def remove_cleanup_callback(func):
global cleanup_callbacks
try:
cleanup_callbacks.remove(func)
except ValueError as e:
log.ODM_EXCEPTION("Tried to remove %s from cleanup_callbacks but got: %s" % (str(func), str(e)))
def process(self, args, outputs):
tree = outputs['tree']
reconstruction = outputs['reconstruction']
gcpfile = tree.odm_georeferencing_gcp
doPointCloudGeo = True
transformPointCloud = True
verbose = '-verbose' if self.params.get('verbose') else ''
geo_ref = reconstruction.georef
runs = [{
'georeferencing_dir':
tree.odm_georeferencing,
'texturing_dir':
tree.odm_texturing,
'model':
os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
# Make sure 2.5D mesh is georeferenced before the 3D mesh
# Because it will be used to calculate a transform
# for the point cloud. If we use the 3D model transform,
# DEMs and orthophoto might not align!
runs.insert(
0, {
'georeferencing_dir':
tree.odm_25dgeoreferencing,
'texturing_dir':
tree.odm_25dtexturing,
'model':
os.path.join(tree.odm_25dtexturing,
tree.odm_textured_model_obj)
})
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(
r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(
r['georeferencing_dir'],
tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'input_pc_file': tree.filtered_point_cloud,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'model': r['model'],
'log': odm_georeferencing_log,
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'output_pc_file': tree.odm_georeferencing_model_laz,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if transformPointCloud:
kwargs[
'pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(
**kwargs)
if geo_ref and geo_ref.projection and geo_ref.projection.srs:
kwargs[
'pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(
geo_ref.projection.srs)
else:
log.ODM_WARNING(
'NO SRS: The output point cloud will not have a SRS.'
)
else:
kwargs['pc_params'] = ''
# Check to see if the GCP file exists
if not self.params.get('use_exif') and (
self.params.get('gcp_file')
or tree.odm_georeferencing_gcp):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
exit(1)
elif io.file_exists(
tree.opensfm_transformation) and io.file_exists(
tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with OpenSfM transformation matrix'
)
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
else:
log.ODM_WARNING(
'Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
doPointCloudGeo = False # skip the rest of the georeferencing
if doPointCloudGeo:
# update images metadata
geo_ref.extract_offsets(
odm_georeferencing_model_txt_geo_file)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format)")
system.run(
"pdal translate -i \"{}\" "
"-o \"{}\" "
"--writers.text.format=csv "
"--writers.text.order=\"X,Y,Z\" "
"--writers.text.keep_unspecified=false ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_xyz_file))
# LAS point cloud output
if args.pc_las:
log.ODM_INFO("Creating geo-referenced LAS file")
system.run("pdal translate -i \"{}\" "
"-o \"{}\" ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_model_las))
if args.crop > 0:
log.ODM_INFO(
"Calculating cropping area and generating bounds shapefile from point cloud"
)
cropper = Cropper(tree.odm_georeferencing,
'odm_georeferenced_model')
decimation_step = 40 if args.fast_orthophoto or args.use_opensfm_dense else 90
# More aggressive decimation for large datasets
if not args.fast_orthophoto:
decimation_step *= int(
len(reconstruction.photos) / 1000) + 1
cropper.create_bounds_gpkg(
tree.odm_georeferencing_model_laz,
args.crop,
decimation_step=decimation_step)
