def main(argsIn):
try:
# Sample usage:
# python full_processing_script.py \
# --yyyymmdd 20091016 --site AN --num-processes 1 --num-threads 12 --bundle-length 12 \
# --start-frame 350 --stop-frame 353 --skip-validate \
# --camera-calibration-folder camera_calib \
# --reference-dem-folder ref_dem_folder
# An output folder will be crated automatically (with a name like
# AN_20091016), or its name can be specified via the --output-folder
# option.
usage = '''full_processing_script.py <options>'''
parser = argparse.ArgumentParser(usage=usage)
# Run selection
parser.add_argument("--yyyymmdd", dest="yyyymmdd", required=True,
help="Specify the year, month, and day in one YYYYMMDD string.")
parser.add_argument("--site", dest="site", required=True,
help="Name of the location of the images (AN, GR, or AL)")
parser.add_argument("--output-folder", dest="outputFolder", default=None,
help="Name of the output folder. If not specified, " + \
"use something like AN_YYYYMMDD.")
parser.add_argument("--camera-lookup-file", dest="cameraLookupFile", default=None,
help="The file to use to find which camera was used for which " + \
"flight. By default it is in the same directory as this script " + \
"and named camera_lookup.txt.")
# Processing options
parser.add_argument('--bundle-length', dest='bundleLength', default=2,
type=int, help="The number of images to bundle adjust and process " + \
"in a single batch.")
# TODO: Compute this automatically??
parser.add_argument('--overlap-limit', dest='overlapLimit', default=2,
type=int, help="The number of images to treat as overlapping for " + \
"bundle adjustment.")
parser.add_argument('--stereo-arguments', dest='stereoArgs',
# set --min-xcorr-level 0 to do the left-to-right
# and right-to-left consistency check at the lowest level.
default='--stereo-algorithm 2 --min-xcorr-level 0',
help='Extra arguments to pass to stereo.')
parser.add_argument('--start-frame', dest='startFrame', type=int,
default=icebridge_common.getSmallestFrame(),
help="Frame to start with. Leave this and stop-frame blank to " + \
"process all frames.")
parser.add_argument('--stop-frame', dest='stopFrame', type=int,
default=icebridge_common.getLargestFrame(),
help='Frame to stop on.')
parser.add_argument('--frames-file', dest='framesFile', default="",
help='Specific frames to run ortho2pinhole on within this frame range.')
parser.add_argument('--max-num-lidar-to-fetch', dest='maxNumLidarToFetch', default=None,
type=int, help="The maximum number of lidar files to fetch. " + \
"This is used in debugging.")
parser.add_argument("--camera-calibration-folder", dest="inputCalFolder", default=None,
help="The folder containing camera calibration.")
parser.add_argument("--input-calibration-camera", dest="inputCalCamera", default="",
help="Instead of looking up the calibrated camera in the calibration folder, use this one.")
parser.add_argument("--output-calibration-camera", dest="outputCalCamera", default="",
help="If specified, float the intrinsics and write the optimized model here.")
parser.add_argument("--output-model-type", dest="outputModelType", default="RPC",
help="Generate a distortion model of type RPC, RPC5, or RPC6.")
parser.add_argument("--reference-dem-folder", dest="refDemFolder", default=None,
help="The folder containing DEMs that created orthoimages.")
parser.add_argument("--processing-subfolder", dest="processingSubfolder", default=None,
help="Specify a subfolder name where the processing outputs will go. " + \
"fault is no additional folder")
parser.add_argument("--simple-cameras", action="store_true", dest="simpleCameras", default=False,
help="Don't use orthoimages to refine the camera models.")
# This option is only needed when generating camera models from the nav files.
parser.add_argument('--camera-mounting', default=0, dest='cameraMounting', type=int,
help='0=right-forwards, 1=left-forwards, 2=top-forwards, 3=bottom-forwards.')
# Performance options
parser.add_argument('--num-processes', dest='numProcesses', default=1,
type=int, help='The number of simultaneous processes to run.')
parser.add_argument('--num-ortho-processes', dest='numOrthoProcesses', default=-1,
type=int, help='The number of simultaneous ortho processes to run.')
parser.add_argument('--num-threads', dest='numThreads', default=8,
type=int, help='The number of threads per process.')
# Action control
parser.add_argument("--skip-fetch", action="store_true", dest="noFetch", default=False,
help="Skip data fetching.")
parser.add_argument("--skip-convert", action="store_true", dest="noConvert", default=False,
help="Skip data conversion.")
parser.add_argument("--stop-after-fetch", action="store_true", dest="stopAfterFetch",
default=False,
help="Stop program after data fetching.")
parser.add_argument("--stop-after-convert", action="store_true", dest="stopAfterConvert",
default=False,
help="Stop program after data conversion.")
parser.add_argument("--skip-validate", action="store_true", dest="skipValidate",
default=False,
help="Skip input data validation.")
parser.add_argument("--ignore-missing-lidar", action="store_true", dest="ignoreMissingLidar",
default=False,
help="Keep going if the lidar is missing.")
parser.add_argument("--log-batches", action="store_true", dest="logBatches", default=False,
help="Log the required batch commands without running them.")
parser.add_argument('--cleanup', action='store_true', default=False, dest='cleanup',
help='If the final result is produced delete intermediate files.')
parser.add_argument('--many-ip', action='store_true', default=False, dest='manyip',
help='If to use a lot of IP in bundle adjustment from the beginning.')
parser.add_argument("--dry-run", action="store_true", dest="dryRun", default=False,
help="Set up the input directories but do not fetch/process any imagery.")
parser.add_argument("--refetch", action="store_true", dest="reFetch", default=False,
help="Try fetching again if some files turned out invalid " + \
"during conversions.")
parser.add_argument("--refetch-index", action="store_true", dest="refetchIndex",
default=False,
help="Force refetch of the index file.")
parser.add_argument("--refetch-nav", action="store_true", dest="refetchNav",
default=False,
help="Force refetch of the nav file.")
parser.add_argument("--stop-after-index-fetch", action="store_true",
dest="stopAfterIndexFetch", default=False,
help="Stop after fetching the indices.")
