diff --git a/odm_preprocess.py b/odm_preprocess.py index 6034e5f..b948447 100644 --- a/odm_preprocess.py +++ b/odm_preprocess.py @@ -19,7 +19,7 @@ from utils.visualizer import FilterVisualizer from post_pro.merge_tif import MergeTif from tools.test_docker_run import run_docker_command from post_pro.merge_obj import MergeObj -from post_pro.merge_ply import MergePly +from post_pro.merge_laz import MergePly @dataclass diff --git a/odm_preprocess_fast.py b/odm_preprocess_fast.py index 067b706..50035a8 100644 --- a/odm_preprocess_fast.py +++ b/odm_preprocess_fast.py @@ -19,7 +19,7 @@ from utils.visualizer import FilterVisualizer from post_pro.merge_tif import MergeTif from tools.test_docker_run import run_docker_command from post_pro.merge_obj import MergeObj -from post_pro.merge_ply import MergePly +from post_pro.merge_laz import MergePly @dataclass diff --git a/post_pro/merge_laz.py b/post_pro/merge_laz.py new file mode 100644 index 0000000..e963929 --- /dev/null +++ b/post_pro/merge_laz.py @@ -0,0 +1,65 @@ +import os +import logging +import numpy as np +from typing import Dict, Tuple +import pandas as pd +import subprocess + + +class MergePly: + def __init__(self, output_dir: str): + self.output_dir = output_dir + self.logger = logging.getLogger('UAV_Preprocess.MergePly') + + def merge_grid_laz(self, grid_points: Dict[int, list]): + """合并所有网格的点云""" + self.logger.info("开始合并所有网格的laz点云") + + if len(grid_points) < 2: + self.logger.info("只有一个网格，无需合并") + return + + try: + laz_lt = [] + for grid_idx, points in grid_points.items(): + grid_laz = os.path.join( + self.output_dir, + f"grid_{grid_idx + 1}", + "project", + "odm_georeferencing", + "odm_georeferenced_model.laz" + ) + + if not os.path.exists(grid_laz): + self.logger.warning(f"参考网格的laz文件不存在: {grid_laz}") + continue + laz_lt.append(grid_laz) + + kwargs = { + 'all_inputs': " ".join(laz_lt), + 'output': os.path.join(self.output_dir, 'merged_pointcloud.laz') + } + + subprocess.run('D:\\software\\LAStools\\bin\\lasmerge.exe -i {all_inputs} -o "{output}"'.format(**kwargs)) + + except Exception as e: + self.logger.error(f"PLY点云合并过程中发生错误: {str(e)}", exc_info=True) + raise + + +if __name__ == "__main__": + from utils.logger import setup_logger + + # 设置输出目录和日志 + output_dir = r"G:\ODM_output\1009" + setup_logger(output_dir) + + # 构造测试用的grid_points字典 + grid_points = { + 0: [], # 不再需要GPS点信息 + 1: [] + } + + # 创建MergePly实例并执行合并 + merge_ply = MergePly(output_dir) + merge_ply.merge_grid_ply(grid_points) diff --git a/post_pro/merge_obj.py b/post_pro/merge_obj.py index 08f38f1..dc6f8d0 100644 --- a/post_pro/merge_obj.py +++ b/post_pro/merge_obj.py @@ -3,7 +3,6 @@ import logging import numpy as np from typing import Dict import pandas as pd -import open3d as o3d class MergeObj: diff --git a/post_pro/merge_ply.py b/post_pro/merge_ply.py deleted file mode 100644 index 688bc91..0000000 --- a/post_pro/merge_ply.py +++ /dev/null @@ -1,188 +0,0 @@ -import os -import logging -import numpy as np -from typing import Dict, Tuple -import pandas as pd -import open3d as o3d - - -class MergePly: - def __init__(self, output_dir: str): - self.output_dir = output_dir - self.logger = logging.getLogger('UAV_Preprocess.MergePly') - - def read_corners_file(self, grid_idx: int) -> Tuple[float, float]: - """读取角点文件并计算中心点坐标 - 角点文件格式：xmin ymin xmax ymax - """ - corners_file = os.path.join( - self.output_dir, - f"grid_{grid_idx + 1}", - "project", - "odm_orthophoto", - "odm_orthophoto_corners.txt" - ) - - try: - if not os.path.exists(corners_file): - raise FileNotFoundError(f"角点文件不存在: {corners_file}") - - # 读取角点文件 - with open(corners_file, 'r') as f: - line = f.readline().strip() - if not line: - raise ValueError(f"角点文件为空: {corners_file}") - - # 解析四个角点值：xmin ymin xmax ymax - xmin, ymin, xmax, ymax = map(float, line.split()) - - # 计算中心点坐标 - center_x = (xmin + xmax) / 2 - center_y = (ymin + ymax) / 2 - - self.logger.info( - f"网格 {grid_idx + 1} 边界坐标: \n" - f"xmin={xmin:.2f}, ymin={ymin:.2f}\n" - f"xmax={xmax:.2f}, ymax={ymax:.2f}\n" - f"中心点: x={center_x:.2f}, y={center_y:.2f}" - ) - return center_x, center_y - - except Exception as e: - self.logger.error(f"读取角点文件时发生错误: {str(e)}", exc_info=True) - raise - - def merge_two_plys(self, ply1_path: str, ply2_path: str, output_path: str, - center1: Tuple[float, float], - center2: Tuple[float, float]): - """合并两个PLY文件，使用中心点坐标进行对齐""" - try: - self.logger.info("开始合并PLY点云") - self.logger.info(f"输入点云1: {ply1_path}") - self.logger.info(f"输入点云2: {ply2_path}") - self.logger.info(f"输出点云: {output_path}") - - # 检查输入文件是否存在 - if not os.path.exists(ply1_path) or not os.path.exists(ply2_path): - raise FileNotFoundError("输入点云文件不存在") - - # 读取点云 - pcd1 = o3d.io.read_point_cloud(ply1_path) - pcd2 = o3d.io.read_point_cloud(ply2_path) - - if pcd1 is None or pcd2 is None: - raise ValueError("无法读取点云文件") - - # 计算平移向量（直接使用中心点坐标差） - translation = np.array([ - center2[0] - center1[0], # x方向的平移 - center2[1] - center1[1], # y方向的平移 - 0.0 # z方向不平移 - ]) - - # 对第二个点云进行平移 - pcd2.translate(translation*100) - - # 合并点云 - combined_pcd = pcd1 + pcd2 - - # 保存合并后的点云 - if not o3d.io.write_point_cloud(output_path, combined_pcd): - raise RuntimeError("保存合并后的点云失败") - - self.logger.info(f"点云合并成功，已保存至: {output_path}") - - except Exception as e: - self.logger.error(f"合并PLY点云时发生错误: {str(e)}", exc_info=True) - raise - - def merge_grid_ply(self, grid_points: Dict[int, list]): - """合并所有网格的PLY点云，以第一个网格为参考点""" - self.logger.info("开始合并所有网格的PLY点云") - - if len(grid_points) < 2: - self.logger.info("只有一个网格，无需合并") - return - - try: - # 获取网格索引列表并排序 - grid_indices = sorted(grid_points.keys()) - - # 读取第一个网格作为参考网格 - ref_idx = grid_indices[0] - ref_ply = os.path.join( - self.output_dir, - f"grid_{ref_idx + 1}", - "project", - "odm_filterpoints", - "point_cloud.ply" - ) - - if not os.path.exists(ref_ply): - raise FileNotFoundError(f"参考网格的PLY文件不存在: {ref_ply}") - - # 获取参考网格的中心点坐标 - ref_center = self.read_corners_file(ref_idx) - self.logger.info(f"参考网格(grid_{ref_idx + 1})中心点: x={ref_center[0]:.2f}, y={ref_center[1]:.2f}") - - # 将参考点云复制到输出位置作为初始合并结果 - output_ply = os.path.join(self.output_dir, "merged_pointcloud.ply") - import shutil - shutil.copy2(ref_ply, output_ply) - - # 依次处理其他网格 - for grid_idx in grid_indices[1:]: - current_ply = os.path.join( - self.output_dir, - f"grid_{grid_idx + 1}", - "project", - "odm_filterpoints", - "point_cloud.ply" - ) - - if not os.path.exists(current_ply): - self.logger.warning(f"网格 {grid_idx + 1} 的PLY文件不存在: {current_ply}") - continue - - # 读取当前网格的中心点坐标 - current_center = self.read_corners_file(grid_idx) - - self.logger.info( - f"处理网格 {grid_idx + 1}:\n" - f"合并点云: {current_ply}\n" - f"当前网格中心点: x={current_center[0]:.2f}, y={current_center[1]:.2f}" - ) - - # 合并点云，始终使用第一个网格的中心点作为参考点 - self.merge_two_plys( - output_ply, # 当前合并结果 - current_ply, # 要合并的新点云 - output_ply, # 覆盖原有的合并结果 - ref_center, # 参考网格中心点（始终不变） - current_center # 当前网格中心点 - ) - - self.logger.info(f"PLY点云合并完成，最终输出文件: {output_ply}") - - except Exception as e: - self.logger.error(f"PLY点云合并过程中发生错误: {str(e)}", exc_info=True) - raise - - -if __name__ == "__main__": - from utils.logger import setup_logger - import open3d as o3d - - # 设置输出目录和日志 - output_dir = r"G:\ODM_output\1009" - setup_logger(output_dir) - - # 构造测试用的grid_points字典 - grid_points = { - 0: [], # 不再需要GPS点信息 - 1: [] - } - - # 创建MergePly实例并执行合并 - merge_ply = MergePly(output_dir) - merge_ply.merge_grid_ply(grid_points)