def plot_tiles_hdiff(dict_values, args):
from matplotlib.collections import PatchCollection
from matplotlib.patches import Rectangle
fns = dict_values.keys()
_, _, _, _, r, x_offset, y_offset, _, _, _, _ = args
# Get origin from initial filename
m, n = fns[0][:17].split('_')
[mm0, nn0] = coord(m, n, r, x_offset, y_offset)
# Create figure and axes
fig, ax = plt.subplots(1)
patches = []
values = []
for fn in fns:
if fn in dict_values:
if dict_values[fn] != None and not math.isnan(dict_values[fn]):
values.append(dict_values[fn])
# Get origin from filename
m, n = fn[:17].split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
mm = float(mm) - mm0
nn = float(nn) - nn0
# Create a Rectangle patch
rect = Rectangle((mm, nn),
r,
r,
linewidth=1,
edgecolor='r',
facecolor='r')
patches.append(rect)
collection = PatchCollection(patches, cmap=plt.cm.jet, alpha=0.8)
collection.set_array(np.abs(values))
#collection.set_clim(-0.5, 0.5)
ax.add_collection(collection)
fig.colorbar(collection)
plt.xlim(0, 1000)
plt.ylim(0, 1000)
plt.gca().set_aspect('equal', adjustable='box')
plt.show()
def ground_filter_aligned_data(fn, args):
#[pointcloud_path, ground_filtering_out_dir, r, x_offset, y_offset, geoid, sigma_geoid] = args
pts_dir, ref_dir, tmp_dir, out_dir, r, x_offset, y_offset, geoid, sigma_geoid, radius, res_list = args
m,n = fn[:17].split('_')
[mm,nn] = coord(m, n, r, x_offset, y_offset)
if fn not in os.listdir(ref_dir):
return False
# Load mms
data_mms = read_bin_xyzrid_scale(pts_dir + fn, 12)
# Rough filter based on given DTM
data_mms = filter_by_reference(data_mms, ref_dir + fn, geoid, sigma_geoid)
if len(data_mms) < 200:
return False
data_mms = global2local(data_mms, mm, nn)
reduced, _ = ground_filter(data_mms, radius, res_list, r, is_plot = False)
if len(reduced) < 200:
return False
write_points_double(local2global(reduced, mm, nn)[:,:3],
out_dir + fn)
return True
def load_aligned_data_runid(fn, pointcloud_path, ref_out_dir):
# Get origin from filename
m, n = fn[:17].split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
# Load reference dtm
data_ref = np.array(read_bin(ref_out_dir + fn, 7))
# Height range of the point cloud
height_max, height_min = max(data_ref[:, 2]) + geoid + sigma_geoid, min(
data_ref[:, 2]) + geoid - sigma_geoid
# Load mms data
#data_mms = read_bin_xyz_scale(pointcloud_path + fn, 10) # 40m Ricklingen
#data_mms = read_bin_xyz_norm_scale(pointcloud_path + fn, 13) # Broken tiles
#data_mms = read_bin_xyzr_scale(pointcloud_path + fn, 11) # 25m Hildesheim
data_mms = read_bin_xyzrid_scale(pointcloud_path + fn,
12) # 25m Hildesheim
data_mms = np.array(data_mms)
# Remove points based on reference dtm
data_mms = data_mms[(data_mms[:, 2] > height_min) *
(data_mms[:, 2] < height_max)]
# Get runids and points
data_runids = data_mms[:, 4]
data_mms = data_mms[:, 0:3] - [mm, nn, 0]
return data_mms, data_runids
def plot_tiles(fns, args):
from matplotlib.collections import PatchCollection
from matplotlib.patches import Rectangle
_, _, _, _, r, x_offset, y_offset, _, _, _, _ = args
# Get origin from initial filename
m, n = fns[0][:17].split('_')
[mm0, nn0] = coord(m, n, r, x_offset, y_offset)
# Create figure and axes
fig, ax = plt.subplots(1)
patches = []
for fn in fns:
# Get origin from filename
m, n = fn[:17].split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
mm = float(mm) - mm0
nn = float(nn) - nn0
