更新过滤密集点算法
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龙澳
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@ -13,7 +13,6 @@ from preprocess.gps_extractor import GPSExtractor
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from preprocess.gps_filter import GPSFilter
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from preprocess.grid_divider import GridDivider
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from preprocess.logger import setup_logger
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from preprocess.time_filter import TimeFilter
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@dataclass
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@ -51,20 +50,12 @@ class ImagePreprocessor:
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self.logger.info(f"成功提取 {len(self.gps_points)} 个GPS点")
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return self.gps_points
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def time_filter(self) -> pd.DataFrame:
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"""时间过滤"""
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self.logger.info("开始时间过滤")
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time_filter = TimeFilter(self.config.output_dir)
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self.gps_points = time_filter.filter_by_date(self.gps_points)
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self.logger.info(f"时间过滤后剩余 {len(self.gps_points)} 个GPS点")
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return self.gps_points
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# TODO 添加聚类参数
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def cluster(self) -> pd.DataFrame:
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"""使用DBSCAN对GPS点进行聚类，只保留最大的类"""
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self.logger.info("开始聚类")
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# 创建聚类器并执行聚类
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clusterer = GPSCluster(self.gps_points, output_dir=self.config.output_dir)
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clusterer = GPSCluster(
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self.gps_points, output_dir=self.config.output_dir)
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# 获取主要类别的点
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self.gps_points = clusterer.get_main_cluster()
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# 获取统计信息并记录
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@ -73,9 +64,7 @@ class ImagePreprocessor:
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f"聚类完成：主要类别包含 {stats['main_cluster_points']} 个点，"
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f"噪声点 {stats['noise_points']} 个"
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)
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return self.gps_points
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# TODO 过滤密集点算法需要改进
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def filter_points(self) -> pd.DataFrame:
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"""过滤GPS点"""
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if not self.config.enable_filter:
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@ -132,7 +121,8 @@ class ImagePreprocessor:
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self.config.output_dir, f"grid_{grid_idx + 1}", "project", "images"
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)
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else:
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output_dir = os.path.join(self.config.output_dir, "project", "images")
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output_dir = os.path.join(
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self.config.output_dir, "project", "images")
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os.makedirs(output_dir, exist_ok=True)
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@ -5,6 +5,7 @@ import numpy as np
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from scipy.spatial import KDTree
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import logging
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import pandas as pd
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from datetime import datetime, timedelta
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class GPSFilter:
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@ -67,23 +68,122 @@ class GPSFilter:
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return sorted_distances
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def filter_dense_points(self, points_df, grid_size=0.001, distance_threshold=13):
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"""过滤密集点，根据提供的距离阈值"""
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self.logger.info(f"开始过滤密集点 (网格大小: {grid_size}, 距离阈值: {distance_threshold}米)")
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def _group_by_time(self, points_df: pd.DataFrame, time_threshold: timedelta = timedelta(minutes=5)) -> list:
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"""根据拍摄时间分组图片
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sorted_distances = self._get_distances(points_df, grid_size)
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to_del_imgs = []
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如果相邻两张图片的拍摄时间差超过5分钟，则进行切分
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"""遍历每个网格，删除网格中距离小于阈值的点"""
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Args:
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points_df: 包含图片信息的DataFrame，必须包含'file'和'date'列
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time_threshold: 时间间隔阈值，默认5分钟
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Returns:
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list: 每个元素为时间组内的点数据
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"""
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if 'date' not in points_df.columns:
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self.logger.error("数据中缺少date列")
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return [points_df]
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# 将date为空的行单独作为一组
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null_date_group = points_df[points_df['date'].isna()]
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valid_date_points = points_df[points_df['date'].notna()]
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if not null_date_group.empty:
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self.logger.info(f"发现 {len(null_date_group)} 个无时间戳的点，将作为单独分组")
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if valid_date_points.empty:
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self.logger.warning("没有有效的时间戳数据")
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return [null_date_group] if not null_date_group.empty else []
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# 按时间排序
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valid_date_points = valid_date_points.sort_values('date')
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self.logger.info(f"有效时间范围: {valid_date_points['date'].min()} 到 {valid_date_points['date'].max()}")
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# 计算时间差
