def create_utm_copy(self,
gcp_file_output,
filenames=None,
rejected_entries=None,
include_extras=True):
"""
Creates a new GCP file from an existing GCP file
by optionally including only filenames and reprojecting each point to
a UTM CRS. Rejected entries can recorded by passing a list object to
rejected_entries.
"""
if os.path.exists(gcp_file_output):
os.remove(gcp_file_output)
output = [self.wgs84_utm_zone()]
target_srs = location.parse_srs_header(output[0])
transformer = location.transformer(self.srs, target_srs)
for entry in self.iter_entries():
if filenames is None or entry.filename in filenames:
entry.x, entry.y, entry.z = transformer.TransformPoint(
entry.x, entry.y, entry.z)
if not include_extras:
entry.extras = ''
output.append(str(entry))
elif isinstance(rejected_entries, list):
rejected_entries.append(entry)
with open(gcp_file_output, 'w') as f:
f.write('\n'.join(output) + '\n')
return gcp_file_output
def make_micmac_copy(self,
output_dir,
precisionxy=0.01,
precisionz=0.01,
utm_zone=None):
"""
Convert this GCP file in a format compatible with MicMac.
:param output_dir directory where to save the two MicMac GCP files. The directory must exist.
:param utm_zone UTM zone to use for output coordinates (UTM string, PROJ4 or EPSG definition).
If one is not specified, the nearest UTM zone will be selected.
:param precisionxy horizontal precision of GCP measurements in meters.
:param precisionz vertical precision of GCP measurements in meters.
"""
if not os.path.isdir(output_dir):
raise IOError("{} does not exist.".format(output_dir))
if not isinstance(precisionxy, float) and not isinstance(
precisionxy, int):
raise AssertionError("precisionxy must be a number")
if not isinstance(precisionz, float) and not isinstance(
precisionz, int):
raise AssertionError("precisionz must be a number")
gcp_3d_file = os.path.join(output_dir, '3d_gcp.txt')
gcp_2d_file = os.path.join(output_dir, '2d_gcp.txt')
if os.path.exists(gcp_3d_file):
os.remove(gcp_3d_file)
if os.path.exists(gcp_2d_file):
os.remove(gcp_2d_file)
if utm_zone is None:
utm_zone = self.wgs84_utm_zone()
target_srs = location.parse_srs_header(utm_zone)
transformer = location.transformer(self.srs, target_srs)
gcps = {}
for entry in self.iter_entries():
utm_x, utm_y, utm_z = transformer.TransformPoint(
entry.x, entry.y, entry.z)
k = "{} {} {}".format(utm_x, utm_y, utm_z)
if not k in gcps:
gcps[k] = [entry]
else:
gcps[k].append(entry)
with open(gcp_3d_file, 'w') as f3:
with open(gcp_2d_file, 'w') as f2:
gcp_n = 1
for k in gcps:
f3.write("GCP{} {} {} {}\n".format(gcp_n, k, precisionxy,
precisionz))
for entry in gcps[k]:
f2.write("GCP{} {} {} {}\n".format(
gcp_n, entry.filename, entry.px, entry.py))
gcp_n += 1
return (gcp_3d_file, gcp_2d_file)
def __init__(self, geo_path):
self.geo_path = geo_path
self.entries = {}
self.srs = None
with open(self.geo_path, 'r') as f:
contents = f.read().strip()
lines = list(map(str.strip, contents.split('\n')))
if lines:
self.raw_srs = lines[0] # SRS
self.srs = location.parse_srs_header(self.raw_srs)
longlat = CRS.from_epsg("4326")
for line in lines[1:]:
if line != "" and line[0] != "#":
parts = line.split()
if len(parts) >= 3:
i = 3
filename = parts[0]
x, y = [float(p) for p in parts[1:3]]
z = float(parts[3]) if len(parts) >= 4 else None
# Always convert coordinates to WGS84
if z is not None:
x, y, z = location.transform3(
self.srs, longlat, x, y, z)
else:
x, y = location.transform2(self.srs, longlat, x, y)
omega = phi = kappa = None
if len(parts) >= 7:
omega, phi, kappa = [float(p) for p in parts[4:7]]
i = 7
horizontal_accuracy = vertical_accuracy = None
if len(parts) >= 9:
horizontal_accuracy, vertical_accuracy = [
float(p) for p in parts[7:9]
]
i = 9
extras = " ".join(parts[i:])
self.entries[filename] = GeoEntry(
filename, x, y, z, omega, phi, kappa,
horizontal_accuracy, vertical_accuracy, extras)
else:
logger.warning("Malformed geo line: %s" % line)
def FromCoordsFile(coords_file):
# check for coordinate file existence
if not io.file_exists(coords_file):
log.ODM_WARNING('Could not find file %s' % coords_file)
return
srs = None
with open(coords_file) as f:
# extract reference system and utm zone from first line.
# We will assume the following format:
# 'WGS84 UTM 17N' or 'WGS84 UTM 17N \n'
line = f.readline().rstrip()
srs = location.parse_srs_header(line)
return ODM_GeoRef(srs)
def read(self):
if self.exists():
with open(self.gcp_path, 'r') as f:
contents = f.read().decode('utf-8-sig').encode('utf-8').strip()
lines = map(str.strip, contents.split('\n'))
if lines:
self.raw_srs = lines[0] # SRS
self.srs = location.parse_srs_header(self.raw_srs)
for line in lines[1:]:
if line != "" and line[0] != "#":
parts = line.split()
if len(parts) >= 6:
self.entries.append(line)
else:
log.MM_WARNING("Malformed GCP line: %s" % line)
def FromCoordsFile(coords_file):
# check for coordinate file existence
if not io.file_exists(coords_file):
log.ODM_WARNING('Could not find file %s' % coords_file)
return
with open(coords_file) as f:
# extract reference system and utm zone from first line.
# We will assume the following format:
# 'WGS84 UTM 17N' or 'WGS84 UTM 17N \n'
line = f.readline().rstrip()
srs = location.parse_srs_header(line)
# second line is a northing/easting offset
line = f.readline().rstrip()
utm_east_offset, utm_north_offset = map(float, line.split(" "))
return ODM_GeoRef(srs, utm_east_offset, utm_north_offset)
def read(self):
if self.exists():
with open(self.gcp_path, 'r') as f:
contents = f.read().strip()
# Strip eventual BOM characters
contents = contents.replace('\ufeff', '')
lines = list(map(str.strip, contents.split('\n')))
if lines:
self.raw_srs = lines[0] # SRS
self.srs = location.parse_srs_header(self.raw_srs)
for line in lines[1:]:
if line != "" and line[0] != "#":
parts = line.split()
if len(parts) >= 6:
self.entries.append(line)
else:
log.ODM_WARNING("Malformed GCP line: %s" % line)
def process(self, args, outputs):
georeferenced_point_cloud_file = os.path.join(
args.project_path, 'odm_georeferencing',
'odm_georeferenced_model.laz')
with open(outputs["utm_coords_file"], 'r') as f:
srs_header = f.readline()
outputs["utm_offset"] = list(map(float, f.readline().split(" ")))
outputs["utm_srs"] = parse_srs_header(srs_header)
if not os.path.exists(georeferenced_point_cloud_file) or self.rerun():
# Easy-peasy with PDAL
# Point cloud is already georegistered, but it's just offset
offset_x, offset_y = outputs["utm_offset"]
kwargs = {
'input': quote(outputs["point_cloud_ply_file"]),
'output': quote(georeferenced_point_cloud_file),
'a_srs': "EPSG:%s" % outputs["utm_srs"].to_epsg(),
'offset_x': offset_x,
'offset_y': offset_y,
'offset_z': 0,
}
system.run(
'pdal translate --input {input} --output {output} '
'--writers.las.offset_x={offset_x} '
'--writers.las.offset_y={offset_y} '
'--writers.las.offset_z={offset_z} '
'--writers.las.a_srs="{a_srs}" '
'--filters.transformation.matrix="1 0 0 {offset_x} 0 1 0 {offset_y} 0 0 1 {offset_z} 0 0 0 1" '
'transformation'.format(**kwargs))
else:
log.ODM_WARNING("Found existing georeferenced point cloud: %s" %
georeferenced_point_cloud_file)
outputs[
"georeferenced_point_cloud_file"] = georeferenced_point_cloud_file