parser.add_argument("--no-nav", action="store_true", dest="noNavFetch",
default=False, help="Don't fetch or convert the nav data.")
parser.add_argument("--no-lidar-convert", action="store_true", dest="noLidarConvert",
default=False,
help="Skip lidar files in the conversion step.")
parser.add_argument("--no-ortho-convert", action="store_true", dest="noOrthoConvert",
default=False,
help="Skip generating camera models in the conversion step.")
parser.add_argument("--skip-fast-conversions", action="store_true", dest="skipFastConvert",
default=False,
help="Skips all non-ortho conversions.")
options = parser.parse_args(argsIn)
except argparse.ArgumentError as msg:
parser.error(msg)
icebridge_common.switchWorkDir()
if options.numOrthoProcesses < 0:
options.numOrthoProcesses = options.numProcesses
isSouth = icebridge_common.checkSite(options.site)
# Turned off elevation limits here since they are being set from LIDAR data.
## Add the site based elevation limits to the stereoArgs option
#altLimits = icebridge_common.getElevationLimits(options.site)
#options.stereoArgs = (' %s --elevation-limit %f %f '
# % (options.stereoArgs, altLimits[0], altLimits[1]))
options.stereoArgs = (' %s ' % (options.stereoArgs))
if options.cameraLookupFile is None:
options.cameraLookupFile = P.join(basepath, 'camera_lookup.txt')
if not os.path.isfile(options.cameraLookupFile):
raise Exception("Can't find camera file: " + options.cameraLookupFile)
if len(options.yyyymmdd) != 8 and len(options.yyyymmdd) != 9:
# Make an exception for 20100422a
raise Exception("The --yyyymmdd field must have length 8 or 9.")
if options.outputFolder is None:
options.outputFolder = icebridge_common.outputFolder(options.site, options.yyyymmdd)
if options.stopAfterIndexFetch:
options.stopAfterFetch = True
os.system('mkdir -p ' + options.outputFolder)
logLevel = logging.INFO # Record everything
logger = icebridge_common.setUpLogger(options.outputFolder, logLevel,
'icebridge_processing_log_frames_' + \
str(options.startFrame) + "_" + str(options.stopFrame))
# Make sure we later know what we were doing
logger.info("full_processing_script.py " + " ".join(argsIn))
(out, err, status) = asp_system_utils.executeCommand(['uname', '-a'],
suppressOutput = True)
logger.info("Running on machine: " + out)
logger.info("Work dir is " + os.getcwd())
os.system("ulimit -c 0") # disable core dumps
os.system("umask 022") # enforce files be readable by others
# Perform some input checks and initializations
# These are not needed unless cameras are initialized
if options.inputCalFolder is None or not os.path.exists(options.inputCalFolder):
raise Exception("Missing camera calibration folder.")
if options.refDemFolder is None or not os.path.exists(options.refDemFolder):
raise Exception("Missing reference DEM folder.")
refDemName = icebridge_common.getReferenceDemName(options.site)
refDemPath = os.path.join(options.refDemFolder, refDemName)
if not os.path.exists(refDemPath):
raise Exception("Missing reference DEM: " + refDemPath)
# TODO: CLEAN UP!!!
# Set up the output folders
cameraFolder = icebridge_common.getCameraFolder(options.outputFolder)
imageFolder = icebridge_common.getImageFolder(options.outputFolder)
jpegFolder = icebridge_common.getJpegFolder(options.outputFolder)
orthoFolder = icebridge_common.getOrthoFolder(options.outputFolder)
fireballFolder = icebridge_common.getFireballFolder(options.outputFolder)
corrFireballFolder = icebridge_common.getCorrFireballFolder(options.outputFolder)
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
navFolder = icebridge_common.getNavFolder(options.outputFolder)
navCameraFolder = icebridge_common.getNavCameraFolder(options.outputFolder)
processedFolder = icebridge_common.getProcessedFolder(options.outputFolder)
if options.outputCalCamera != "":
# Prepare to solve for intrinsics. Note that this modifies some things along the way.
(options, cameraFolder, navCameraFolder, processedFolder) = \
solveIntrinsics_Part1(options, jpegFolder, cameraFolder, navCameraFolder,
processedFolder, logger)
# Handle subfolder option. This is useful for comparing results with different parameters!
if options.processingSubfolder:
processedFolder = os.path.join(processedFolder, options.processingSubfolder)
logger.info('Will write to processing subfolder: ' + options.processingSubfolder)
# If something failed in the first attempt either in fetch or in
# convert, we will wipe bad files, and try to refetch/re-convert.
numAttempts = 1
if options.reFetch and (not options.noFetch):
numAttempts = 2
for attempt in range(numAttempts):
if numAttempts > 1:
logger.info("Fetch/convert attempt: " + str(attempt+1))
ans = runFetchConvert(options, isSouth, cameraFolder, imageFolder, jpegFolder, orthoFolder,
fireballFolder, corrFireballFolder, lidarFolder, processedFolder,
navFolder, navCameraFolder, refDemPath, logger)
if ans == 0:
break
if options.stopAfterFetch or options.dryRun or options.stopAfterConvert:
logger.info('Fetch/convert finished!')
return 0
# Call the processing routine
processTheRun(options, imageFolder, cameraFolder, lidarFolder, orthoFolder,
corrFireballFolder, processedFolder,
isSouth, refDemPath)
if options.outputCalCamera != "":
# Finish solving for intrinscs.
solveIntrinsics_Part2(options, imageFolder, cameraFolder, lidarFolder, orthoFolder,
processedFolder, isSouth, logger)
logger.info('Reading from processing subfolder: ' +
options.processingSubfolder)
orthoFolder = icebridge_common.getOrthoFolder(options.outputFolder)
orthoIndexPath = icebridge_common.csvIndexFile(orthoFolder)
if not os.path.exists(orthoIndexPath):
raise Exception("Error: Missing ortho index file: " + orthoIndexPath +
".")