# Do not execute a second time, since
# We might be doing georeferencing for
# multiple models (3D, 2.5D, ...)
doPointCloudGeo = False
transformPointCloud = False
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
tree.odm_georeferencing_model_laz)
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
gcpfile = tree.odm_georeferencing_gcp
doPointCloudGeo = True
transformPointCloud = True
verbose = '-verbose' if self.params.verbose else ''
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
runs = [{
'georeferencing_dir':
tree.odm_georeferencing,
'texturing_dir':
tree.odm_texturing,
'model':
os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
runs += [{
'georeferencing_dir':
tree.odm_25dgeoreferencing,
'texturing_dir':
tree.odm_25dtexturing,
'model':
os.path.join(tree.odm_25dtexturing,
tree.odm_textured_model_obj)
}]
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(
r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_model_ply_geo = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(
r['georeferencing_dir'],
tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'model': r['model'],
'log': odm_georeferencing_log,
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'pc_geo': odm_georeferencing_model_ply_geo,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if args.fast_orthophoto:
kwargs['pc'] = os.path.join(tree.opensfm,
'reconstruction.ply')
elif args.use_opensfm_dense:
kwargs['pc'] = tree.opensfm_model
else:
kwargs['pc'] = tree.smvs_model
if transformPointCloud:
kwargs[
'pc_params'] = '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo}'.format(
**kwargs)
else:
kwargs['pc_params'] = ''
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or
tree.odm_georeferencing_gcp):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(
tree.opensfm_transformation) and io.file_exists(
tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with OpenSfM transformation matrix'
)
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
else:
log.ODM_WARNING(
'Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
doPointCloudGeo = False # skip the rest of the georeferencing
if doPointCloudGeo:
# update images metadata
geo_ref = reconstruction.georef
geo_ref.extract_offsets(
odm_georeferencing_model_txt_geo_file)
# convert ply model to LAS reference system
geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_las_json)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format)")
with open(tree.odm_georeferencing_xyz_file,
"wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
with open(odm_georeferencing_model_ply_geo) as f:
endianess = '<' # little endian
while True:
line = f.readline()
if "binary_big_endian" in line:
endianess = '>'
if line.startswith("end_header"):
break
fmt = '{}dddBBB'.format(endianess)
while True:
chunk = f.read(27) # 3 doubles, 3 uints
if len(chunk) < 27:
break
tokens = struct.unpack(fmt, chunk)
csv_line = [
float(tokens[0]),
float(tokens[1]), tokens[2]
]
csvfile_writer.writerow(csv_line)
if args.crop > 0:
log.ODM_INFO(
"Calculating cropping area and generating bounds shapefile from point cloud"
)
cropper = Cropper(tree.odm_georeferencing,
'odm_georeferenced_model')
cropper.create_bounds_shapefile(
tree.odm_georeferencing_model_laz,
args.crop,
decimation_step=40 if args.fast_orthophoto
or args.use_opensfm_dense else 90,
outlier_radius=20 if args.fast_orthophoto else 2)
# Do not execute a second time, since
# We might be doing georeferencing for
# multiple models (3D, 2.5D, ...)
doPointCloudGeo = False
transformPointCloud = False
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
odm_georeferencing_model_ply_geo)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# find a file in the root directory
def find(file, dir):
for root, dirs, files in os.walk(dir):
return '/'.join((root, file)) if file in files else None
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
gcpfile = io.join_paths(tree.root_path, self.params.gcp_file) \
if self.params.gcp_file else find('gcp_list.txt', tree.root_path)
geocreated = True
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
# in case a gcp file it's not provided, let's try to generate it using
# images metadata. Internally calls jhead.
log.ODM_DEBUG(self.params.gcp_file)
if not self.params.gcp_file: # and \
# not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('No coordinates file. '
'Generating coordinates file: %s' %
tree.odm_georeferencing_coords)
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'imgs': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'coords': tree.odm_georeferencing_coords,
'log': tree.odm_georeferencing_utm_log,
'verbose': verbose
}
# run UTM extraction binary
extract_utm = system.run_and_return(
'{bin}/odm_extract_utm -imagesPath {imgs}/ '
'-imageListFile {imgs_list} -outputCoordFile {coords} {verbose} '
'-logFile {log}'.format(**kwargs))
if extract_utm != '':
log.ODM_WARNING('Could not generate coordinates file. '
'Ignore if there is a GCP file. Error: %s' %
extract_utm)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
if not io.file_exists(tree.odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_ply_geo) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'model': tree.odm_textured_model_obj,
