Merge pull request #1742 from pierotofy/eptclass

Classify point cloud before generating derivative outputs
OpenDroneMap · Jan 25, 2024 · ae50133 · ae50133
2 parents 30f89c0 + 9fd3bf3
commit ae50133
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Showing 5 changed files with 43 additions and 32 deletions.
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-3.3.5
+3.4.0
diff --git a/opendm/config.py b/opendm/config.py
@@ -60,14 +60,14 @@
     'orthophoto_no_tiled': 'odm_orthophoto',
     'orthophoto_png': 'odm_orthophoto',
     'orthophoto_resolution': 'odm_orthophoto',
-    'pc_classify': 'odm_dem',
+    'pc_classify': 'odm_georeferencing',
     'pc_copc': 'odm_georeferencing',
     'pc_csv': 'odm_georeferencing',
     'pc_ept': 'odm_georeferencing',
     'pc_filter': 'openmvs',
     'pc_las': 'odm_georeferencing',
     'pc_quality': 'opensfm',
-    'pc_rectify': 'odm_dem',
+    'pc_rectify': 'odm_georeferencing',
     'pc_sample': 'odm_filterpoints',
     'pc_skip_geometric': 'openmvs',
     'primary_band': 'dataset',

diff --git a/opendm/point_cloud.py b/opendm/point_cloud.py
@@ -9,6 +9,8 @@
 from opendm.utils import double_quote
 from opendm.boundary import as_polygon, as_geojson
 from opendm.dem.pdal import run_pipeline
+from opendm.opc import classify
+from opendm.dem import commands
 
 def ply_info(input_ply):
     if not os.path.exists(input_ply):
@@ -274,6 +276,32 @@ def merge_ply(input_point_cloud_files, output_file, dims=None):
     system.run(' '.join(cmd))
 
 def post_point_cloud_steps(args, tree, rerun=False):
+    # Classify and rectify before generating derivate files
+    if args.pc_classify:
+        pc_classify_marker = os.path.join(tree.odm_georeferencing, 'pc_classify_done.txt')
+
+        if not io.file_exists(pc_classify_marker) or rerun:
+            log.ODM_INFO("Classifying {} using Simple Morphological Filter (1/2)".format(tree.odm_georeferencing_model_laz))
+            commands.classify(tree.odm_georeferencing_model_laz,
+                                args.smrf_scalar, 
+                                args.smrf_slope, 
+                                args.smrf_threshold, 
+                                args.smrf_window
+                            )
+
+            log.ODM_INFO("Classifying {} using OpenPointClass (2/2)".format(tree.odm_georeferencing_model_laz))
+            classify(tree.odm_georeferencing_model_laz, args.max_concurrency)
+
+            with open(pc_classify_marker, 'w') as f:
+                f.write('Classify: smrf\n')
+                f.write('Scalar: {}\n'.format(args.smrf_scalar))
+                f.write('Slope: {}\n'.format(args.smrf_slope))
+                f.write('Threshold: {}\n'.format(args.smrf_threshold))
+                f.write('Window: {}\n'.format(args.smrf_window))
+
+    if args.pc_rectify:
+        commands.rectify(tree.odm_georeferencing_model_laz)
+
     # XYZ point cloud output
     if args.pc_csv:
         log.ODM_INFO("Creating CSV file (XYZ format)")

diff --git a/opendm/video/srtparser.py b/opendm/video/srtparser.py
@@ -54,8 +54,10 @@ def get_gps(self, timestamp):
         if not self.gps_data:
             for d in self.data:
                 lat, lon, alt = d.get('latitude'), d.get('longitude'), d.get('altitude')
+                if alt is None:
+                    alt = 0
                 tm = d.get('start')
-
+                
                 if lat is not None and lon is not None:
                     if self.ll_to_utm is None:
                         self.ll_to_utm, self.utm_to_ll = location.utm_transformers_from_ll(lon, lat)
@@ -127,6 +129,13 @@ def parse(self):
         # 00:00:35,000 --> 00:00:36,000
         # F/6.3, SS 60, ISO 100, EV 0, RTK (120.083799, 30.213635, 28), HOME (120.084146, 30.214243, 103.55m), D 75.36m, H 76.19m, H.S 0.30m/s, V.S 0.00m/s, F.PRY (-5.3°, 2.1°, 28.3°), G.PRY (-40.0°, 0.0°, 28.2°)
 