(orthoFrameDict,
orthoUrlDict) = icebridge_common.readIndexFile(orthoIndexPath)
if options.blendToFireball:
fireballFrameDict = icebridge_common.getCorrectedFireballDems(
options.outputFolder)
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
threadText = ''
if options.numThreads:
threadText = '--threads ' + str(options.numThreads)
redo = False
suppressOutput = True
taskHandles = []
if options.numProcesses > 1:
pool = multiprocessing.Pool(options.numProcesses)
# Bound the frames
sortedFrames = sorted(orthoFrameDict.keys())
if len(sortedFrames) > 0:
if options.startFrame < sortedFrames[0]:
def main(argsIn):
try:
# Sample usage:
# python ~/projects/StereoPipeline/src/asp/IceBridge/blend_dems.py --site GR \
# --yyyymmdd 20120315 --start-frame 2490 --stop-frame 2491 --bundle-length 2 \
# --num-threads 8 --num-processes 10
usage = '''blend_dems.py <options>'''
parser = argparse.ArgumentParser(usage=usage)
# Run selection
parser.add_argument("--yyyymmdd", dest="yyyymmdd", required=True,
help="Specify the year, month, and day in one YYYYMMDD string.")
parser.add_argument("--site", dest="site", required=True,
help="Name of the location of the images (AN, GR, or AL)")
parser.add_argument("--output-folder", dest="outputFolder", default=None,
help="Name of the output folder. If not specified, " + \
"use something like AN_YYYYMMDD.")
# Processing options
parser.add_argument('--bundle-length', dest='bundleLength', default=2,
type=int, help="The number of images to bundle adjust and process " + \
"in a single batch.")
parser.add_argument('--start-frame', dest='startFrame', type=int,
default=icebridge_common.getSmallestFrame(),
help="Frame to start with. Leave this and stop-frame blank to " + \
"process all frames.")
parser.add_argument('--stop-frame', dest='stopFrame', type=int,
default=icebridge_common.getLargestFrame(),
help='Frame to stop on. This frame will also be processed.')
parser.add_argument("--processing-subfolder", dest="processingSubfolder", default=None,
help="Specify a subfolder name where the processing outputs will go. "+\
"The default is no additional folder.")
parser.add_argument("--compute-diff-to-prev-dem", action="store_true",
dest="computeDiffToPrev", default=False,
help="Compute the absolute difference between the current DEM " +
"and the one before it.")
parser.add_argument("--blend-to-fireball-footprint", action="store_true",
dest="blendToFireball", default=False,
help="Create additional blended DEMs having the same " + \
"footprint as Fireball DEMs.")
# Performance options
parser.add_argument('--num-processes', dest='numProcesses', default=1,
type=int, help='The number of simultaneous processes to run.')
parser.add_argument('--num-threads', dest='numThreads', default=8,
type=int, help='The number of threads per process.')
options = parser.parse_args(argsIn)
except argparse.ArgumentError as msg:
parser.error(msg)
icebridge_common.switchWorkDir()
os.system("ulimit -c 0") # disable core dumps
os.system("rm -f core.*") # these keep on popping up
os.system("umask 022") # enforce files be readable by others
if len(options.yyyymmdd) != 8 and len(options.yyyymmdd) != 9:
# Make an exception for 20100422a
raise Exception("The --yyyymmdd field must have length 8 or 9.")
if options.outputFolder is None:
options.outputFolder = icebridge_common.outputFolder(options.site, options.yyyymmdd)
os.system('mkdir -p ' + options.outputFolder)
logLevel = logging.INFO # Make this an option??
logger = icebridge_common.setUpLogger(options.outputFolder, logLevel,
'icebridge_blend_log')
(out, err, status) = asp_system_utils.executeCommand(['uname', '-a'],
suppressOutput = True)
logger.info("Running on machine: " + out)
logger.info(str(argsIn))
processFolder = os.path.join(options.outputFolder, 'processed')
# Handle subfolder option. This is useful for comparing results with different parameters!
if options.processingSubfolder:
processFolder = os.path.join(processFolder, options.processingSubfolder)
logger.info('Reading from processing subfolder: ' + options.processingSubfolder)
orthoFolder = icebridge_common.getOrthoFolder(options.outputFolder)
orthoIndexPath = icebridge_common.csvIndexFile(orthoFolder)
if not os.path.exists(orthoIndexPath):
raise Exception("Error: Missing ortho index file: " + orthoIndexPath + ".")
(orthoFrameDict, orthoUrlDict) = icebridge_common.readIndexFile(orthoIndexPath)
if options.blendToFireball:
fireballFrameDict = icebridge_common.getCorrectedFireballDems(options.outputFolder)
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
threadText = ''
if options.numThreads:
threadText = '--threads ' + str(options.numThreads)
redo = False
suppressOutput = True
taskHandles = []
if options.numProcesses > 1:
pool = multiprocessing.Pool(options.numProcesses)
# Bound the frames
sortedFrames = sorted(orthoFrameDict.keys())
if len(sortedFrames) > 0:
if options.startFrame < sortedFrames[0]:
options.startFrame = sortedFrames[0]
if options.stopFrame > sortedFrames[-1] + 1:
options.stopFrame = sortedFrames[-1] + 1
else:
# No ortho files, that means nothing to do
options.startFrame = 0
options.stopFrame = 0
for frame in range(options.startFrame, options.stopFrame):
if not frame in orthoFrameDict:
logger.info("Error: Missing ortho file for frame: " + str(frame) + ".")
continue
orthoFile = orthoFrameDict[frame]
try:
lidarFile = icebridge_common.findMatchingLidarFile(orthoFile, lidarFolder)
except: # Skip if no lidar file matches this frame
continue
fireballDEM = ""
if options.blendToFireball:
if frame in fireballFrameDict:
fireballDEM = fireballFrameDict[frame]
else:
logger.info("No fireball DEM for frame: " + str(frame))
args = (frame, processFolder, lidarFile, fireballDEM, options, threadText,
redo, suppressOutput)
# Run things sequentially if only one process, to make it easy to debug
if options.numProcesses > 1:
taskHandles.append(pool.apply_async(runBlend, args))
else:
runBlend(*args)
if options.numProcesses > 1:
icebridge_common.waitForTaskCompletionOrKeypress(taskHandles, logger, interactive = False,
quitKey='q', sleepTime=20)
icebridge_common.stopTaskPool(pool)
def main(argsIn):
try:
# Sample usage:
# python full_processing_script.py \
# --yyyymmdd 20091016 --site AN --num-processes 1 --num-threads 12 --bundle-length 12 \
# --start-frame 350 --stop-frame 353 --skip-validate \
# --camera-calibration-folder camera_calib \
# --reference-dem-folder ref_dem_folder
# An output folder will be crated automatically (with a name like
# AN_20091016), or its name can be specified via the --output-folder
# option.
usage = '''full_processing_script.py <options>'''
parser = argparse.ArgumentParser(usage=usage)
# Run selection
parser.add_argument(
"--yyyymmdd",
dest="yyyymmdd",
required=True,
help="Specify the year, month, and day in one YYYYMMDD string.")
