OpenDroneMap-ODM/scripts/run_opensfm.py

import sys
import os

from opendm import log
from opendm import io
from opendm import system
from opendm import context
from opendm import gsd
from opendm import point_cloud
from opendm import types

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

        if not photos:
            log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
            exit(1)

        # create working directories
        system.mkdir_p(tree.opensfm)

        if args.fast_orthophoto:
            output_file = io.join_paths(tree.opensfm, 'reconstruction.ply')
        elif args.use_opensfm_dense:
            output_file = tree.opensfm_model
        else:
            output_file = tree.opensfm_reconstruction

        # check if reconstruction was done before
        if not io.file_exists(output_file) or self.rerun():
            # create file list
            list_path = io.join_paths(tree.opensfm, 'image_list.txt')
            has_alt = True
            with open(list_path, 'w') as fout:
                for photo in photos:
                    if not photo.altitude:
                        has_alt = False
                    fout.write('%s\n' % io.join_paths(tree.dataset_raw, photo.filename))

            # create config file for OpenSfM
            config = [
                "use_exif_size: %s" % ('no' if not self.params.get('use_exif_size') else 'yes'),
                "feature_process_size: %s" % self.params.get('feature_process_size'),
                "feature_min_frames: %s" % self.params.get('feature_min_frames'),
                "processes: %s" % self.params.get('processes'),
                "matching_gps_neighbors: %s" % self.params.get('matching_gps_neighbors'),
                "depthmap_method: %s" % args.opensfm_depthmap_method,
                "depthmap_resolution: %s" % args.depthmap_resolution,
                "depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
                "depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
                "optimize_camera_parameters: %s" % ('no' if self.params.get('fixed_camera_params') else 'yes')
            ]

            if has_alt:
                log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
                config.append("use_altitude_tag: yes")
                config.append("align_method: naive")
            else:
                config.append("align_method: orientation_prior")
                config.append("align_orientation_prior: vertical")

            if args.use_hybrid_bundle_adjustment:
                log.ODM_DEBUG("Enabling hybrid bundle adjustment")
                config.append("bundle_interval: 100")          # Bundle after adding 'bundle_interval' cameras
                config.append("bundle_new_points_ratio: 1.2")  # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
                config.append("local_bundle_radius: 1")        # Max image graph distance for images to be included in local bundle adjustment

            if args.matcher_distance > 0:
                config.append("matching_gps_distance: %s" % self.params.get('matching_gps_distance'))

            if tree.odm_georeferencing_gcp:
                config.append("bundle_use_gcp: yes")
                io.copy(tree.odm_georeferencing_gcp, tree.opensfm)

            # write config file
            log.ODM_DEBUG(config)
            config_filename = io.join_paths(tree.opensfm, 'config.yaml')
            with open(config_filename, 'w') as fout:
                fout.write("\n".join(config))

            # run OpenSfM reconstruction
            matched_done_file = io.join_paths(tree.opensfm, 'matching_done.txt')
            if not io.file_exists(matched_done_file) or self.rerun():
                system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' %
                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
                system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' %
                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
                system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' %
                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
                with open(matched_done_file, 'w') as fout:
                    fout.write("Matching done!\n")
            else:
                log.ODM_WARNING('Found a feature matching done progress file in: %s' %
                                matched_done_file)

            if not io.file_exists(tree.opensfm_tracks) or self.rerun():
                system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' %
                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
            else:
                log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' %
                                tree.opensfm_tracks)

            if not io.file_exists(tree.opensfm_reconstruction) or self.rerun():
                system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' %
                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
            else:
                log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
                                tree.opensfm_reconstruction)

            # Check that a reconstruction file has been created
            if not io.file_exists(tree.opensfm_reconstruction):
                log.ODM_ERROR("The program could not process this dataset using the current settings. "
                                "Check that the images have enough overlap, "
                                "that there are enough recognizable features "
                                "and that the images are in focus. "
                                "You could also try to increase the --min-num-features parameter."
                                "The program will now exit.")
                sys.exit(1)


            # Always export VisualSFM's reconstruction and undistort images
            # as we'll use these for texturing (after GSD estimation and resizing)
            if not args.ignore_gsd:
                image_scale = gsd.image_scale_factor(args.orthophoto_resolution, tree.opensfm_reconstruction)
            else:
                image_scale = 1.0

            if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
                system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm --image_extension png --scale_focal %s %s' %
                            (context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
            else:
                log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
                                tree.opensfm_reconstruction_nvm)

            # These will be used for texturing
            system.run('PYTHONPATH=%s %s/bin/opensfm undistort --image_format png --image_scale %s %s' %
                        (context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))

            # Skip dense reconstruction if necessary and export
            # sparse reconstruction instead
            if args.fast_orthophoto:
                system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
            elif args.use_opensfm_dense:
                # Undistort images at full scale in JPG
                # (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
                # and use those instead of re-exporting full resolution JPGs)
                system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
                system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
        else:
            log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
                            tree.opensfm_reconstruction)

        # check if reconstruction was exported to bundler before
        if not io.file_exists(tree.opensfm_bundle_list) or self.rerun():
            # convert back to bundler's format
            system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
                       (context.pyopencv_path, context.opensfm_path, tree.opensfm))
        else:
            log.ODM_WARNING('Found a valid Bundler file in: %s' %
                            tree.opensfm_reconstruction)

        if reconstruction.georef:
            system.run('PYTHONPATH=%s %s/bin/opensfm export_geocoords %s --transformation --proj \'%s\'' %
                       (context.pyopencv_path, context.opensfm_path, tree.opensfm, reconstruction.georef.projection.srs))