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time_diffs = valid_date_points['date'].diff()
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# 找到时间差超过阈值的位置
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time_groups = []
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current_group_start = 0
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for idx, time_diff in enumerate(time_diffs):
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if time_diff and time_diff > time_threshold:
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# 添加当前组
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current_group = valid_date_points.iloc[current_group_start:idx]
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time_groups.append(current_group)
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# 记录断点信息
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break_time = valid_date_points.iloc[idx]['date']
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group_start_time = current_group.iloc[0]['date']
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group_end_time = current_group.iloc[-1]['date']
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self.logger.info(
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f"时间组 {len(time_groups)}: {len(current_group)} 个点, "
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f"时间范围 [{group_start_time} - {group_end_time}]"
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)
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self.logger.info(f"在时间 {break_time} 处发现断点，时间差为 {time_diff}")
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current_group_start = idx
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# 添加最后一组
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last_group = valid_date_points.iloc[current_group_start:]
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if not last_group.empty:
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time_groups.append(last_group)
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self.logger.info(
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f"时间组 {len(time_groups)}: {len(last_group)} 个点, "
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f"时间范围 [{last_group.iloc[0]['date']} - {last_group.iloc[-1]['date']}]"
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)
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# 如果有空时间戳的点，将其作为最后一组
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if not null_date_group.empty:
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time_groups.append(null_date_group)
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self.logger.info(f"添加无时间戳组: {len(null_date_group)} 个点")
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self.logger.info(f"共分为 {len(time_groups)} 个时间组")
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return time_groups
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def filter_dense_points(self, points_df, grid_size=0.001, distance_threshold=13, time_interval=60):
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"""
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过滤密集点，先按时间分组，再在每个时间组内过滤。
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空时间戳的点不进行过滤。
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Args:
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points_df: 点数据
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grid_size: 网格大小
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distance_threshold: 距离阈值（米）
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time_interval: 时间间隔（秒）
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"""
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self.logger.info(f"开始按时间分组过滤密集点 (网格大小: {grid_size}, "
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f"距离阈值: {distance_threshold}米, 时间间隔: {time_interval}秒)")
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# 按时间分组
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time_groups = self._group_by_time(points_df, time_interval)
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# 存储所有要删除的图片
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all_to_del_imgs = []
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# 对每个时间组进行密集点过滤
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for group_idx, group_points in enumerate(time_groups):
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# 检查是否为空时间戳组（最后一组）
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if group_idx == len(time_groups) - 1 and group_points['date'].isna().any():
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self.logger.info(f"跳过无时间戳组 (包含 {len(group_points)} 个点)")
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continue
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self.logger.info(f"处理时间组 {group_idx + 1} (包含 {len(group_points)} 个点)")
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# 计算该组内的点间距离
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sorted_distances = self._get_distances(group_points, grid_size)
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group_to_del_imgs = []
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# 在每个网格中过滤密集点
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for grid, distances in sorted_distances.items():
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grid_del_count = 0
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while distances:
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candidate_img1, candidate_img2, dist = distances[0]
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if dist < distance_threshold:
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# 有小于阈值的距离，先删除最近的距离，这两个点作为候选点，要删掉一个
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distances.pop(0)
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# 获取候选图片1和图片2倒数第二短的距离
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# 获取候选图片的其他最短距离
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candidate_img1_dist = None
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candidate_img2_dist = None
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for distance in distances:
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@ -95,30 +195,31 @@ class GPSFilter:
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candidate_img2_dist = distance[2]
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break
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# 谁短删掉谁
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# 选择要删除的点
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if candidate_img1_dist and candidate_img2_dist:
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if candidate_img1_dist < candidate_img2_dist:
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to_del_img = candidate_img1
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else:
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to_del_img = candidate_img2
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to_del_imgs.append(to_del_img)
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to_del_img = candidate_img1 if candidate_img1_dist < candidate_img2_dist else candidate_img2
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group_to_del_imgs.append(to_del_img)
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grid_del_count += 1
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self.logger.debug(f"在网格 {grid} 中删除密集点: {to_del_img} (距离: {dist:.2f}米)")