parser.add_argument(
"--site",
dest="site",
required=True,
help="Name of the location of the images (AN, GR, or AL)")
parser.add_argument("--output-folder", dest="outputFolder", default=None,
help="Name of the output folder. If not specified, " + \
"use something like AN_YYYYMMDD.")
parser.add_argument("--camera-lookup-file", dest="cameraLookupFile", default=None,
help="The file to use to find which camera was used for which " + \
"flight. By default it is in the same directory as this script " + \
"and named camera_lookup.txt.")
# Processing options
parser.add_argument('--bundle-length', dest='bundleLength', default=2,
type=int, help="The number of images to bundle adjust and process " + \
"in a single batch.")
# TODO: Compute this automatically??
parser.add_argument('--overlap-limit', dest='overlapLimit', default=2,
type=int, help="The number of images to treat as overlapping for " + \
"bundle adjustment.")
parser.add_argument(
'--max-overlap-ratio',
dest='maxOverlapRatio',
default=0.85,
type=float,
help=
'The maximum ratio of overlap between images to be accepted as part of a stereo pair. When floating intrinsics, this will be set to 1, to not upset some bookkeeping.'
)
parser.add_argument(
'--stereo-arguments',
dest='stereoArgs',
# set --min-xcorr-level 0 to do the left-to-right
# and right-to-left consistency check at the lowest level.
default='--stereo-algorithm 2 --min-xcorr-level 0',
help='Extra arguments to pass to stereo.')
parser.add_argument('--start-frame', dest='startFrame', type=int,
default=icebridge_common.getSmallestFrame(),
help="Frame to start with. Leave this and stop-frame blank to " + \
"process all frames.")
parser.add_argument('--stop-frame',
dest='stopFrame',
type=int,
default=icebridge_common.getLargestFrame(),
help='Frame to stop on.')
parser.add_argument(
'--frames-file',
dest='framesFile',
default="",
help=
'Specific frames to run ortho2pinhole on within this frame range.')
parser.add_argument('--max-num-lidar-to-fetch', dest='maxNumLidarToFetch', default=None,
type=int, help="The maximum number of lidar files to fetch. " + \
"This is used in debugging.")
parser.add_argument("--camera-calibration-folder",
dest="inputCalFolder",
default=None,
help="The folder containing camera calibration.")
parser.add_argument(
"--input-calibration-camera",
dest="inputCalCamera",
default="",
help=
"Instead of looking up the calibrated camera in the calibration folder, use this one."
)
parser.add_argument(
"--output-calibration-camera",
dest="outputCalCamera",
default="",
help=
"If specified, float the intrinsics and write the optimized model here."
)
parser.add_argument(
"--output-model-type",
dest="outputModelType",
default="RPC",
help="Generate a distortion model of type RPC, RPC5, or RPC6.")
parser.add_argument(
"--reference-dem-folder",
dest="refDemFolder",
default=None,
help="The folder containing DEMs that created orthoimages.")
parser.add_argument("--processing-subfolder", dest="processingSubfolder", default=None,
help="Specify a subfolder name where the processing outputs will go. " + \
"fault is no additional folder")
parser.add_argument(
"--simple-cameras",
action="store_true",
dest="simpleCameras",
default=False,
help="Don't use orthoimages to refine the camera models.")
# This option is only needed when generating camera models from the nav files.
parser.add_argument(
'--camera-mounting',
default=0,
dest='cameraMounting',
type=int,
help=
'0=right-forwards, 1=left-forwards, 2=top-forwards, 3=bottom-forwards.'
)
# Performance options
parser.add_argument(
'--num-processes',
dest='numProcesses',
default=1,
type=int,
help='The number of simultaneous processes to run.')
parser.add_argument(
'--num-ortho-processes',
dest='numOrthoProcesses',
default=-1,
type=int,
help='The number of simultaneous ortho processes to run.')
parser.add_argument('--num-threads',
dest='numThreads',
default=8,
type=int,
help='The number of threads per process.')
# Action control
parser.add_argument("--skip-fetch",
action="store_true",
dest="noFetch",
default=False,
help="Skip data fetching.")
parser.add_argument("--skip-convert",
action="store_true",
dest="noConvert",
default=False,
help="Skip data conversion.")
parser.add_argument("--stop-after-fetch",
action="store_true",
dest="stopAfterFetch",
default=False,
help="Stop program after data fetching.")
parser.add_argument("--stop-after-convert",
action="store_true",
dest="stopAfterConvert",
default=False,
help="Stop program after data conversion.")
parser.add_argument("--skip-validate",
action="store_true",
dest="skipValidate",
default=False,
help="Skip input data validation.")
parser.add_argument("--ignore-missing-lidar",
action="store_true",
dest="ignoreMissingLidar",
default=False,
help="Keep going if the lidar is missing.")
parser.add_argument(
"--log-batches",
action="store_true",
dest="logBatches",
default=False,
help="Log the required batch commands without running them.")
parser.add_argument(
'--cleanup',
action='store_true',
default=False,
dest='cleanup',
help='If the final result is produced delete intermediate files.')
parser.add_argument(
'--many-ip',
action='store_true',
default=False,
dest='manyip',
help=
'If to use a lot of IP in bundle adjustment from the beginning.')
parser.add_argument(
"--dry-run",
action="store_true",
dest="dryRun",
default=False,
help=
"Set up the input directories but do not fetch/process any imagery."
