiles)) + ' image files.')
# Update the second part of each dictionary object
for image in imageFiles:
if ('gray' in image) or ('sub' in image):
continue
frame = icebridge_common.getFrameNumberFromFilename(image)
if frame < options.startFrame or frame > options.stopFrame:
continue
if frame not in infoDict:
logger.info('Image missing ortho file: ' + image)
# don't throw here, that will mess the whole batch, we will recover
# the missing one later.
continue
infoDict[frame][1] = image
os.system('mkdir -p ' + outputFolder)
orthoListFile = os.path.join(
outputFolder, 'ortho_file_list_' + str(options.startFrame) + "_" +
str(options.stopFrame) + '.csv')
# Open the output file for writing
logger.info("Writing: " + orthoListFile)
with open(orthoListFile, 'w') as outputFile:
# Loop through frames in order
for key in sorted(infoDict):
# Write the ortho name and the output camera name to the file
(ortho, image) = infoDict[key]
if not image:
#raise Exception('Ortho missing image file: ' +ortho)
continue
camera = image.replace('.tif', '.tsai')
outputFile.write(ortho + ', ' + camera + '\n')
# Check if we already have all of the output camera files.
haveAllFiles = True
with open(orthoListFile, 'r') as inputFile:
for line in inputFile:
parts = line.split(',')
camPath = os.path.join(outputFolder, parts[1].strip())
if not asp_file_utils.fileIsNonZero(camPath):
logger.info('Missing file -> ' + camPath)
haveAllFiles = False
break
# Call the C++ tool to generate a camera model for each ortho file
if not haveAllFiles:
cmd = (
'nav2cam --input-cam %s --nav-file %s --cam-list %s --output-folder %s --camera-mounting %d'
% (cameraPath, parsedNavPath, orthoListFile, outputFolder,
options.cameraMounting))
logger.info(cmd)
os.system(cmd)
else:
logger.info("All nav files were already generated.")
# Generate a kml file for the nav camera files
kmlPath = os.path.join(outputFolder, 'nav_cameras.kml')
# This is a hack. If we are invoked from a Pleiades node, do not
# create this kml file, as nodes will just overwrite each other.
# This job may happen anyway earlier or later when on the head node.
if not 'PBS_NODEFILE' in os.environ:
try:
tempPath = os.path.join(outputFolder, 'list.txt')
logger.info('Generating nav camera kml file: ' + kmlPath)
os.system('ls ' + outputFolder + '/*.tsai > ' + tempPath)
orbitviz_pinhole = asp_system_utils.which('orbitviz_pinhole')
cmd = orbitviz_pinhole + ' --hide-labels -o ' + kmlPath + ' --input-list ' + tempPath
logger.info(cmd)
asp_system_utils.executeCommand(cmd,
kmlPath,
suppressOutput=True,
redo=False)
os.remove(tempPath)
except Exception as e:
logger.info("Warning: " + str(e))
logger.info('Finished generating camera models from nav!')
return 0