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# 从距离列表中删除与被删除图片相关的记录
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distances = [
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distance for distance in distances if to_del_img not in distance]
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self.logger.debug(f"时间组 {group_idx + 1} 网格 {grid} 删除密集点: {to_del_img} (距离: {dist:.2f}米)")
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distances = [d for d in distances if to_del_img not in d]
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else:
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break
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if grid_del_count > 0:
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self.logger.info(f"网格 {grid} 中删除了 {grid_del_count} 个密集点")
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self.logger.info(f"时间组 {group_idx + 1} 网格 {grid} 删除了 {grid_del_count} 个密集点")
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# 过滤掉删除的图片，写入日志
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all_to_del_imgs.extend(group_to_del_imgs)
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self.logger.info(f"时间组 {group_idx + 1} 共删除 {len(group_to_del_imgs)} 个密集点")
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# 写入删除日志
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with open(self.log_file, 'a', encoding='utf-8') as f:
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for img in to_del_imgs:
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f.write(img+'\n')
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for img in all_to_del_imgs:
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f.write(img + '\n')
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# 过滤数据
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filtered_df = points_df[~points_df['file'].isin(all_to_del_imgs)]
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self.logger.info(f"密集点过滤完成，共删除 {len(all_to_del_imgs)} 个点，剩余 {len(filtered_df)} 个点")
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filtered_df = points_df[~points_df['file'].isin(to_del_imgs)]
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self.logger.info(f"密集点过滤完成，共删除 {len(to_del_imgs)} 个点，剩余 {len(filtered_df)} 个点")
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return filtered_df
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def filter_isolated_points(self, points_df, threshold_distance=0.001, min_neighbors=6):
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@ -1,73 +0,0 @@
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import os
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import logging
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import pandas as pd
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from datetime import datetime, timedelta
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class TimeFilter:
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"""基于拍摄时间过滤图片"""
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def __init__(self, output_dir):
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self.log_file = os.path.join(output_dir, 'del_imgs.txt')
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self.logger = logging.getLogger('UAV_Preprocess.TimeFilter')
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self.time_threshold = timedelta(minutes=5) # 5分钟阈值
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def filter_by_date(self, points_df: pd.DataFrame) -> pd.DataFrame:
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"""根据拍摄时间过滤图片
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如果相邻两张图片的拍摄时间差超过5分钟，过滤掉后续所有图片
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Args:
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points_df: 包含图片信息的DataFrame，必须包含'file'和'date'列
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Returns:
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过滤后的DataFrame
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"""
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self.logger.info("开始基于拍摄时间进行过滤")
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# 确保date列存在且不为空
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if 'date' not in points_df.columns:
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self.logger.error("输入数据中缺少date列")
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return points_df
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# 删除date为空的行
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points_df = points_df.dropna(subset=['date'])
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if len(points_df) == 0:
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self.logger.warning("没有有效的拍摄时间数据")
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return points_df
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# 按时间排序
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points_df = points_df.sort_values('date')
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self.logger.info(f"排序后的时间范围: {points_df['date'].min()} 到 {points_df['date'].max()}")
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# 计算时间差
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time_diffs = points_df['date'].diff()
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# 找到第一个时间差超过阈值的位置
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break_idx = None
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for idx, time_diff in enumerate(time_diffs):
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if time_diff and time_diff > self.time_threshold:
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break_idx = idx
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break_time = points_df.iloc[idx]['date']
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self.logger.info(f"在索引 {idx} 处发现时间断点，时间差为 {time_diff}")
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self.logger.info(f"断点时间: {break_time}")
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break
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# 如果找到断点，过滤掉后续图片
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if break_idx is not None:
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to_delete = points_df.iloc[break_idx:]['file'].tolist()
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self.logger.info(f"将删除 {len(to_delete)} 张断点后的图片")
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# 记录被删除的图片
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with open(self.log_file, 'a', encoding='utf-8') as f:
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for img in to_delete:
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f.write(img + '\n')
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f.write('\n')
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# 保留断点之前的图片
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filtered_df = points_df.iloc[:break_idx]
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self.logger.info(f"时间过滤完成，保留了 {len(filtered_df)} 张图片")
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return filtered_df
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self.logger.info("未发现时间断点，保留所有图片")
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return points_df
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