)
parser.add_argument("--refetch", action="store_true", dest="reFetch", default=False,
help="Try fetching again if some files turned out invalid " + \
"during conversions.")
parser.add_argument("--refetch-index",
action="store_true",
dest="refetchIndex",
default=False,
help="Force refetch of the index file.")
parser.add_argument("--refetch-nav",
action="store_true",
dest="refetchNav",
default=False,
help="Force refetch of the nav file.")
parser.add_argument("--stop-after-index-fetch",
action="store_true",
dest="stopAfterIndexFetch",
default=False,
help="Stop after fetching the indices.")
parser.add_argument("--no-nav",
action="store_true",
dest="noNavFetch",
default=False,
help="Don't fetch or convert the nav data.")
parser.add_argument("--no-lidar-convert",
action="store_true",
dest="noLidarConvert",
default=False,
help="Skip lidar files in the conversion step.")
parser.add_argument(
"--no-ortho-convert",
action="store_true",
dest="noOrthoConvert",
default=False,
help="Skip generating camera models in the conversion step.")
parser.add_argument("--skip-fast-conversions",
action="store_true",
dest="skipFastConvert",
default=False,
help="Skips all non-ortho conversions.")
options = parser.parse_args(argsIn)
except argparse.ArgumentError as msg:
parser.error(msg)
icebridge_common.switchWorkDir()
if options.numOrthoProcesses < 0:
options.numOrthoProcesses = options.numProcesses
isSouth = icebridge_common.checkSite(options.site)
# Turned off elevation limits here since they are being set from LIDAR data.
## Add the site based elevation limits to the stereoArgs option
#altLimits = icebridge_common.getElevationLimits(options.site)
#options.stereoArgs = (' %s --elevation-limit %f %f '
# % (options.stereoArgs, altLimits[0], altLimits[1]))
options.stereoArgs = (' %s ' % (options.stereoArgs))
if options.cameraLookupFile is None:
options.cameraLookupFile = P.join(basepath, 'camera_lookup.txt')
if not os.path.isfile(options.cameraLookupFile):
raise Exception("Can't find camera file: " + options.cameraLookupFile)
if len(options.yyyymmdd) != 8 and len(options.yyyymmdd) != 9:
# Make an exception for 20100422a
raise Exception("The --yyyymmdd field must have length 8 or 9.")
if options.outputFolder is None:
options.outputFolder = icebridge_common.outputFolder(
options.site, options.yyyymmdd)
if options.stopAfterIndexFetch:
options.stopAfterFetch = True
os.system('mkdir -p ' + options.outputFolder)
logLevel = logging.INFO # Record everything
logger = icebridge_common.setUpLogger(options.outputFolder, logLevel,
'icebridge_processing_log_frames_' + \
str(options.startFrame) + "_" + str(options.stopFrame))
# Make sure we later know what we were doing
logger.info("full_processing_script.py " + " ".join(argsIn))
(out, err, status) = asp_system_utils.executeCommand(['uname', '-a'],
suppressOutput=True)
logger.info("Running on machine: " + out)
logger.info("Work dir is " + os.getcwd())
os.system("ulimit -c 0") # disable core dumps
os.system("umask 022") # enforce files be readable by others
# Perform some input checks and initializations
# These are not needed unless cameras are initialized
if options.inputCalFolder is None or not os.path.exists(
options.inputCalFolder):
raise Exception("Missing camera calibration folder.")
if options.refDemFolder is None or not os.path.exists(
options.refDemFolder):
raise Exception("Missing reference DEM folder.")
refDemName = icebridge_common.getReferenceDemName(options.site)
refDemPath = os.path.join(options.refDemFolder, refDemName)
if not os.path.exists(refDemPath):
raise Exception("Missing reference DEM: " + refDemPath)
# TODO: CLEAN UP!!!
# Set up the output folders
cameraFolder = icebridge_common.getCameraFolder(options.outputFolder)
imageFolder = icebridge_common.getImageFolder(options.outputFolder)
jpegFolder = icebridge_common.getJpegFolder(options.outputFolder)
orthoFolder = icebridge_common.getOrthoFolder(options.outputFolder)
fireballFolder = icebridge_common.getFireballFolder(options.outputFolder)
corrFireballFolder = icebridge_common.getCorrFireballFolder(
options.outputFolder)
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
navFolder = icebridge_common.getNavFolder(options.outputFolder)
navCameraFolder = icebridge_common.getNavCameraFolder(options.outputFolder)
processedFolder = icebridge_common.getProcessedFolder(options.outputFolder)
if options.outputCalCamera != "":
if options.maxOverlapRatio < 1:
raise Exception ("For optimizing intrinsics, must set --max-overlap-ratio to 1, " + \
"to always use consecutive frames.")
# Prepare to solve for intrinsics. Note that this modifies some things along the way.
(options, cameraFolder, navCameraFolder, processedFolder) = \
solveIntrinsics_Part1(options, jpegFolder, cameraFolder, navCameraFolder,
processedFolder, logger)
# Handle subfolder option. This is useful for comparing results with different parameters!
if options.processingSubfolder:
processedFolder = os.path.join(processedFolder,
options.processingSubfolder)
logger.info('Will write to processing subfolder: ' +
options.processingSubfolder)
# If something failed in the first attempt either in fetch or in
# convert, we will wipe bad files, and try to refetch/re-convert.
numAttempts = 1
if options.reFetch and (not options.noFetch):
numAttempts = 2
for attempt in range(numAttempts):
if numAttempts > 1:
logger.info("Fetch/convert attempt: " + str(attempt + 1))
ans = runFetchConvert(options, isSouth, cameraFolder, imageFolder,
jpegFolder, orthoFolder, fireballFolder,
corrFireballFolder, lidarFolder, processedFolder,
navFolder, navCameraFolder, refDemPath, logger)
if ans == 0:
break
if options.stopAfterFetch or options.dryRun or options.stopAfterConvert:
logger.info('Fetch/convert finished!')
