OpenDroneMap-ODM/scripts/splitmerge.py

import os, sys
from opendm import log
from opendm import osfm
from opendm import types
from opendm import io
from opendm import system
from opensfm.large import metadataset
from pipes import quote

class ODMSplitStage(types.ODM_Stage):
    def process(self, args, outputs):
        tree = outputs['tree']
        reconstruction = outputs['reconstruction']
        photos = reconstruction.photos

        outputs['large'] = len(photos) > args.split

        if outputs['large']:
            log.ODM_INFO("Large dataset detected (%s photos) and split set at %s. Preparing split merge." % (len(photos), args.split))
            config = [
                "submodels_relpath: ../submodels/opensfm",
                "submodel_relpath_template: ../submodels/submodel_%04d/opensfm",
                "submodel_images_relpath_template: ../submodels/submodel_%04d/images",
                "submodel_size: %s" % args.split,
                "submodel_overlap: %s" % args.split_overlap,
            ]
            
            osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config, rerun=self.rerun())
        
            osfm.feature_matching(tree.opensfm, self.rerun())

            # Create submodels
            if not io.dir_exists(tree.submodels_path) or self.rerun():
                if io.dir_exists(tree.submodels_path):
                    log.ODM_WARNING("Removing existing submodels directory: %s" % tree.submodels_path)
                    shutil.rmtree(tree.submodels_path)

                osfm.run("create_submodels", tree.opensfm)
            else:
                log.ODM_WARNING("Submodels directory already exist at: %s" % tree.submodels_path)
            
            # TODO: on a network workflow we probably stop here
            # and let NodeODM take over
            # exit(0)

            # Find paths of all submodels
            mds = metadataset.MetaDataSet(tree.opensfm)
            submodel_paths = [os.path.abspath(p) for p in mds.get_submodel_paths()]

            # Reconstruct each submodel
            log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))

            for sp in submodel_paths:
                log.ODM_INFO("Reconstructing %s" % sp)
                #osfm.reconstruct(sp, self.rerun())

            # Align
            log.ODM_INFO("Aligning submodels...")
            #osfm.run('align_submodels', tree.opensfm)

            # Dense reconstruction for each submodel
            for sp in submodel_paths:

                # TODO: network workflow
                
                # We have already done matching
                osfm.mark_feature_matching_done(sp)

                submodel_name = os.path.basename(os.path.abspath(os.path.join(sp, "..")))

                log.ODM_INFO("====================")
                log.ODM_INFO("Processing %s" % submodel_name)
                log.ODM_INFO("====================")

                argv = osfm.get_submodel_argv(args, tree.submodels_path, submodel_name)

                # Re-run the ODM toolchain on the submodel
                system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())

        else:
            log.ODM_INFO("Normal dataset, will process all at once.")


class ODMMergeStage(types.ODM_Stage):
    def process(self, args, outputs):
        tree = outputs['tree']
        reconstruction = outputs['reconstruction']

        if outputs['large']:
            
        else:
            log.ODM_INFO("Normal dataset, nothing to merge.")