108 lines
3.7 KiB
Python
108 lines
3.7 KiB
Python
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import os
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import logging
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import numpy as np
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from typing import Dict
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import pandas as pd
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import open3d as o3d
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class MergePly:
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def __init__(self, output_dir: str):
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self.output_dir = output_dir
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self.logger = logging.getLogger('UAV_Preprocess.MergePly')
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def merge_two_plys(self, ply1_path: str, ply2_path: str, output_path: str):
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"""合并两个PLY文件"""
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try:
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self.logger.info("开始合并PLY点云")
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self.logger.info(f"输入点云1: {ply1_path}")
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self.logger.info(f"输入点云2: {ply2_path}")
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self.logger.info(f"输出点云: {output_path}")
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# 检查输入文件是否存在
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if not os.path.exists(ply1_path) or not os.path.exists(ply2_path):
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raise FileNotFoundError("输入点云文件不存在")
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# 读取点云
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pcd1 = o3d.io.read_point_cloud(ply1_path)
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pcd2 = o3d.io.read_point_cloud(ply2_path)
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if pcd1 is None or pcd2 is None:
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raise ValueError("无法读取点云文件")
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# 获取点云中心
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center1 = pcd1.get_center()
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center2 = pcd2.get_center()
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# 计算平移向量
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translation_vector = center2 - center1
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# 对齐点云
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pcd2.translate(translation_vector)
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# 合并点云
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combined_pcd = pcd1 + pcd2
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# 保存合并后的点云
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if not o3d.io.write_point_cloud(output_path, combined_pcd):
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raise RuntimeError("保存合并后的点云失败")
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self.logger.info(f"点云合并成功，已保存至: {output_path}")
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except Exception as e:
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self.logger.error(f"合并PLY点云时发生错误: {str(e)}", exc_info=True)
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raise
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def merge_grid_ply(self, grid_points: Dict[int, pd.DataFrame]):
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"""合并所有网格的PLY点云"""
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self.logger.info("开始合并所有网格的PLY点云")
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if len(grid_points) < 2:
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self.logger.info("只有一个网格，无需合并")
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return
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input_ply1, input_ply2 = None, None
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merge_count = 0
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try:
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for grid_idx, points in grid_points.items():
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grid_ply = os.path.join(
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self.output_dir,
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f"grid_{grid_idx + 1}",
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"project",
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"odm_georeferencing",
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"odm_georeferenced_model.ply"
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)
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if not os.path.exists(grid_ply):
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self.logger.warning(f"网格 {grid_idx + 1} 的PLY文件不存在: {grid_ply}")
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continue
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if input_ply1 is None:
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input_ply1 = grid_ply
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self.logger.info(f"设置第一个输入PLY: {input_ply1}")
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else:
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input_ply2 = grid_ply
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output_ply = os.path.join(self.output_dir, "merged_pointcloud.ply")
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self.logger.info(
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f"开始合并第 {merge_count + 1} 次:\n"
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f"输入1: {input_ply1}\n"
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f"输入2: {input_ply2}\n"
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f"输出: {output_ply}"
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)
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self.merge_two_plys(input_ply1, input_ply2, output_ply)
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merge_count += 1
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input_ply1 = output_ply
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input_ply2 = None
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self.logger.info(
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f"PLY点云合并完成，共执行 {merge_count} 次合并，"
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f"最终输出文件: {input_ply1}"
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)
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except Exception as e:
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self.logger.error(f"PLY点云合并过程中发生错误: {str(e)}", exc_info=True)
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raise
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