return 0
# Call the processing routine
processTheRun(options, imageFolder, cameraFolder, lidarFolder, orthoFolder,
corrFireballFolder, processedFolder, isSouth, refDemPath)
if options.outputCalCamera != "":
# Finish solving for intrinscs.
solveIntrinsics_Part2(options, imageFolder, cameraFolder, lidarFolder,
orthoFolder, processedFolder, isSouth, logger)
def main(argsIn):
try:
# Sample usage:
# python fetcher_script.py \
# --yyyymmdd 20091016 --site AN --start-frame 350 --stop-frame 353 --skip-validate
# An output folder will be crated automatically (with a name like
# AN_20091016), or its name can be specified via the --output-folder
# option.
usage = '''usage: fetcher_script.py <options>'''
parser = optparse.OptionParser(usage=usage)
# Run selection
parser.add_option("--yyyymmdd", dest="yyyymmdd", default=None,
help="Specify the year, month, and day in one YYYYMMDD string.")
parser.add_option("--site", dest="site", default=None,
help="Name of the location of the images (AN, GR, or AL)")
parser.add_option("--camera-calibration-folder", dest="inputCalFolder", default=None,
help="The folder containing camera calibration.")
parser.add_option("--reference-dem-folder", dest="refDemFolder", default=None,
help="The folder containing DEMs that created orthoimages.")
# Python treats numbers starting with 0 as being in octal rather than decimal.
# Ridiculous. So read them as strings and convert to int.
parser.add_option('--start-frame', dest='startFrameStr', default=None,
help="Frame to start with. Leave this and stop-frame blank to " + \
"process all frames.")
parser.add_option('--stop-frame', dest='stopFrameStr', default=None,
help='Frame to stop on.')
parser.add_option('--max-num-lidar-to-fetch', dest='maxNumLidarToFetch', default=100000000,
type='int', help='The maximum number of lidar files to fetch. ' + \
'This is used in debugging.')
parser.add_option("--skip-validate", action="store_true", dest="skipValidate",
default=False,
help="Skip input data validation.")
parser.add_option("--ignore-missing-lidar", action="store_true", dest="ignoreMissingLidar",
default=False,
help="Keep going if the lidar is missing.")
parser.add_option("--no-lidar-convert", action="store_true", dest="noLidarConvert",
default=False,
help="Skip lidar files in the conversion step.")
parser.add_option("--no-nav", action="store_true", dest="noNav",
default=False,
help="Skip dealing with raw nav data.")
parser.add_option("--skip-processing", action="store_true", dest="skipProcessing",
default=False,
help="Skip fetch, validate, and convert. Assume all data is ready.")
parser.add_option("--refetch-index", action="store_true", dest="refetchIndex",
default=False,
help="Force refetch of the index file.")
parser.add_option("--stop-after-index-fetch", action="store_true",
dest="stopAfterIndexFetch", default=False,
help="Stop after fetching the indices.")
parser.add_option("--tar", action="store_true", dest="tar", default=False,
help="After fetching all data and performing all conversions and " + \
"validations, make a tarball on lou. Only valid on Pleiades!")
parser.add_option("--wipe", action="store_true", dest="wipe", default=False,
help="After making a tarball with --tar, wipe the directory. ")
parser.add_option("--start-with-lou-archive", action="store_true",
dest="startWithLouArchive", default=False,
help="Untar an existing archive from lou, then continue.")
(options, args) = parser.parse_args(argsIn)
except optparse.OptionError as msg:
raise Usage(msg)
if options.yyyymmdd is None or options.site is None:
print("The flight date and site must be specified.")
return -1
options.outputFolder = icebridge_common.outputFolder(options.site, options.yyyymmdd)
os.system('mkdir -p ' + options.outputFolder)
logLevel = logging.INFO
logger = icebridge_common.setUpLogger(options.outputFolder, logLevel,
'icebridge_fetcher_log')
# Explicitely go from strings to integers, per earlier note.
if options.startFrameStr is not None:
startFrame = int(options.startFrameStr)
else:
startFrame = icebridge_common.getSmallestFrame()
if options.stopFrameStr is not None:
stopFrame = int(options.stopFrameStr)
else:
stopFrame = icebridge_common.getLargestFrame()
# Unarchive, then continue with fetching
if options.startWithLouArchive:
start_time()
startWithLouArchive(options, logger)
stop_time("fetch_from_lou", logger)
cmd = (('--yyyymmdd %s --site %s --start-frame %d --stop-frame %d ' +
'--max-num-lidar-to-fetch %d --stop-after-convert --no-ortho-convert --refetch')
% (options.yyyymmdd, options.site, startFrame, stopFrame,
options.maxNumLidarToFetch))
if options.refetchIndex:
cmd += ' --refetch-index' # this was not right in older fetched runs
if options.stopAfterIndexFetch:
cmd += ' --stop-after-index-fetch'
if options.skipValidate:
cmd += ' --skip-validate'
if options.ignoreMissingLidar:
cmd += ' --ignore-missing-lidar'
if options.noLidarConvert:
cmd += ' --no-lidar-convert'
if options.noNav:
cmd += ' --no-nav'
if options.inputCalFolder is not None:
cmd += ' --camera-calibration-folder ' + options.inputCalFolder
if options.refDemFolder is not None:
cmd += ' --reference-dem-folder ' + options.refDemFolder
if not options.skipProcessing:
# Refetch all nav stuff, as it was unreliable in the past
navFolder = icebridge_common.getNavFolder(options.outputFolder)
navCameraFolder = icebridge_common.getNavCameraFolder(options.outputFolder)
if os.path.exists(navFolder):
logger.info("Wiping: " + navFolder)
os.system('rm -rfv ' + navFolder)
if os.path.exists(navCameraFolder):
logger.info("Wiping: " + navCameraFolder)
os.system('rm -rfv ' + navCameraFolder)
# Wipe processed lidar, as sometimes errors crept in.
logger.info("Wiping processed lidar:")
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
if os.path.exists(lidarFolder):
os.system('rm -fv ' + lidarFolder + '/*csv')
pairedFolder = icebridge_common.getPairedLidarFolder(lidarFolder)
if os.path.exists(pairedFolder):
os.system('rm -rfv ' + pairedFolder)
logger.info("full_processing_script.py " + cmd)
start_time()
if full_processing_script.main(cmd.split()) < 0:
return -1
stop_time("fetch_validate", logger)
# Archive after fetching
if options.tar:
tarAndWipe(options, logger)
def main(argsIn):
try:
# Sample usage:
# python fetcher_script.py \
# --yyyymmdd 20091016 --site AN --start-frame 350 --stop-frame 353 --skip-validate
# An output folder will be crated automatically (with a name like
# AN_20091016), or its name can be specified via the --output-folder
# option.
usage = '''usage: fetcher_script.py <options>'''
parser = optparse.OptionParser(usage=usage)
# Run selection
parser.add_option(
"--yyyymmdd",
dest="yyyymmdd",
default=None,
help="Specify the year, month, and day in one YYYYMMDD string.")