# Create a Rectangle patch
rect = Rectangle((mm, nn),
r,
r,
linewidth=1,
edgecolor='r',
facecolor='r')
patches.append(rect)
collection = PatchCollection(patches, cmap=plt.cm.jet, alpha=0.8)
#collection.set_clim(-0.5, 0.5)
ax.add_collection(collection)
plt.xlim(0, 1000)
plt.ylim(0, 1000)
plt.gca().set_aspect('equal', adjustable='box')
plt.show()
def load_mms(fn, args):
mms_dir, _, _, r, x_offset, y_offset, _, _ = args
# Get origin from filename
m, n = fn[:17].split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
# Load points
try: # Some of are ddd, and some are ddfi
data_mms = read_bin_double(mms_dir + fn, 7)
except:
data_mms = read_bin_xyz_scale(mms_dir + fn, 8)
data_mms = data_mms[:, :3]
print('Changed loaded...', fn)
data_mms = global2local(data_mms, mm, nn)
return data_mms
def apply_height_updates_folder(list_pts,
pts_dir,
dict_update_pts,
res_ref,
res_update,
out_dir,
args,
global_shift=0,
is_xyz=False):
r, x_offset, y_offset = args
for fn in tqdm(list_pts):
m, n = fn[:17].split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
# Apply updates
data_updates = dict_update_pts[fn]
# Load mms original points
if is_xyz:
data_mms = load_corr_mms(fn, pts_dir, args)
else:
data_mms = read_bin_xyzrid_scale(pts_dir + fn, 12)
# Trans to local system
data_mms = global2local(data_mms, mm, nn)
data_updated = apply_height_updates(data_mms, data_updates, res_update,
r, global_shift)
# Write updated points
if len(data_updated) > 0:
write_points_double(local2global(data_updated[:, :3], mm, nn),
out_dir + '//' + fn)
dict_shift_value = np.load(tmp_dir + project_name + "_shift.npy",
allow_pickle=True)[0]
dict_shift_value = shifts_cleaning(dict_shift_value, list_mms)
if 1:
from tqdm import tqdm
from lib.util import local2global
from lib.load import load_mms
args = mms_dir, ref_dir, res_ref, r, x_offset, y_offset, geoid, sigma_geoid
for fn in tqdm(list_mms):
#print(fn)
m, n = fn[:17].split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
data_ref = read_bin(ref_dir + fn, 7)
data_mms = load_mms(fn, args)
#data_mms = read_bin(mms_dir + fn, 7)
#data_mms = read_bin_double(mms_dir + fn, 7)
#data_mms = global2local(data_mms, mm, nn)
d_ref = rasterize(data_ref, res_ref, dim=2)
d_mms = rasterize(data_mms, res_ref, dim=2)
data_mms = np.array(data_mms)
data_ref = np.array(data_ref)
index_list = []
def calc_height_diff_grunid(grunid, queried_fns, args, fn_shifts_runid, fn_shiftimg_runid,
is_save=True):
# For a given runid group, calculate the difference to the other runids
from lib.reference import filter_by_reference
from lib.shift import calculate_tile_runid_shift
pts_dir, ref_dir, tmp_dir, out_dir, r, x_offset, y_offset, geoid, sigma_geoid, radius, res_list = args
dict_shifts_runid = dict()
dict_shiftimg_runid = dict()
for fn in tqdm(queried_fns):
# Get origin from filename
m,n = fn[:17].split('_')
[mm,nn] = coord(m, n, r, x_offset, y_offset)
if fn.split('.')[0] + '_changedx.ply' in os.listdir(out_dir):
# Load points
data_mms = read_bin_xyz_scale(out_dir + fn.split('.')[0] + '_changedx.ply', 8)
print('read', fn.split('.')[0] + '_changedx.ply')
else:
# Load mms
data_mms = read_bin_xyzrid_scale(pts_dir + fn, 12)
# Rough filter based on given DTM
data_mms = filter_by_reference(data_mms, ref_dir + fn,
geoid, sigma_geoid)
data_mms = data_mms[:,[0,1,2,4]] # Remove reflectance
if len(data_mms) < 200:
continue
# Get xyz, relectance and runids
data_mms = global2local(data_mms, mm, nn)