+        # DJI Unknown Model #1
+        # 1
+        # 00:00:00,000 --> 00:00:00,033
+        # <font size="28">SrtCnt : 1, DiffTime : 33ms
+        # 2024-01-18 10:23:26.397
+        # [iso : 150] [shutter : 1/5000.0] [fnum : 170] [ev : 0] [ct : 5023] [color_md : default] [focal_len : 240] [dzoom_ratio: 10000, delta:0],[latitude: -22.724555] [longitude: -47.602414] [rel_alt: 0.300 abs_alt: 549.679] </font>
+
         with open(self.filename, 'r') as f:
 
             iso = None
@@ -211,4 +220,5 @@ def parse(self):
                     ("altitude: ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
                     ("GPS \([\d\.\-]+,? [\d\.\-]+,? ([\d\.\-]+)\)", lambda v: float(v) if v != 0 else None),
                     ("RTK \([-+]?\d+\.\d+, [-+]?\d+\.\d+, (-?\d+)\)", lambda v: float(v) if v != 0 else None),
+                    ("abs_alt: ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
                 ], line)
diff --git a/stages/odm_dem.py b/stages/odm_dem.py
@@ -12,7 +12,6 @@
 from opendm import pseudogeo
 from opendm.tiles.tiler import generate_dem_tiles
 from opendm.cogeo import convert_to_cogeo
-from opendm.opc import classify
 
 class ODMDEMStage(types.ODM_Stage):
     def process(self, args, outputs):
@@ -35,7 +34,6 @@ def process(self, args, outputs):
                                         ignore_resolution=ignore_resolution and args.ignore_gsd,
                                         has_gcp=reconstruction.has_gcp())
 
-        log.ODM_INFO('Classify: ' + str(args.pc_classify))
         log.ODM_INFO('Create DSM: ' + str(args.dsm))
         log.ODM_INFO('Create DTM: ' + str(args.dtm))
         log.ODM_INFO('DEM input file {0} found: {1}'.format(dem_input, str(pc_model_found)))
@@ -45,34 +43,9 @@ def process(self, args, outputs):
         if not io.dir_exists(odm_dem_root):
             system.mkdir_p(odm_dem_root)
 
-        if args.pc_classify and pc_model_found:
-            pc_classify_marker = os.path.join(odm_dem_root, 'pc_classify_done.txt')
-
-            if not io.file_exists(pc_classify_marker) or self.rerun():
-                log.ODM_INFO("Classifying {} using Simple Morphological Filter (1/2)".format(dem_input))
-                commands.classify(dem_input,
-                                  args.smrf_scalar, 
-                                  args.smrf_slope, 
-                                  args.smrf_threshold, 
-                                  args.smrf_window
-                                )
-
-                log.ODM_INFO("Classifying {} using OpenPointClass (2/2)".format(dem_input))
-                classify(dem_input, args.max_concurrency)
-
-                with open(pc_classify_marker, 'w') as f:
-                    f.write('Classify: smrf\n')
-                    f.write('Scalar: {}\n'.format(args.smrf_scalar))
-                    f.write('Slope: {}\n'.format(args.smrf_slope))
-                    f.write('Threshold: {}\n'.format(args.smrf_threshold))
-                    f.write('Window: {}\n'.format(args.smrf_window))
-
         progress = 20
         self.update_progress(progress)
 
-        if args.pc_rectify:
-            commands.rectify(dem_input)
-
         # Do we need to process anything here?
         if (args.dsm or args.dtm) and pc_model_found:
             dsm_output_filename = os.path.join(odm_dem_root, 'dsm.tif')
@@ -120,7 +93,7 @@ def process(self, args, outputs):
                     if args.cog:
                         convert_to_cogeo(dem_geotiff_path, max_workers=args.max_concurrency)
 
-                    progress += 30
+                    progress += 40
                     self.update_progress(progress)
             else:
                 log.ODM_WARNING('Found existing outputs in: %s' % odm_dem_root)