parser.add_option(
"--site",
dest="site",
default=None,
help="Name of the location of the images (AN, GR, or AL)")
parser.add_option("--camera-calibration-folder",
dest="inputCalFolder",
default=None,
help="The folder containing camera calibration.")
parser.add_option(
"--reference-dem-folder",
dest="refDemFolder",
default=None,
help="The folder containing DEMs that created orthoimages.")
# Python treats numbers starting with 0 as being in octal rather than decimal.
# Ridiculous. So read them as strings and convert to int.
parser.add_option('--start-frame', dest='startFrameStr', default=None,
help="Frame to start with. Leave this and stop-frame blank to " + \
"process all frames.")
parser.add_option('--stop-frame',
dest='stopFrameStr',
default=None,
help='Frame to stop on.')
parser.add_option('--max-num-lidar-to-fetch', dest='maxNumLidarToFetch', default=100000000,
type='int', help='The maximum number of lidar files to fetch. ' + \
'This is used in debugging.')
parser.add_option("--skip-validate",
action="store_true",
dest="skipValidate",
default=False,
help="Skip input data validation.")
parser.add_option("--ignore-missing-lidar",
action="store_true",
dest="ignoreMissingLidar",
default=False,
help="Keep going if the lidar is missing.")
parser.add_option("--no-lidar-convert",
action="store_true",
dest="noLidarConvert",
default=False,
help="Skip lidar files in the conversion step.")
parser.add_option("--no-nav",
action="store_true",
dest="noNav",
default=False,
help="Skip dealing with raw nav data.")
parser.add_option(
"--skip-processing",
action="store_true",
dest="skipProcessing",
default=False,
help="Skip fetch, validate, and convert. Assume all data is ready."
)
parser.add_option("--refetch-index",
action="store_true",
dest="refetchIndex",
default=False,
help="Force refetch of the index file.")
parser.add_option("--stop-after-index-fetch",
action="store_true",
dest="stopAfterIndexFetch",
default=False,
help="Stop after fetching the indices.")
parser.add_option("--tar", action="store_true", dest="tar", default=False,
help="After fetching all data and performing all conversions and " + \
"validations, make a tarball on lou. Only valid on Pleiades!")
parser.add_option(
"--wipe",
action="store_true",
dest="wipe",
default=False,
help="After making a tarball with --tar, wipe the directory. ")
parser.add_option(
"--start-with-lou-archive",
action="store_true",
dest="startWithLouArchive",
default=False,
help="Untar an existing archive from lou, then continue.")
(options, args) = parser.parse_args(argsIn)
except optparse.OptionError as msg:
raise Usage(msg)
if options.yyyymmdd is None or options.site is None:
print("The flight date and site must be specified.")
return -1
options.outputFolder = icebridge_common.outputFolder(
options.site, options.yyyymmdd)
os.system('mkdir -p ' + options.outputFolder)
logLevel = logging.INFO
logger = icebridge_common.setUpLogger(options.outputFolder, logLevel,
'icebridge_fetcher_log')
# Explicitely go from strings to integers, per earlier note.
if options.startFrameStr is not None:
startFrame = int(options.startFrameStr)
else:
startFrame = icebridge_common.getSmallestFrame()
if options.stopFrameStr is not None:
stopFrame = int(options.stopFrameStr)
else:
stopFrame = icebridge_common.getLargestFrame()
# Unarchive, then continue with fetching
if options.startWithLouArchive:
start_time()
startWithLouArchive(options, logger)
stop_time("fetch_from_lou", logger)
cmd = ((
'--yyyymmdd %s --site %s --start-frame %d --stop-frame %d ' +
'--max-num-lidar-to-fetch %d --stop-after-convert --no-ortho-convert --refetch'
) % (options.yyyymmdd, options.site, startFrame, stopFrame,
options.maxNumLidarToFetch))
if options.refetchIndex:
cmd += ' --refetch-index' # this was not right in older fetched runs
if options.stopAfterIndexFetch:
cmd += ' --stop-after-index-fetch'
if options.skipValidate:
cmd += ' --skip-validate'
if options.ignoreMissingLidar:
cmd += ' --ignore-missing-lidar'
if options.noLidarConvert:
cmd += ' --no-lidar-convert'
if options.noNav:
cmd += ' --no-nav'
if options.inputCalFolder is not None:
cmd += ' --camera-calibration-folder ' + options.inputCalFolder
if options.refDemFolder is not None:
cmd += ' --reference-dem-folder ' + options.refDemFolder
if not options.skipProcessing:
# Refetch all nav stuff, as it was unreliable in the past
navFolder = icebridge_common.getNavFolder(options.outputFolder)
navCameraFolder = icebridge_common.getNavCameraFolder(
options.outputFolder)
if os.path.exists(navFolder):
logger.info("Wiping: " + navFolder)
os.system('rm -rfv ' + navFolder)
if os.path.exists(navCameraFolder):
logger.info("Wiping: " + navCameraFolder)
os.system('rm -rfv ' + navCameraFolder)
# Wipe processed lidar, as sometimes errors crept in.
logger.info("Wiping processed lidar:")
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
if os.path.exists(lidarFolder):
os.system('rm -fv ' + lidarFolder + '/*csv')
pairedFolder = icebridge_common.getPairedLidarFolder(lidarFolder)
if os.path.exists(pairedFolder):
os.system('rm -rfv ' + pairedFolder)
logger.info("full_processing_script.py " + cmd)
start_time()
if full_processing_script.main(cmd.split()) < 0:
return -1
stop_time("fetch_validate", logger)
# Archive after fetching
if options.tar:
tarAndWipe(options, logger)
def main(argsIn):
try:
# Sample usage:
# python ~/projects/StereoPipeline/src/asp/IceBridge/blend_dems.py --site GR \
# --yyyymmdd 20120315 --start-frame 2490 --stop-frame 2491 --bundle-length 2 \
# --num-threads 8 --num-processes 10
usage = '''blend_dems.py <options>'''
parser = argparse.ArgumentParser(usage=usage)
# Run selection
parser.add_argument(
"--yyyymmdd",
dest="yyyymmdd",
required=True,
help="Specify the year, month, and day in one YYYYMMDD string.")
