lastools

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

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

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)

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:

post_pro/merge_ply.py

@@ -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)