189 lines
7.0 KiB
Python
189 lines
7.0 KiB
Python
import os
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import logging
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import numpy as np
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from typing import Dict, Tuple
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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 read_corners_file(self, grid_idx: int) -> Tuple[float, float]:
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"""读取角点文件并计算中心点坐标
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角点文件格式：xmin ymin xmax ymax
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"""
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corners_file = 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_orthophoto",
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"odm_orthophoto_corners.txt"
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)
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try:
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if not os.path.exists(corners_file):
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raise FileNotFoundError(f"角点文件不存在: {corners_file}")
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# 读取角点文件
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with open(corners_file, 'r') as f:
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line = f.readline().strip()
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if not line:
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raise ValueError(f"角点文件为空: {corners_file}")
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# 解析四个角点值：xmin ymin xmax ymax
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xmin, ymin, xmax, ymax = map(float, line.split())
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# 计算中心点坐标
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center_x = (xmin + xmax) / 2
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center_y = (ymin + ymax) / 2
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self.logger.info(
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f"网格 {grid_idx + 1} 边界坐标: \n"
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f"xmin={xmin:.2f}, ymin={ymin:.2f}\n"
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f"xmax={xmax:.2f}, ymax={ymax:.2f}\n"
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f"中心点: x={center_x:.2f}, y={center_y:.2f}"
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)
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return center_x, center_y
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except Exception as e:
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self.logger.error(f"读取角点文件时发生错误: {str(e)}", exc_info=True)
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raise
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def merge_two_plys(self, ply1_path: str, ply2_path: str, output_path: str,
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center1: Tuple[float, float],
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center2: Tuple[float, float]):
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"""合并两个PLY文件，使用中心点坐标进行对齐"""
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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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# 计算平移向量（直接使用中心点坐标差）
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translation = np.array([
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center2[0] - center1[0], # x方向的平移
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center2[1] - center1[1], # y方向的平移
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0.0 # z方向不平移
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])
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# 对第二个点云进行平移
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pcd2.translate(translation*100)
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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, list]):
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"""合并所有网格的PLY点云，以第一个网格为参考点"""
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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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try:
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# 获取网格索引列表并排序
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grid_indices = sorted(grid_points.keys())
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# 读取第一个网格作为参考网格
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ref_idx = grid_indices[0]
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ref_ply = os.path.join(
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self.output_dir,
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f"grid_{ref_idx + 1}",
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"project",
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"odm_filterpoints",
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"point_cloud.ply"
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)
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if not os.path.exists(ref_ply):
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raise FileNotFoundError(f"参考网格的PLY文件不存在: {ref_ply}")
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# 获取参考网格的中心点坐标
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ref_center = self.read_corners_file(ref_idx)
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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}")
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# 将参考点云复制到输出位置作为初始合并结果
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output_ply = os.path.join(self.output_dir, "merged_pointcloud.ply")
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import shutil
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shutil.copy2(ref_ply, output_ply)
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# 依次处理其他网格
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for grid_idx in grid_indices[1:]:
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current_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_filterpoints",
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"point_cloud.ply"
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)
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if not os.path.exists(current_ply):
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self.logger.warning(f"网格 {grid_idx + 1} 的PLY文件不存在: {current_ply}")
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continue
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# 读取当前网格的中心点坐标
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current_center = self.read_corners_file(grid_idx)
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self.logger.info(
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f"处理网格 {grid_idx + 1}:\n"
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f"合并点云: {current_ply}\n"
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f"当前网格中心点: x={current_center[0]:.2f}, y={current_center[1]:.2f}"
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)
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# 合并点云，始终使用第一个网格的中心点作为参考点
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self.merge_two_plys(
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output_ply, # 当前合并结果
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current_ply, # 要合并的新点云
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output_ply, # 覆盖原有的合并结果
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ref_center, # 参考网格中心点（始终不变）
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current_center # 当前网格中心点
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)
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self.logger.info(f"PLY点云合并完成，最终输出文件: {output_ply}")
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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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if __name__ == "__main__":
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from utils.logger import setup_logger
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import open3d as o3d
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# 设置输出目录和日志
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output_dir = r"G:\ODM_output\1009"
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setup_logger(output_dir)
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# 构造测试用的grid_points字典
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grid_points = {
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0: [], # 不再需要GPS点信息
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1: []
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}
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# 创建MergePly实例并执行合并
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merge_ply = MergePly(output_dir)
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merge_ply.merge_grid_ply(grid_points)
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