# Get mask for select grunid
mask = generate_mask_grunid(data_mms[:,3], grunid)
data_mms_grunid = data_mms[mask]
data_mms_others = data_mms[~mask]
if len(data_mms_grunid) < 200:
continue
# Ground filter seperately
reduced_grunid, _ = ground_filter(data_mms_grunid, radius, res_list, r, cleaning = [])
reduced_others, _ = ground_filter(data_mms_others, radius, res_list, r, cleaning = [])
shift, shift_img = calculate_tile_runid_shift(reduced_grunid, reduced_others,
res_ref=1.0, reject_threshold=1.0, r=r)
# If the point are too less, ignore the points and save others
if shift==None:
save_pts = data_mms_others
else:
save_pts = data_mms
if is_save:
write_points_ddfi(local2global(save_pts, mm, nn),
out_dir + fn.split('.')[0] + '_changed.ply')
dict_shifts_runid[fn] = shift
dict_shiftimg_runid[fn] = shift_img
if is_save:
np.save(tmp_dir + fn_shifts_runid, [dict_shifts_runid, 0])
np.save(tmp_dir + fn_shiftimg_runid, [dict_shiftimg_runid, 0])
return dict_shifts_runid, dict_shiftimg_runid
def gen_dtm_runid(grunid, queried_fns, d_shifts_runid, args, res_update):
# Create update values for select grunid
from lib.adapt_height import check_update_necessity, update_pointcloud
pts_dir, ref_dir, tmp_dir, out_dir, r, x_offset, y_offset, geoid, sigma_geoid, radius, res_list = args
for fn in tqdm(queried_fns):
print(fn)
# Get origin from filename
m,n = fn[:17].split('_')
[mm,nn] = coord(m, n, r, x_offset, y_offset)
if fn.split('.')[0] + '_changed.ply' not in os.listdir(out_dir):
continue
if str(grunid[0]) + "_updated__" + fn in os.listdir(out_dir):
continue
# Load points
data_mms = read_bin_xyz_scale(out_dir + fn.split('.')[0] + '_changed.ply', 8)
data_mms = global2local(data_mms, mm, nn)
# Get mask for select grunid
mask = generate_mask_grunid(data_mms[:,3], grunid)
data_mms_grunid = data_mms[mask]
data_mms_others = data_mms[~mask]
if len(data_mms_grunid)<200:
print(fn, 'ignored because too less mms points')
continue
#data_mms_grunid = read_bin_double(out_dir + fn.split('.')[0] + '_grunid.ply', 7)
#data_mms_others = read_bin_double(out_dir + fn.split('.')[0] + '_others.ply', 7)
#data_mms_grunid = global2local(data_mms_grunid, mm, nn)
#data_mms_others = global2local(data_mms_others, mm, nn)
for nfn in search_neigh_tiles(fn):
if nfn in d_shifts_runid:
print(nfn, d_shifts_runid[nfn])
else:
print(nfn, "not found 0")
if check_update_necessity(search_neigh_tiles(fn), d_shifts_runid):
neigh_list = search_neigh_tiles(fn)
data_update, z = generate_updates_mms(d_shifts_runid, neigh_list, r, res_update)
# Only change selected runid
mms_updated = update_pointcloud(data_mms_grunid, data_update, res_update)
updated_pointcloud = np.vstack([mms_updated, data_mms_others])
# Update the point clouds
write_points_ddfi(local2global(updated_pointcloud.copy(), mm, nn),
out_dir + fn.split('.')[0] + '_changedx.ply')
reduced_pointcloud, _ = ground_filter(updated_pointcloud, radius, res_list, r)
identifier = "_updated__"
else:
data_mms = np.vstack([data_mms_grunid, data_mms_others])
reduced_pointcloud, _ = ground_filter(data_mms, radius, res_list, r)
identifier = "_original_"
if len(reduced_pointcloud)>200:
write_points_ddfi(local2global(reduced_pointcloud.copy(), mm, nn),
out_dir + str(grunid[0]) + identifier + fn)
def read_fn(fn, r, x_offset, y_offset):
m, n = fn.split('_')
[mm, nn] = coord(m, n, r, x_offset, y_offset)
return mm, nn