'log': tree.odm_georeferencing_log,
'coords': tree.odm_georeferencing_coords,
'pc_geo': tree.odm_georeferencing_model_ply_geo,
'geo_sys': tree.odm_georeferencing_model_txt_geo,
'model_geo': tree.odm_georeferencing_model_obj_geo,
'size': self.params.img_size,
'gcp': gcpfile,
'verbose': verbose
}
if not args.use_pmvs:
kwargs['pc'] = tree.opensfm_model
else:
kwargs['pc'] = tree.pmvs_model
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or find(
'gcp_list.txt', tree.root_path)):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -georefFileOutputPath {geo_sys}'.format(
**kwargs))
else:
log.ODM_WARNING('Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
geocreated = False # skip the rest of the georeferencing
if geocreated:
# update images metadata
geo_ref = types.ODM_GeoRef()
geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords)
for idx, photo in enumerate(self.inputs.photos):
geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon,
photo, idx)
# convert ply model to LAS reference system
geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_pdal)
# XYZ point cloud output
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format, can be used with GRASS to create DEM)"
)
with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
reachedpoints = False
with open(tree.odm_georeferencing_model_ply_geo) as f:
for lineNumber, line in enumerate(f):
if reachedpoints:
tokens = line.split(" ")
csv_line = [
float(tokens[0]) + geo_ref.utm_east_offset,
float(tokens[1]) +
geo_ref.utm_north_offset, tokens[2]
]
csvfile_writer.writerow(csv_line)
if line.startswith("end_header"):
reachedpoints = True
csvfile.close()
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
tree.odm_georeferencing_model_ply_geo)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
gcpfile = tree.odm_georeferencing_gcp
doPointCloudGeo = True
transformPointCloud = True
verbose = '-verbose' if self.params.verbose else ''
geo_ref = reconstruction.georef
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
runs = [{
'georeferencing_dir':
tree.odm_georeferencing,
'texturing_dir':
tree.odm_texturing,
'model':
os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
runs += [{
'georeferencing_dir':
tree.odm_25dgeoreferencing,
'texturing_dir':
tree.odm_25dtexturing,
'model':
os.path.join(tree.odm_25dtexturing,
tree.odm_textured_model_obj)
}]
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(
r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(
r['georeferencing_dir'],
tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_laz) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'model': r['model'],
'log': odm_georeferencing_log,
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'output_pc_file': tree.odm_georeferencing_model_laz,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if args.fast_orthophoto:
kwargs['input_pc_file'] = os.path.join(
tree.opensfm, 'reconstruction.ply')
elif args.use_opensfm_dense:
kwargs['input_pc_file'] = tree.opensfm_model
else:
kwargs['input_pc_file'] = tree.smvs_model
if transformPointCloud:
kwargs[
'pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(
**kwargs)
if geo_ref.projection.srs:
kwargs[
'pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(
geo_ref.projection.srs)
else:
log.ODM_WARNING(
'NO SRS: The output point cloud will not have a SRS.'
)
else:
kwargs['pc_params'] = ''
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or
tree.odm_georeferencing_gcp):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(
tree.opensfm_transformation) and io.file_exists(
tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with OpenSfM transformation matrix'
)
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
else:
log.ODM_WARNING(
'Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
doPointCloudGeo = False # skip the rest of the georeferencing
if doPointCloudGeo:
# update images metadata
geo_ref.extract_offsets(
odm_georeferencing_model_txt_geo_file)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format)")
system.run(
"pdal translate -i \"{}\" "
"-o \"{}\" "
"--writers.text.format=csv "
"--writers.text.order=\"X,Y,Z\" "
"--writers.text.keep_unspecified=false ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_xyz_file))
if args.crop > 0:
log.ODM_INFO(
"Calculating cropping area and generating bounds shapefile from point cloud"
)
cropper = Cropper(tree.odm_georeferencing,
'odm_georeferenced_model')
decimation_step = 40 if args.fast_orthophoto or args.use_opensfm_dense else 90
# More aggressive decimation for large datasets
if not args.fast_orthophoto:
decimation_step *= int(
len(reconstruction.photos) / 1000) + 1
cropper.create_bounds_shapefile(
tree.odm_georeferencing_model_laz,
args.crop,
decimation_step=decimation_step,
outlier_radius=20 if args.fast_orthophoto else 2)
# Do not execute a second time, since
# We might be doing georeferencing for
# multiple models (3D, 2.5D, ...)
doPointCloudGeo = False
transformPointCloud = False
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
tree.odm_georeferencing_model_laz)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