parser.add_argument(
"--site",
dest="site",
required=True,
help="Name of the location of the images (AN, GR, or AL)")
parser.add_argument("--output-folder", dest="outputFolder", default=None,
help="Name of the output folder. If not specified, " + \
"use something like AN_YYYYMMDD.")
# Processing options
parser.add_argument('--bundle-length', dest='bundleLength', default=2,
type=int, help="The number of images to bundle adjust and process " + \
"in a single batch.")
parser.add_argument('--start-frame', dest='startFrame', type=int,
default=icebridge_common.getSmallestFrame(),
help="Frame to start with. Leave this and stop-frame blank to " + \
"process all frames.")
parser.add_argument(
'--stop-frame',
dest='stopFrame',
type=int,
default=icebridge_common.getLargestFrame(),
help='Frame to stop on. This frame will also be processed.')
parser.add_argument("--processing-subfolder", dest="processingSubfolder", default=None,
help="Specify a subfolder name where the processing outputs will go. "+\
"The default is no additional folder.")
parser.add_argument(
"--compute-diff-to-prev-dem",
action="store_true",
dest="computeDiffToPrev",
default=False,
help="Compute the absolute difference between the current DEM " +
"and the one before it.")
parser.add_argument("--blend-to-fireball-footprint", action="store_true",
dest="blendToFireball", default=False,
help="Create additional blended DEMs having the same " + \
"footprint as Fireball DEMs.")
# Performance options
parser.add_argument(
'--num-processes',
dest='numProcesses',
default=1,
type=int,
help='The number of simultaneous processes to run.')
parser.add_argument('--num-threads',
dest='numThreads',
default=8,
type=int,
help='The number of threads per process.')
options = parser.parse_args(argsIn)
except argparse.ArgumentError as msg:
parser.error(msg)
icebridge_common.switchWorkDir()
os.system("ulimit -c 0") # disable core dumps
os.system("rm -f core.*") # these keep on popping up
os.system("umask 022") # enforce files be readable by others
if len(options.yyyymmdd) != 8 and len(options.yyyymmdd) != 9:
# Make an exception for 20100422a
raise Exception("The --yyyymmdd field must have length 8 or 9.")
if options.outputFolder is None:
options.outputFolder = icebridge_common.outputFolder(
options.site, options.yyyymmdd)
os.system('mkdir -p ' + options.outputFolder)
logLevel = logging.INFO # Make this an option??
logger = icebridge_common.setUpLogger(options.outputFolder, logLevel,
'icebridge_blend_log')
(out, err, status) = asp_system_utils.executeCommand(['uname', '-a'],
suppressOutput=True)
logger.info("Running on machine: " + out)
logger.info(str(argsIn))
processFolder = os.path.join(options.outputFolder, 'processed')
# Handle subfolder option. This is useful for comparing results with different parameters!
if options.processingSubfolder:
processFolder = os.path.join(processFolder,
options.processingSubfolder)
logger.info('Reading from processing subfolder: ' +
options.processingSubfolder)
orthoFolder = icebridge_common.getOrthoFolder(options.outputFolder)
orthoIndexPath = icebridge_common.csvIndexFile(orthoFolder)
if not os.path.exists(orthoIndexPath):
raise Exception("Error: Missing ortho index file: " + orthoIndexPath +
".")
(orthoFrameDict,
orthoUrlDict) = icebridge_common.readIndexFile(orthoIndexPath)
if options.blendToFireball:
fireballFrameDict = icebridge_common.getCorrectedFireballDems(
options.outputFolder)
lidarFolder = icebridge_common.getLidarFolder(options.outputFolder)
threadText = ''
if options.numThreads:
threadText = '--threads ' + str(options.numThreads)
redo = False
suppressOutput = True
taskHandles = []
if options.numProcesses > 1:
pool = multiprocessing.Pool(options.numProcesses)
# Bound the frames
sortedFrames = sorted(orthoFrameDict.keys())
if len(sortedFrames) > 0:
if options.startFrame < sortedFrames[0]:
options.startFrame = sortedFrames[0]
if options.stopFrame > sortedFrames[-1] + 1:
options.stopFrame = sortedFrames[-1] + 1
else:
# No ortho files, that means nothing to do
options.startFrame = 0
options.stopFrame = 0
for frame in range(options.startFrame, options.stopFrame):
if not frame in orthoFrameDict:
logger.info("Error: Missing ortho file for frame: " + str(frame) +
".")
continue
orthoFile = orthoFrameDict[frame]
try:
lidarFile = icebridge_common.findMatchingLidarFile(
orthoFile, lidarFolder)
except: # Skip if no lidar file matches this frame
continue
fireballDEM = ""
if options.blendToFireball:
if frame in fireballFrameDict:
fireballDEM = fireballFrameDict[frame]
else:
logger.info("No fireball DEM for frame: " + str(frame))
args = (frame, processFolder, lidarFile, fireballDEM, options,
threadText, redo, suppressOutput)
# Run things sequentially if only one process, to make it easy to debug
if options.numProcesses > 1:
taskHandles.append(pool.apply_async(runBlend, args))
else:
runBlend(*args)
if options.numProcesses > 1:
icebridge_common.waitForTaskCompletionOrKeypress(taskHandles,
logger,
interactive=False,
quitKey='q',
sleepTime=20)
icebridge_common.stopTaskPool(pool)